A method and control device for the low-vibration movement of a movable crane element of a crane system

摘要

The invention relates to a method and a control device for the low-vibration control of the movement of a movable crane element (14, 16, 18), such as crane boom (18) of a crane system (10) by means of a motor (20), leading to an oscillation with a natural frequency (f_Suitable) can be excited and a damping rate (ζ), wherein the movable crane element (14, 16, 18) with a control signal (v_Should) is driven, whose spectrum essentially free of natural frequencies (f_Suitable) of the crane system (10), wherein the control signal (v_Should) from an operator signal (s_Bed) an operator taking into account of the system - parameters of the crane system (10) is calculated. In a method and a control device of the type mentioned at the outset, the oscillations in the structure of a tower crane of rotation during the pivoting movement to be reduced and to simplify the configuration of the control device, it is provided that the system - parameters in the form of the natural frequency (f_Suitable) as well as the damping rate (ζ) of the crane system (10) during the operation can be automatically calculated and that the control signal (v_Should) as an active speed - reference profile (v_Should) from the operator in real time signal (s_Bed) the operator as well as the calculated characteristic frequency (f_Suitable) and the damping rate (ζ) of the crane system (10) is calculated.