Liebherr-werk Nenzing Gmbh

Schott Ag

Liebherr-werk Nenzing Ges.m.b.h

Klaus Schneider

Oliver Sawodny

Sebastian Kuechler

Joerg Neupert

Eckard Arnold

Johannes Karl Eberharter

Martin Amann

Ulf Schaper

Jörg Neupert

Mathias Schneller

Marco Sonderegger

Thomas Kloss

Gerhard Lautenschlaeger

Josef Kaspar Schmid

Wilhelm Kraeutler

Eckhard Arnold

Karl Lukas Knierim

Wilhelm Kräutler

Martin Rajek

Harald Aschemann

Sandra Von Fintel

Jürgen Sonderegger

Tobias Mahl

Sebastian Kuchler

Conrad Sagert

Andreas Scheidl

Axel Burkhardt

Alexander Hildebrandt

Karl Langer

Jörg Kümpel

Cristina Tarin-Sauer

Eberhard P Hofer

Arnold Eckard

Juergen Sonderegger

Sebastian Küchler

Oliver Prof Dr-Ing Sawodny

Oliver Prof Sawodny

Eugen Di Schobesberger

Oliver Dr-Ing Sawodny

Sebastian Di Küchler

Jörg Dipl-Ing Neupert

Helmut Di Fischer

Oliver Professor Dr-Ing Sawodny

The present disclosure relates to a method for the control and/or the data acquisition of a crane, wherein at least one measuring device at the crane supplies one or more measured values for determining the position of at least one load lifting device, in particular a crane hook, wherein a calculation of the position of the load lifting device is effected on the basis of the one or more measured values of at least one measuring device and one or more data characterizing the stiffness of the crane. The present disclosure also relates to a crane controller and a crane for carrying out the method according to the present disclosure.

Crane and method for crane control

The present invention comprises a method for the control of a drive of a crane, in particular of a slewing gear and/or of a luffing mechanism, wherein a desired movement of the boom tip serves as an input value on the basis of which a control parameter for the control of the drive is calculated, characterized in that the oscillation dynamics of the system comprising the drive and the crane structure are taken into account in the calculation of the control parameter to reduce natural oscillations. The present invention furthermore comprises a method for the control of a hoisting gear of a crane, wherein a desired hoisting movement of the load serves as an input value on the basis of which a control parameter for the control of the drive is calculated.

Methods for controlling a drive of a crane

The present invention relates to a hydraulic system with a feed pump for feeding hydraulic fluid, wherein the feed pump is driven by a hydraulic drive motor. The invention furthermore comprises a method for feeding hydraulic fluid into a hydraulic system via a feed pump, wherein the feed pump is driven by a hydraulic drive motor.

Hydraulic system

The present disclosure relates to a crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, with an active heave compensation which by actuating the hoisting gear at least partly compensates the movement of the cable suspension point and/or of a load deposition point due to the heave, and an operator control which actuates the hoisting gear with reference to specifications of the operator, wherein the division of at least one kinematically constrained quantity of the hoisting gear is adjustable between heave compensation and operator control.

Crane controller with division of a kinematically constrained quantity of the hoisting gear

The present disclosure relates to a method for controlling the orientation of a crane load, wherein a manipulator for manipulating the load is connected by a rotator unit to a hook suspended on ropes and the skew angle &#x3b7;L of the load is controlled by a control unit of the crane, characterized in that the control unit is an adaptive control unit wherein an estimated system state of the crane system is determined by use of a nonlinear model describing the skew dynamics during operation.

Method for controlling the orientation of a crane load and a boom crane

The present disclosure shows a crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, with an active heave compensation which by actuating the hoisting gear at least partly compensates the movement of the cable suspension point and/or a load deposition point due to the heave, wherein the heave compensation takes account of at least one constraint of the hoisting gear when calculating the actuation of the hoisting gear.

Crane controller with drive constraint

The present invention relates to a crane control apparatus for a crane where a load is suspended on a crane cable from a cable suspension point of the crane, comprising an observer for estimating at least the position and/or velocity of the load from at least one sensor input of a first sensor by using a physical model of the load suspended on the crane cable, whereby the physical model of the observer uses the load position and/or the load velocity as a state variable.

Crane control apparatus

The disclosure includes a safety method for the lifting and/or transporting of a common load using a plurality of cranes, comprising the steps: determining of possible damage incidents for movement vectors of the cranes; activation of an alarm function if predetermined movement vectors result in damage incidents and/or limitation of the movement vectors used for the control of the cranes to those movement vectors which do not result in damage incidents in any of the cranes. Furthermore, a corresponding control method as well as a safety system and a control system are provided.

Safety and control method for cranes

The present disclosure shows a crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, wherein the crane controller has a cable force mode in which the crane controller actuates the hoisting gear such that a setpoint of the cable force is obtained.

Crane controller with cable force mode

The present disclosure relates to a system for determining the load mass of a load carried by a hoist cable of a crane, said system comprising a measurement arrangement for measuring the cable load in the hoist cable and a calculation unit for determining the load mass on the basis of the cable force, wherein the calculation unit has a compensation unit which describes and at least partly compensates the effect of the indirect determining of the load mass via the cable force in a model.

System for determining the load mass of a load carried by a hoist cable of a crane

The present invention relates to a crane for handling a load hanging on a load cable, comprising a slewing gear for rotating the crane, a luffing gear for luffing up the boom, and a hoisting gear for lowering or lifting the load hanging on the load cable, with a control unit for calculating the actuation of slewing gear, luffing gear and/or hoisting gear, wherein the calculation of the actuation commands for actuating slewing gear, luffing gear and/or hoisting gear is effected on the basis of a desired movement of the load indicated in Cartesian coordinates.

Crane for handling a load hanging on a load cable

The present invention relates to a system for the automatic detection of load cycles of a machine for the transferring of loads, wherein the machine includes a lifting apparatus for the raising of the load and a transport apparatus for the horizontal movement of the load, comprising: a load change detection for the automatic detection of a load change at least on the basis of the output signals of a lifting force measurement apparatus, a load position detection which detects the position of the load in at least a horizontal direction and a load cycle detection for the automatic detection of a load cycle, wherein the load cycle detection takes place at least on the basis of the output signals of the load change detection and of the load position detection. In accordance with the invention, the load cycle detection stores the position of the load as the load pick-up point when a positive load change was recognized and evaluates the positive load change as the start of a new load cycle on the basis of a query as to whether the load has been moved a predetermined distance from the load pick-up point in the horizontal.

System for the automatic detection of load cycles of a machine for the transferring of loads

The present invention relates to a crane control for the control of a hoisting gear of a crane which takes account of oscillation dynamics based on the elasticity of the hoist rope on the control of the hoisting gear and reduces them by a suitable control of the hoisting gear.

Crane control for the control of a hoisting gear of a crane

The present invention represents a procedure for compensating the heave movement of offshore cranes. The dynamic model of the compensation actuator (hydraulically operated winch) and the load hanging on a rope are derived. Based on this model, a path-tracking control unit is developed. To compensate the movement of the ship/watercraft caused by waves, the heave movement is defined as a time-varying disturbance and is analyzed with respect to uncoupling conditions. With a model expansion, these conditions are satisfied, and an inversion-based uncoupling control law is formulated. To stabilize the system, an observer is used for reconstructing the unknown state by means of a force measurement. Furthermore, the compensation efficiency can be improved by predicting the heave movement. There is proposed a prediction method in which no ship/watercraft models or properties are required. The simulation and measurement results validate the heave compensation method.

Crane control with active heave compensation

The present invention relates to a hydraulic drive system for driving an apparatus, with a drive unit, a first and a second hydraulic displacement machine, with which the drive unit is connectable or connected for transmitting mechanical energy, and a third and a fourth hydraulic displacement machine, which are connectable or connected with the apparatus for transmitting mechanical energy, wherein the first hydraulic displacement machine is hydraulically connected or connectable with the third hydraulic displacement machine, and wherein a high-pressure accumulator is provided, which is hydraulically connected or connectable with the second and the fourth hydraulic displacement machine.

Hydraulic drive system

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Hergatz, Germany

Klaus Schneider