US 11,987,476 B2
Crane and method for controlling such a crane
Florentin Rauscher, Stuttgart (DE); Oliver Sawodny, Stuttgart (DE); and Samuel Nann, Deilingen (DE)
Assigned to LIEBHERR-WERK BIBERACH GMBH, Biberach an der Riss (DE)
Appl. No. 17/256,205
Filed by Liebherr-Components Biberach GmbH, Biberach an der Riss (DE)
PCT Filed Jun. 13, 2019, PCT No. PCT/EP2019/065497
§ 371(c)(1), (2) Date Dec. 26, 2020,
PCT Pub. No. WO2020/001991, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. 10 2018 005 068.9 (DE), filed on Jun. 26, 2018.
Prior Publication US 2021/0122615 A1, Apr. 29, 2021
Int. Cl. B66C 13/06 (2006.01); B66C 23/02 (2006.01); G05B 15/02 (2006.01)
CPC B66C 13/063 (2013.01) [B66C 23/022 (2013.01); B66C 2700/0385 (2013.01); G05B 15/02 (2013.01); G05B 2219/40043 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A crane comprising:
a hoist cable, which extends from a crane boom and carries a load-receiving means;
drive devices for moving a plurality of crane elements and displacing the load-receiving means;
a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path; and
a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU; and
second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;
wherein the first determining means comprises:
a complementary filter having a highpass filter configured to filter the rotation rate signal of the IMU; and
a lowpass filter configured to filter the acceleration signal of the IMU or a signal derived therefrom;
wherein the complementary filter is configured to link with one another:
an estimate of the tilt of the load-receiving means that is based on the highpass filtered rotation rate signal; and
an estimate of the tilt of the load-receiving means that is supported by acceleration and that is based on the lowpass filtered acceleration signal; and
wherein the complementary filter is further configured to determine the determined and/or estimated tilt of the load-receiving means from the linked estimates of the tilt of the load-receiving means supported by the rotation rate and by the acceleration.