SIEMENS
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Siemens CR 1 · 2015
3
SIMOCRANE Advanced Technology
SIMOCRANE Sway Control
■
Function
SIMOCRANE Sway Control System
The SIMOCRANE
Sway
Control
System is based on calculations
of a mathematical oscillation model. When a camera is used, the
parameters hoisting height, swing angle and rotation angle are
determined by means of optical contact-free measurement, and
are incorporated in the calculation model. If the measuring sig-
nal of the camera fails, only the states of the model are used.
Damping of the load is performed by influencing the traversing
speed for each axis individually. When using the position control
the defined positions are automatically approached with sway
control after enabling. The axis is controlled in such a way that
the load sway is eliminated not only when the maximum speed
is reached, but also at the target position. All swaying resulting
from the travel motion is largely eliminated. If a camera is also
used, swaying resulting from external forces – such as inclined
lift or wind – can be almost completely compensated.
Operating modes
The following operating modes and functions are available for
the general application areas:
• Manual mode (
MAN
)
• Positioning (
POS
)
•
Sway neutralization
- Load position (
SNL
1)
)
- Trolley position (
SND
2)
)
•
Trim, list and skew control (
TLS
)
• Skew damping
• Semi-automatic mode (
SAM
)
The mode is selected (depending on the functional scope) by
the PLC by setting the appropriate operation mode bit.
Manual mode (MAN)
In the manual mode, the speed is specified manually from a
higher-level controller. The trolley is accelerated or decelerated
to the set speed in such a way that the load sway has been elim-
inated when the set speed is reached.
Sway control is active in manual mode either throughout the
complete traverse, or only during a halt.
Positioning (POS)
In the positioning mode, the higher-level controller or the internal
setpoint encoder can specify a target position for each individ-
ual axis. This position is approached automatically after en-
abling. The axes are controlled in such a way that the load sway
is eliminated not only when the maximum speed is reached, but
also at the target position. The direct path between the current
position and the target position must be free of obstacles.
Sway neutralization (SNL/SND)
The sway neutralization mode (only for the version with camera)
is used to eliminate swaying movements of the load from stand-
still.
Sway neutralization is linked to a positioning function. The target
position is either the current trolley position (
SND
) or the load
position (
SNL
) at the time the sway neutralization is activated.
Sway neutralization results in slight travel movements to both
sides of the target position.
The position of the load is acquired by the camera measuring
system.
Trim, list and skew control (TLS control)
TLS control controls the trim, list and skew positions of a
spreader.
The TLS control function assumes that
•
the length or
•
the pivot points
of the 4 support cables of a spreader can be adjusted by hy-
draulic cylinders, or an additional electric drive with the aid of
the camera.
1)
SNL: Sway neutralization load position
2)
SND: Sway neutralization position
© Siemens AG 2015