Crane or excavator for handling a cable-suspended load provided with optimised motion guidance
First Claim
1. Crane or excavator for the transaction of a load, which comprises:
- a) a load cable for carrying the load,b) a turning mechanism for the rotation of the crane or excavator,c) a seesaw mechanism for the erection or incline of an extension arm andd) a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system,said crane or excavator being further characterized bye) a track control system (31), including a control system (41) for optimized movement and guidance of the load, the control system (41) comprising an optimized control function based on an optimization of control parameters for providing an optimal control trajectory,wherein said control function dynamically calculates time functions for control voltages for moving the load with minimized oscillation amplitudes, andwherein said control parameters include;
i) a plurality of set points as input values for describing a pre-determined position and orientation of the load at one or more load positions along said calculated trajectory from an initial starting point to an end point, andii) feedback from at least one status variable.
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Accused Products
Abstract
The invention refers to a crane or excavator for the transaction of a load, which is carried by a load cable with a turning mechanism for the rotation of the crane or excavator, a seesaw mechanism for the erection or incline of an extension arm and a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system. The crane or excavator has, in accordance with the invention, a track control system, whose output values are entered directly or indirectly as input values into the control system for position or speed of the crane or excavator, whereas the set points for the control system in the track control are generated in such a way that a load movement results from it with minimized oscillation amplitudes.
25 Citations
20 Claims
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1. Crane or excavator for the transaction of a load, which comprises:
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a) a load cable for carrying the load, b) a turning mechanism for the rotation of the crane or excavator, c) a seesaw mechanism for the erection or incline of an extension arm and d) a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system, said crane or excavator being further characterized by e) a track control system (31), including a control system (41) for optimized movement and guidance of the load, the control system (41) comprising an optimized control function based on an optimization of control parameters for providing an optimal control trajectory, wherein said control function dynamically calculates time functions for control voltages for moving the load with minimized oscillation amplitudes, and wherein said control parameters include; i) a plurality of set points as input values for describing a pre-determined position and orientation of the load at one or more load positions along said calculated trajectory from an initial starting point to an end point, and ii) feedback from at least one status variable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. Crane or excavator for the transaction of a load, which comprises:
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a) a load cable for carrying the load, b) a turning mechanism for the rotation of the crane or excavator, c) a seesaw mechanism for the erection or incline of an extension arm and d) a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system, said crane or excavator being further characterized by e) a track control system (31), including a control system (41) for optimized movement and guidance of the load, the control system (41) comprising an optimized control function based on an optimization of control parameters for providing an optimal control trajectory, wherein said control function dynamically calculates time functions for control voltages for moving the load with minimized oscillation amplitudes, and wherein said control parameters include; i) a plurality of set points as input values for describing a pre-determined position and orientation of the load at one or more load positions along said calculated trajectory from an initial starting point to an end point, and ii) feedback from at least one status variable. - View Dependent Claims (20)
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Specification