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1

Minimization of oscillations of the tower crane slewing mechanism in the steady-state mode of trolley movement

Loveikin Viatcheslav S., Romasevych Yuriy O., Korobko Mykola M., Liashko Anastasia P., Loveikin Andriy V.

Archive of Mechanical Engineering

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2023

|

LXX, nr 3

367--385

EN

In the present study, the problem of optimization of the motion mode of the tower crane's slewing mechanism in the steady-state mode of trolley movement is stated and solved. An optimization criterion, which includes the RMS values of the drive torque and the rate of its change over time, is minimized. The optimization is carried out taking into account the drive torque constraints, and under the specified boundary conditions of motion. Three optimization problems at different values of the weight coefficients are solved. In the first problem, priority is given to the drive torque, in the third – to the rate of the drive torque change, and in the second problem, the significance of both components is assumed equal. The optimization problems are nonlinear, thus a VСT-PSO method is applied to solve them. The obtained optimal start-up modes of the crane slewing mechanism eliminate pendulum load oscillations and high-frequency elastic oscillations of the tower. Most of the kinematic, dynamical, and power parameters at different values of the weight coefficients are quite close to each other. It indicates that the optimal modes of motion are significantly influenced by the boundary conditions, optimization parameters, and constraints

2

New crane bumper design with an energy absorption device system

Haniszewski Tomasz, Margielewicz Jerzy, Gąska Damian, Opasiak Tadeusz

Transport Problems

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2022

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T. 17, z. 3

5--16

EN

This article presents research carried out using physical data from the experimental construction of an overhead crane. This article aims to determine the dynamic behaviour of the cart-pendulum system when the hoisting mechanism hits the new bumper design at the end of the girder support structure with selected speed and bumper material to the length of the wire rope. This research shows the influence of the horizontal speed of the hoisting mechanism on the bumper force during a collision with a standard buffer and its modifications. The presented model can be the basis for modelling more complex cases, and its assumed role (i.e. the ability to determine the angle of deflection of the rope during an impact) has been confirmed and is possible to use in a specific case of an overhead crane on an industrial scale. Preliminary analysis of the construction of the bumper considered reveals its positive features, aiming, among other goals, to reduce the acceleration and force acting on the crane cart in emergency situations.

3

Optimization of the trolley mechanism acceleration during tower crane steady slewing

Loveikin Viatcheslav S., Romasevych Yuriy O., Loveikin Andriy V., Korobko Mykola M.

Archive of Mechanical Engineering

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2022

|

LXIX, nr 3

411--429

EN

The article describes optimization of the process of acceleration of the tower crane trolley movement mechanism during the steady mode of the slewing mechanism. A mathematical model of the boom system of the tower crane was used for the optimization of the trolley movement. The model was reduced to a sixth-order linear differential equation with constant coefficients, which represents the relationships between the drive torque and the coordinate of the load and its time derivatives. Non-dimensional complex criterion (objective function), which takes into account the drive torque and its rate of change in time during the transient process, was developed to optimize the mode of the trolley movement mechanism. Based on that, a variational problem was formulated and solved in an analytical form in which root-mean-square (RMS) values of the quantiles were applied. A complex optimal mode of acceleration of the trolley movement mechanism was obtained and compared with the modes optimized based on different criteria. Advantages and disadvantages of the solutions were discussed based on the analysis of the obtained optimal modes of motion. The analysis revealed low- and high-frequency elements oscillations of the trolley movement mechanism during the transient processes. The conditions for their elimination were formulated.

4

Genetic programming based identification of an overhead crane

Kusznir Tom, Smoczek Jarosław

Journal of KONBiN

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2021

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Vol. 51, iss. 3

123-133

EN

Overhead cranes carry out an important function in the transportation of loads in industry. The ability to transport a payload quickly and accurately without excessive oscillations could reduce the chance of accidents as well as increase productivity. Accurate modelling of the crane system dynamics reduces the plant-model mismatch which could improve the performance of model-based controllers. In this work the simulation model to be identified is developed using the Euler-Lagrange method with friction. A 5-step ahead predictor, as well as a 10-step ahead predictor, are obtained using multi-gene genetic programming (MGGP) using input-output data. The weights of the genes are obtained by using least squares. The results of 15 different genetic programming runs are plotted on a complexity-mean square error graph with the Pareto optimal solutions shown.

PL

Suwnice pomostowe pełnią istotną funkcję w transporcie technologicznym w różnych obszarach przemysłu. Podniesienie wydajności i zapewnienie bezpiecznej realizacji zadań transportowych przez suwnice wymaga zastosowania skutecznych układów sterowania. Opracowanie dokładnego modelu dynamiki suwnicy jest istotnym elementem projektowania systemu sterowania, w szczególności sterowania predykcyjnego. W niniejszej pracy wykorzystano programowanie genetyczne MGGP oraz metodę najmniejszych kwadratów do identyfikacji modeli predykcji pozycji i kąta wychylenia ładunku przemieszczanego przez suwnicę. W rezultacie przeprowadzonych badań uzyskano modele 5- i 10-krokowej predykcji dla modelu suwnicy wyprowadzonego z równań Eulera-Lagrange’a. Wyniki poddano analizie wielokryterialnej z uwzględnieniem złożoności modelu i błędu średniokwadratowego w celu wyznaczenia rozwiązania optymalnego w sensie Pareto.

5

Crane control system using exoskeleton based on programmable logic technology

Ziętek Ryszard, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

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2020

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nr 63 (135)

77-83

EN

In this paper, a mini-crane control system using an exoskeleton based on programmable logic technology is presented. The first stage was to identify the parameters of the mini-crane and exoskeleton sub-assemblies. Then, individual crane and exoskeleton control subsystems were designed based on cascade regulation. The final stage was to connect these subsystems into the master-slave control system using the manipulator’s kinematics equations. Parallel processing was used to minimize delays in the control system. Analysis of the results showed that the difference between the set and measured crane position was small.

6

Energy consumption and energy efficiency improvement of overhead crane’s mechanisms

Kosucki Andrzej, Stawiński Łukasz, Malenta Piotr, Zaczyński Jakub, Skowrońska Justyna

Eksploatacja i Niezawodność

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2020

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Vol. 22, no. 2

323--330

EN

The article presents the numerical investigation of the overhead crane’s energy consumption. The analysis is based on the hybrid model of the crane consisting of numerical model of drive mechanisms as bridge, trolley, hoist and also experimentally measured power consumption of each control unit. The numerical model was verified experimentally on the real crane. The investigation focuses on analyzing the energy consumption of the overhead crane in relation both to the travelled distance and also for the lifting and lowering heights of a suspended payload. Particular attention was paid on the cases straightly related to the hoist, as a main factor of improvements in the energetic efficiency of the overhead crane. Energy consumption was investigated for a variety of magnitudes of transported mass.

PL

W artykule przedstawiono badania symulacyjne energochłonności pracy suwnicy pomostowej. Podstawą badań jest model hybrydowy bazujący na numerycznych modelach mechanizmów mostu, wózka i wciągarki oraz na eksperymentalnie zmierzonym zapotrzebowaniu mocy dla układu sterowania. Model numeryczny został zweryfikowany na rzeczywistej suwnicy. W pracy przedstawiono analizę energochłonności mechanizmów jazdy w zależności od pokonanej drogi, jak również mechanizmu podnoszenia w zależności od wysokości podnoszenia i opuszczania ładunku. Zwrócono szczególną uwagę na mechanizm wciągarki, jako na główny czynnik poprawy efektywności energetycznej. Energochłonność została zbadana dla różnych mas transportowanego ładunku.

7

Monitoring geodezyjny ułożenia kół jezdnych suwnicy: tolerancje – metodyka pomiaru – instrumentarium

Bryś Henryk, Ćmielewski Kazimierz

Przegląd Geodezyjny

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2019

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R. 91, nr 11

9--12

PL

Autorzy przedstawiają w pracy metodę wyznaczania ułożenia kół jezdnych mostu suwnicy z zastosowaniem elektronicznego przyrządu pomiarowego oraz tachimetru z wiązką laserową. Pomiar geometrii ustawienia kół z zastosowaniem laserowej płaszczyzny referencyjnej rejestrowany jest na laptopie z aplikacyjnym programem. Przyrząd znalazł zastosowanie w praktyce geodezyjnej. Pomiary testowe wykazały, że możliwe do uzyskania odchylenie standardowe pomiarów z kilku powtarzalnych kolejnych przyłożeń i odczytów wynosi: Sx,y ≤ +/- 0,1 mm.

EN

The authors present in the works a method of determining the position of crane road wheels using an electronic device and a total station with a laser beam. The geometry measurements the roads of the crane wheels using the reference collimation plane is recording in the laptops memory. The electronic device was used in geodetic practice. Test measurements have shown that the achievable standard deviation is Sx,y ≤ +/- 0,1 mm.

8

The vision technique concept support crane safety exploitation process

Hyla Paweł, Szpytko Janusz

Journal of KONBiN

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2019

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Vol. 49, iss. 4

37--47

EN

The issue of ensuring safety in the crane operation process is the subject of standards and regulations: the aim is to apply solutions aimed at ensuring the health and safety of users of cranes and the work environment. The subject of the paper is the concept of using vision technology in ensuring the safety of overhead travelling type cranes. Using a camera based vision system in conjunction with dedicated sensors, it is possible to build a system for monitoring the degradation process of selected crane operating parameters and conditions of use in a specific dynamically changing environment, as well as the operator's characteristics. Using the developed standards of safe use of the crane, it is possible to generate safe behaviors resulting in the device being immobilized or the potential hazard being evaporated.

PL

Zagadnienie zapewnienia bezpieczeństwa w procesie eksploatacji dźwignic jest przedmiotem norm i przepisów: celem jest stosowanie rozwiązań ukierunkowanych na zapewnienia zdrowia i bezpieczeństwa użytkowników urządzeń dźwignicowych oraz środowiska pracy. Przedmiotem artykułu jest koncepcja zastosowania techniki wizyjnej w zapewnieniu bezpieczeństwa eksploatacji suwnic pomostowych. Z użyciem systemu kamer w połączeniu ze specjalistycznymi czujnikami możliwa jest budowa systemu nadzorowania procesu degradacji wybranych parametrów eksploatacyjnych dźwignicy oraz warunków użytkowania w określonym zmiennym dynamicznie otoczeniu, a ponadto właściwości operatora. Standardy bezpiecznego procesu użytkowania dźwignicy umożliwiają generowanie zachowań bezpiecznych skutkujących unieruchomieniem urządzenia lub odparowaniem potencjalnego zagrożenia.

9

Geometry and flatness of m-crane systems

Nowicki M., Respondek W., Piasek J., Kozłowski K.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2019

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Vol. 67, nr 5

893--903

EN

We propose a class of m-crane control systems that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.

10

The problem of evaluating the expiration of the service life of the supporting structure of secondhand cranes

Rosochacki Włodzimierz

Archives of Transport

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2019

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Vol. 49, iss. 1

37--45

EN

The right to safety of purchased goods is one of the most important consumer rights. Therefore, an accurate analysis of safety of machinery and equipment purchased on the secondary market is an extremely important issue. One of its elements should be the assessment of the degree of service live usage. In the case of cranes, the subject of such an assessment covers both the supporting structure of the device and its mechanisms and installations. Information on evaluation of the service life expiration of the secondhand cranes may be necessary and support the decision-making process associated with the purchase of the device. The paper deals with the problem of evaluating the expiration of the service life of the supporting structure of cranes coming from the secondhand market. The result of such evaluation makes it possible to determine whether the production capacity of a device has been exhausted. This forms the basis for the decisions on any possible further operation of the crane. The work presents an approach based on the provisions of standard ISO 12482: 2014. This document is the basis for service life evaluation for cranes. The approach presented in it makes the way of analysis dependent on the method used to collect operational data. In this paper the evaluation of service life expiration was prepared on the example of a ship to shore gantry cranes. These devices are characterized by particularly large dimensions and weight. Damage of their supporting structure can lead to the significant losses. Some of these devices change the location during operation. Therefore, it is important to know the current level of their service life usage. A case, in which the operational history of a device is not known, was considered. In the paper the special attention was paid to the methodology of estimating the load distribution coefficient. In order to describe the hypothetical load spectrum, triangular distribution was proposed. The results of the calculations for the structure of port cranes are presented and discussed.

11

Reliability analysis of crane lifting mechanism

Faltinová E., Mantič M., Kuľka J., Kopas M.

Zeszyty Naukowe. Transport / Politechnika Śląska

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2018

|

z. 98

15--26

EN

This paper focuses on a reliability analysis of various structural variants of a crane lifting mechanism. The reliability of such a mechanism is a basic requisite for the safe operation of the crane as a whole. The article analyses and jointly evaluates structural solutions for the lifting mechanism in a bridge crane, in order to emphasize the technical aspects of system reliability in this context.

12

Technologie i urządzenia do naprawy nawierzchni kolejowej. Żurawie kolejowe

Ploch J.A., Sitarz M.

TTS Technika Transportu Szynowego

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2018

|

R. 25, nr 1-2

61--63

PL

Zapewnienie sprawnego i bezpiecznego przewozu osób i rzeczy koleją realizowane jest przez działania, które są związane z budową infrastruktury kolejowej, prowadzonymi procesami diagnozowania, konserwacją, remontami i modernizacją. Innymi pracami związanymi z infrastrukturą kolejową są prace awaryjne związane ze zdarzeniami kolejowymi (poważny wypadek, wypadek), które wymagają specjalistycznego sprzętu i powinny być wykonane jak najszybciej z zachowaniem wszystkich zasad bezpieczeństwa. Jednym z podstawowych pojazdów pomocniczych, niezbędnych do naprawy infrastruktury kolejowej po różnych zdarzeniach kolejowych, jak również elementem pomocniczym przy jej budowie i rozbudowie, jest żuraw kolejowy. W artykule przedstawiono dwuczłonowy kolejowy pojazd specjalny, wyposażony w żuraw o udźwigu 100 t oraz podnośnik montażowo-naprawczy, o roboczym typie DK-RN100. Projekt i badania wstępne prowadzone były w ramach Programu Operacyjnego Inteligentny Rozwój na lata 2014–2020, Europejskiego Funduszu Rozwoju Regionalnego wspólnie z polskimi ośrodkami naukowo-badawczymi.

EN

Ensuring efficient and safe transport of people and goods by rail is carried out by activities that are related to the construction of railway infrastructure, with ongoing processes of diagnosis, maintenance, renovation and modernization. Other works related to the railway infrastructure are emergency work related to railway incidents (serious accident, accident) that require specialized equipment and should be carried out as soon as possible, while maintaining all safety rules. One of the basic auxiliary vehicles necessary torepair railway infrastructure after various rail events, as well as an auxiliary element in its construction and expansion is the railway crane. The article presents a two-unit railway special vehicle, equipped with a crane with a lifting capacity of 100 t and a mounting and repair lift, with a working type DK-RN100. The project and preliminary studies were conducted as part of the Intelligent Development Operational Program for 2014–2020, the European Regional Development Fund, together with Polish scientific and research centres.

13

Strength analysis of experimental crane, using proliftor 250 rope winch as an excitation of a girder

Haniszewski T.

Transport Problems

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2018

|

T. 13, z. 3

131--142

EN

The article presents the research carried out on the experimental construction of a crane, where a hoist with an AC motor without a motor control system was used as an excitation signal for the girder. The purpose of the described research is to determine the relationship between the values of the dynamic surplus factor when lifting the load with the loose rope in the initial phase of lifting and the distance of the hoist from the supporting structure. The data was obtained based on the force tests in a steel wire rope and subsequent determination of the values of stresses and deflections accompanying the selected test cases for different positions of the vibration inductor using the FE method.

14

Selected aspects involved in the optimization of cranes with pivoting booms

Chwastek S.

Technical Transactions

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2018

|

Vol. 115, iss. 4

159--171

EN

Certain crane operations – hoisting/lowering the payload connected to a slewing jib – require a nonlinear description to take Euler and Coriolis forces into account, the impacts of which should already be minimised at the stage of selection of the system parameters and mechanism structure. Optimal sets of parameters for the crane mechanisms thus obtained were optimised for the full range of slewing motion. It is demonstrated that the selection of the geometric dimensions of the structural elements of the hoisting mechanisms, i.e. the slewing system and counterbalances, enables the horizontal track error load to be minimised whilst the forces acting on the mechanism and inducing its vertical movement can be reduced. Thus, for the assumed lifting capacity and distance jaunt we get the structure of the crane mechanism that guarantees the minimal consumption of energy.

PL

Niektóre operacje żurawi: podnoszenie/opuszczanie ładunku połączone ze zwodzeniem wysięgnika wymagają nieliniowego opisu, biorąc pod uwagę siły Eulera i Coriolisa, których wpływ powinien być minimalizowany już na etapie doboru struktur i parametrów mechanizmów. Uzyskane w ten sposób optymalne zestawy parametrów mechanizmów żurawia zostały zoptymalizowane dla pełnego zakresu ruchu zwodzenia. Jak wykazano w pracy, poprzez właściwy dobór wymiarów geometrycznych elementów konstrukcji żurawia tworzących mechanizmy linowe: wypadu i przeciwwagi możliwe jest uzyskanie minimum błędu prostowodności poziomej toru ładunku oraz minimalizacja sił w mechanizmie zwodzenia. W efekcie dla założonych: udźwigów i odległości wypadu otrzymujemy struktury mechanizmów żurawia gwarantujące najmniejsze zapotrzebowanie energii.

15

Wybrane zagadnienia z prac Grupy Roboczej ds. Maszyn przy Komisji Europejskiej – wprowadzanie do obrotu i oddawanie do użytku maszyn

Rajewski P.

Napędy i Sterowanie

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2018

|

R. 20, nr 4

86--88

PL

Dyrektywa maszynowa 2006/42/WE podaje zasadnicze wymagania dotyczące ochrony zdrowia i bezpieczeństwa o ogólnym zastosowaniu. Podczas procesu oceny zgodności, wynikiem którego jest udowodnienie zgodności z odpowiednimi zasadniczymi wymaganiami dyrektywy maszynowej oraz potwierdzenie tego poprzez naniesienie oznakowania CE na maszynę, istotną rolę pełnią normy zharmonizowane z dyrektywą, w szczególności normy typu C.

16

Experience of the Crane Steel Wire Ropes Non-Destructive Tests

Peterka Pavel, Krešák Jozef, Vojtko Marek

Advances in Science and Technology. Research Journal

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2018

|

Vol. 12, no 4

157--163

EN

The non-destructive tests (NDT) of the steel wire ropes put on the crane pulley blocks comprise more than a half of our NDT services. The intensive utilization of cranes often leads to critical situations endangering health and safety at work. The operators are forced to provide safety use of the cranes due to new cranes constructions, new construction of the block pulley and put on the new steel wire rope constructions. The NDT tests of the crane steel wire ropes are coordinate by the Standard ISO 4309. We have experienced only the crane steel wire ropes with an individual wire rope core during our NDT tests so far. The visual NDT test usually used is ineffective to the steel wire ropes with this construction. Based on our previous experience it can be confirmed that surface ruptures are produced after the disintegration of wires inside of a rope; it often leads to the rope abruption during its operation. The reduction of the pulley block dimensions often leads to the problem of the multi-axis rope bending. This kind of the rope line in the pulley block causes the increase of the fretting fatigue of the wires and the rope strands. The same type of the stress is created when the dead ends of the rope are badly constructed.

17

Preliminary modelling studies of an experimental test stand of a crane, for investigation of its dynamic phenomena of lifting and driving mechanism

Haniszewski T.

Transport Problems

|

2017

|

T. 12, z. spec.

115--126

EN

In the article, the problem of designing and preliminary tests on experimental test bench was taken into account. Proposed test stand allows us to carry out a series of studies concerning the dynamic phenomena accompanying the lifting of the load. Presented test bench allows, among other things, measurements of data such as the acceleration of selected points of the girder and also of cargo, displacement of cargo and centre of the girder, along with measurement of stress in selected locations and the coefficient of dynamic surplus. The electronic part of the test bench was made using the PHIDGET and the Arduino platform. Owing to the full miniaturization and implementation of control and measurement systems from the application level, test stand allows testing new mechanisms for implementing control algorithms and studying the influence of control parameters on the values of dynamic coefficients characterizing the selected dynamic mechanisms. Such an approach provides the possibility, among other things, of full control of the systems using a computer, and thus an immediate analysis of the data, which is extremely important in process of verification in the phenomenological model creation of the analyzed crane mechanisms. The proposed approach enables the development of existing ones and testing new design solutions in scale (experimental) and pure software solutions (analytical).

18

Udział dźwignic w bezpieczeństwie technicznym na placu budowy

Sobczykiewicz W.

Dozór Techniczny

|

2017

|

z. 3

8--13

PL

W artykule przedstawiono znaczenie problemu bezpieczeństwa technicznego eksploatacji dźwignic na tle informacji o wypadkach dotyczących żurawi samojezdnych, żurawi wieżowych, wózków widłowych, zaistniałych na terenie Polski, Anglii i USA. Pokazana została struktura przyczyn tych wypadków. Sformułowano podstawowe powody rosnącego znaczenia problemu bezpieczeństwa, podano ogólny schemat jego zapewniania, przytoczono przykłady wypadków.

EN

The author of the paper took under consideration the issue of the hoisting operational safety, based upon the data analysis on mobile cranes, cranes and forklifts accidents in Poland, England and US. The assessment of the structure and causes of accidents presented in the paper, shows the growing importance of operational safety. Publication consists comprehensive outline of the safety assurance system of the hoisting equipment.

19

Problemy posadowienia żurawia budowlanego na skarpie

Kokocińska-Pakiet E., Byrski M.

Materiały Budowlane

|

2016

|

nr 5

150--151

20

Badania magnetyczne lin dźwigowych instalowanych w szybach górniczych w aspekcie wymagań dozorowych – nowe wyzwanie diagnostyki

Kwaśniewski J., Molski Sz., Krakowski T., Ruta H.

Dozór Techniczny

|

2016

|

z. 2

20--24

PL

Wyłączane z eksploatacji kopalnie odchodzą od działalności wydobywczej na rzecz turystycznej. Chodniki dostosowywane są do spełniania funkcji tras turystycznych. Duże natężenie ruchu wymaga zastosowania urządzeń transportowych zapewniających bezpieczny i komfortowy transport. Konieczne jest też zapewnienie możliwości transportu osób niepełnosprawnych. Zakup i montaż dźwigów osobowych okazał się mniej kosztowny niż tradycyjny wyciąg szybowy przeznaczony do transportu ludzi. Dodatkowo koszt eksploatacji w dłuższym okresie może okazać się niższy ze względu na zastosowanie najnowszej generacji napędów i podzespołów. Instalowanie dźwigów w obszarach przemysłowych, w których dotychczas nie funkcjonowały, powoduje konieczność dostosowania ich wymogów związanych z dozorem, badaniami i próbami, jakim podlegają ich elementy podczas eksploatacji, do nowych warunków pracy.

EN

Mines where mining operations have ceased are often turned into tourist attractions instead of mining activities. Underground galleries and gates are adapted to meet the requirements that underground tourist routes have to satisfy. High-intensity passenger transport requires the use of reliable, safe and robust hoisting installations and the needs of disabled persons should be provided for. The purchase and installation of passenger lifts bas proved to be a less costly option than a conventional shaft hoist intended for man transport. Furthermore, in the long-term the operating costs may turn out to be lower thanks to the application of state-of-the-art. drive systems and sub-assemblies. When such lifts are installed in industrial regions where they were not present before, the requirements associated with lift supervision, inspection and testing of lift components whilst in service need to be adapted to account for the new operating conditions.