DE102015208577A1 - Method for controlling a kink mast in a large manipulator - Google Patents

Abstract

The invention relates to a method for controlling a buckling mast (22) in a large manipulator, for example in a truck-mounted concrete pump. The large manipulator comprises a chain of at least two mast arms (1 to 5), which are assembled on hinges about a preferably horizontal articulated axis (A to E), by means of a respective drive unit (34 to 38) arranged in the region of one of the hinges with respect to an adjacent mast arm or Mastbock be swiveled or held in accordance with a user specification in a working space under movement of the articulated mast (22). The articulated mast (22) forms a vibratory system, which is superimposed during operation, an undesirable vibration movement, which is reduced at least one selected mast position by engaging at least one of the drive units. It should be noted that an outer mast arm containing a selected mast position in the region of its located on a mast arm located further inside the pivot joint on the vibration movement of the articulated mast a base movement is generated. A special feature of the invention is to detect the basic motion motion sensor and implement in a controlled rotational movement of the outer mast arm relative to the farther inside mast arm, whereby the selected mast position, such. B. the mast top (33) is kept quiet on a specified in accordance with the user specification location of the working space.

Description

The invention relates to a method for controlling a kink mast in a large manipulator, which has a chain of at least two mast arms assembled on hinges about a preferably horizontal kink axis, which by means of one arranged in the region of one of the hinges drive unit relative to an adjacent mast arm or mast bracket in accordance with a user default in a work space with movement of the articulated mast pivoted or held, the articulated mast forms a vibratory system, which is superimposed during operation an undesirable vibration movement, which is reduced at least one selected mast position by engaging at least one of the drive units.

The articulated mast of a large manipulator of this type is by its construction an elastically oscillatory system that can be excited to natural oscillations. In the case of a concrete pump with articulated mast and guided over the articulated mast concrete delivery line is a vibrational excitation z. B. by the pulsating operation of a piston pump for the concrete promotion and by the resulting periodic acceleration and deceleration of the crowded by the delivery line concrete column possible.

As a result, the concrete can no longer be evenly distributed and the worker carrying the end hose is endangered. This is all the more true as developments in the field of calculation methods for such machines are increasingly making use of lightweight construction. As a result, the arms become longer and narrower, ie softer in their vibration behavior. Therefore, the tendency for vibrations z. B. also from traversing movements. Due to the sometimes very large boom lengths have such oscillations, especially in the area of the mast tip large amplitudes. The positioning accuracy decreases and the endangerment of workers working in the area of the mast top increases. In order to avoid this, in a known concrete pump with articulated mast ( DE-A 195 03 895 ) proposed the use of a position control loop which is to stabilize the level of the mast top with respect to a fixed horizontal reference plane within a predetermined range of variation. It has been shown that the necessary control technology is quite complex and does not always lead to the desired results. The Armbewegungssensorik used for the regulation in the area of the mast tip only responds when the movement is already running, so if it is too late. It can thus be achieved so that no sufficient quality control. To avoid this, a purely control vibration damping has already been proposed, in which determined on at least one of the drive units or the associated boom a derived from the mechanical vibration of the respective boom time-dependent variable, evaluated in an evaluation unit to form a dynamic damping signal and the associated Actuator driving actuator is connected as a disturbance. Although this type of vibration damping leads to an effective stiffening of the joints and thus to a reduction of the vibration movement. An immobilization of the mast top of the kink mast is not possible with it.

Proceeding from this, the present invention seeks to develop a method with which a high control quality immobilization of the mast top of a kink mast during operation is possible.

To solve this problem, the feature combination specified in claim 1 is proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

The solution according to the invention is based primarily on the idea of solution that a basic movement is impressed on the outer mast arm containing the selected mast position in the area of its pivot joint located on a further inner mast arm via the oscillatory motion of the articulated mast, that the base movement is detected metrologically and in a controlled rotational movement of the outer mast arm relative to the farther inside mast arm is implemented by which the selected mast position is kept quiet at a specified in accordance with the user specification location of the working space. Since the vibration amplitudes must be calmed, especially at the free end of the articulated mast, it is proposed according to an advantageous embodiment of the invention that the selected mast position containing outer mast arm in the region of his located on the next inner mast arm swivel base imprinted and detected by measurement. As a selected mast position, the mast top is preferably used on the outermost mast arm of the articulated mast. In principle, it is possible for the tip of a farther inside, for example the second outermost mast arm of the articulated mast, to be used as the selected mast position.

In a frequently used mast configuration, it is advantageous if the mast arm containing the selected mast position has a horizontally oriented alignment component in the working space, the base being moved substantially vertically and the selected mast position being held steady at a predetermined height in the working space. In a further advantageous mast configuration, the mast arm containing the selected mast position, when operating in the work space, has a vertical alignment component in its longitudinal direction, the base being moved substantially horizontally, and the selected mast position being held steady by the mast trestle at a predetermined horizontal distance. According to a preferred embodiment of the invention, the time-dependent basic movement is detected by measurement via an acceleration sensor and evaluated using a dual integrator and optionally a filter to form a time-dependent path signal.

Control technology, it is advantageous if at the selected mast position containing mast arm, especially in the area of the rotary joint measured a rotation angle and there compared with a given in accordance with the instantaneous value of a path signal of the base movement target angle to form a compensation angle is compared, and if the compensation angle as Control deviation is used in a control circuit for determining a time-dependent desired torque acting on the mast arm via the drive unit, which tracks the mast arm containing the selected mast position while immobilizing the selected mast position.

Usually, a double-acting hydraulic cylinder is used to drive the articulated arms. In this case, the drive unit has a in the region of the rotary joint via a predetermined joint kinematics between the mast arm containing the selected mast position and the further inner mast arm extending linear drive in the form of a double-acting hydraulic cylinder. The piston of the hydraulic cylinder is acted upon by a cylinder force resulting from the instantaneously measured bar-side and bottom-side pressures and the associated active surfaces. In this case, a setpoint force is calculated from the instantaneous rotation angle and the time-dependent torque via a transfer function of the joint kinematics. This is compared with the instantaneous cylinder force to form a compensating force which tracks, via a regulator, the mast arm containing the selected mast position while immobilizing the selected mast position.

Alternatively, in the case of a linear drive in which the drive unit has a in the region of the pivot joint via a predetermined joint kinematics between the current mast position containing the mast arm and the mast arm extending further inside, double-acting hydraulic cylinder, according to the invention provided that the time-dependent length of the cylinder - Plunger unit of the hydraulic cylinder measured and compared with a predetermined in accordance with the instantaneous value of the path signal desired length to form a compensation length. The compensation length is used as a control deviation in a controller which tracks the mast arm containing the selected mast position while immobilizing the selected mast position.

Advantageously, a PID controller or a sliding mode controller is used in such a control loop. Such a controller expediently includes a mathematical model of the kinematics and dynamics of the mast arm containing the selected mast position, which is used to computationally determine the movement of the selected mast position in response to the base motion. For this purpose, in contrast to the sensors used in the earlier methods, a vanishing processing time is required in the region of the boom arm, which benefits the control quality. The mathematical model advantageously utilizes the mass, length, and moment of inertia of the mast arm containing the selected mast position, performing a time-dependent motion on its base in the manner of an elongated rigid or elastically bending body under the action of gravity and any inertial forces.

Advantageously, it is also possible that an outer and an inner mast arm each having a selected mast position, that these mast arms are brought into an operating position in which they are bent at an angle to each other and excited with approximately perpendicular to each other embossed base movements, wherein the base movements sensed motion and are implemented in controlled rotational movements of the associated mast arms, by which the selected mast positions are kept quiet at a respective defined by the user default location of the working space. Advantageously, this procedure is applied to the outermost and the next inner mast arm, which can then perform a combined vertical and horizontal movement, which lead to an immobilization in both directions.

Basically, it is possible that mast arms, which are arranged on the articulated mast within the at least one of the selected mast positions having outer mast arm, receive during operation an undesirable mechanical vibration imparted sensory to produce a derived from the vibration of the respective mast arms measurement and in an evaluation are converted to a disturbance, which is switched to the purpose of vibration damping respectively on the mast arms associated drive unit. In this case, therefore, the controlled vertical and / or horizontal movement of the outer mast arms of the buckling mast is additionally damped by acting on the inner mast arms Störgrößenaufschaltung. If a double-acting hydraulic cylinder is used as drive unit in the case of feedforward control, which is acted upon by a proportional valve with pressure oil, it is advantageous if a pressure reading is determined at the rod and bottom end of the hydraulic cylinder, wherein the pressure readings in the evaluation unit taking into account Area ratio on the bottom and rod side of the hydraulic cylinder to form the aufzuschaltenden disturbance are compared.

A preferred embodiment of the invention provides that is used as articulated mast a distribution boom designed as a concrete pump large manipulator whose mast arms carry a leading to the mast top, preferably opening into an end hose delivery line. In principle, it is possible that one of the boom arms of the buckling mast is also designed as a telescopic arm. As a result, the length of such a mast arm as variable variable is included in the mathematical modeling of the kink mast.

In the following the invention will be explained in more detail with reference to the embodiments schematically illustrated in the drawing. Show it

1 a side view of trained as a truck concrete pump large manipulator with folded articulated mast;

2 the truck-mounted concrete pump 1 with articulated mast in working position;

3 a scheme for the transformation of geodesic (earth-fixed) angle measurements in kink mast related angle readings;

4a to c different Armkonstellationen a five-armed articulated mast in working position;

5a and b is a schematic of the end arm of the moving base buckling mast and angle compensation in a joint with and without a deflection chain;

6 a scheme for the geometric angle compensation at two joints;

7 a block diagram of a device for immobilizing the end arm of the buckling mast using a Ausgleichswinkelregelkreises;

8th a control circuit for calming the mast top by controlled tracking of the compensation angle via sliding-mode control;

9 one opposite 8th modified control loop for calming the mast tip by controlled tracking of the length of the cylinder-piston unit of the drive cylinder.

In the 1 and 2 shown truck concrete pump includes a chassis 11 , a z. B. designed as a two-cylinder piston pump thick matter pump 12 as well as a concrete distributor 14 as a carrier for a concrete delivery line 16 , About the concrete delivery line 16 is by means of the slurry pump 12 Liquid concrete in a hopper 17 is introduced continuously during concreting, to a location of the chassis 11 remote concreting point 18 promoted. The concrete distributor 14 consists of a by means of a hydraulic rotary drive 19 around the vertical axis H rotatable mast block 21 and a tilting mast pivotally mounted thereon 22 , The articulated mast 22 has in the embodiment shown five pivotally interconnected boom arms 1 to 5 on which are parallel to each other at right angles to the vertical axis H aligned axes A, B, C, D, E pivotable. The bending angles α ₁ to α ₅ ( 2 ) of the articulated joints formed by the bending axes A to E and their arrangement with each other are coordinated so that the articulated mast 22 with the out 1 apparent, a multiple folding corresponding space-saving transport configuration on the chassis 11 can be stored. By activation of drive units 34 to 38 , which are individually assigned to the buckling axes A to E, is the mast top 33 of articulated mast 22 at different distances r and / or heights h between the vehicle location and the concreting 18 movable. The operator controls by means of a wireless remote control 50 the mast movement, through which the mast top 33 with the end hose 43 is passed over the area to be concreted. Like from the 4a until c can be seen, depending on the bending angle between the individual boom arms different Mastarmkonfigurationen can be set. The end hose 43 has a typical length of 3 to 4 m and, because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its exit end from a hose man in a favorable position to the concreting site 18 being held.

Out 2 it turns out that on each mast arm 1 to 5 a geodesic angle sensor 44 to 48 (Space Angle Sensor SAS) for the determination of the individual fattening arms 1 to 5 assigned earth-fixed angle measured values ε _ν (see 3 ) is arranged rigidly. Another geodetic angle sensor 49 is located at the mast stand 21 , With this, an inclination of the vertical axis H with respect to the vertical and thus also an inclination of the chassis 11 opposite the ground 56 be measured. The angle sensors 44 to 48 replace the buckling-axis angle encoders provided with conventional articulated mast controls.

How out 3 As can be seen, can be in the stationary state, the articulation axes based articulation angle _α ν from the geodetic angle sensors 44 to 48 calculate certain earth-fixed angles ε _{ν of} the mast arms ν = 1 to 5 as follows: α _ν = εν - Σν - 1 / j - 1α _j for ν> 1 and α ₁ = ε ₁ for ν = 1, (1) wherein the Aufstellneigung was assumed to be zero. The geodesic angle sensors 44 to 49 are expediently designed as responsive to the gravity of the earth inclination angle sensor. Because the angle sensors 44 to 48 on the fattening arms 1 to 5 are arranged outside the bending axes A to E, their measured values contain additional information about the bending of the Mastarmkette. Furthermore, the measured values also contain the information about the inclination to pitch and a deformation in the substructure, which is provided by the additional angle sensor 49 at the mast stand 21 or on the chassis 11 can be separated.

The remote control 50 contains at the in 7 in the form of a block diagram shown embodiment, at least one remote control element designed as a control lever 60 , in three main operating directions with the delivery of control signals 62 can be adjusted back and forth. The control signals 62 be over a radio link 64 to a vehicle-mounted radio receiver 66 transmitted, the output side to a computing unit 70 connected. The arithmetic unit 70 contains software modules 74 . 76 . 78 over which the remote control 50 received control signals 62 (φ, r, h) and those of the geodesic angle sensors 44 to 48 received measurement signals 82 (ε _ν ) interpreted, transformed and via a command variable controller 84 and further, described in more detail below control units in a downstream signal generator 88 in actuation signals for the drive units 34 to 38 (Actuators) of the bending axes A to E are implemented. In the embodiment shown, the output signals of the remote control device 60 in the three main operating directions "forward / backward tilt" for setting the radius r of the mast top 33 from the axis of rotation H of the fattening trestle 21 , "Right / left tilt" to turn the mast 21 by the angle φ of the rotation axis H and "right / left rotation" to adjust the height h of the mast top 33 above the concreting area 18 interpreted. The deflections of the remote control organ 60 in the respective direction are converted via an unillustrated interpolator into speed signals.

The software module called "transformation routine" 74 has the task of transforming the incoming control signals (nominal values) interpreted as cylindrical coordinates φ, r, h into predetermined time clocks, into angular signals φ, α _Sν at the vertical axis H and the bending axes A to E. Each bending axis A to E is transformed within the transformation routine 74 controlled by software using a predetermined swing-and-swing characteristic so that the articulated joints move in harmony with each other in terms of travel and time. The control of the redundant degrees of freedom of the articulated joints thus takes place according to a preprogrammed strategy, with the self-collisions between the boom arms 1 to 5 can be excluded in the movement.

The geodesic angle sensors 44 to 48 Measure the instantaneous earth-fixed angle ε _ν in a given time _cycle and transmit the measured values to the arithmetic unit 70 , The measured values ε _ν are in the software module 76 converted into the _buckling angle actual values α _iν .

In principle, it is also possible to provide satellite-controlled GPS position sensors on the mast arms instead of the geodesic angle sensors. The position values thus measured can be obtained as actual values via a suitable transformation routine 76 convert into the bending angle α _iν and in the same way as the earth- _fixed angle _{measured values} ε _ν with the arithmetic unit 70 evaluate.

The articulated mast 22 forms a vibratory system that is excitable to vibrations. In the case of a concrete pump, vibration excitation occurs both through the pulsating operation of the piston pump 12 and the resulting periodic acceleration and deceleration through the delivery line 16 crowded concrete column, as well as by movements of the mast arms 1 to 5 that the user uses the remote 50 causes. The larger the boom length, the greater the amplitudes of such vibrations, especially in the area of the mast top 33 , The positioning accuracy decreases and the endangerment of the hose man increases. In the following embodiments, therefore, it is particularly about the calming of the vibration in the area of the mast top 33 , The invention is based on the recognition that a selected mast position 33 containing outer mast arm 5 in the area of his next inner mast arm 4 located about the pivoting movement of the articulated mast E 21 a basic movement is imprinted. This basic movement is by means of a preferably as an acceleration sensor 52 trained motion sensor detected and in a controlled rotational movement of the outer mast arm 5 opposite the next inner mast arm 4 implemented. This is z. B. possible, the mast top 33 to keep quiet as a selected mast position at a location of the work space determined according to the user's specification.

To illustrate this fact is in 5a the calm mast top 33 on the end arm 5 of the kink-mast 22 according to 4a to c, whose base in the region of the joint E to the adjacent mast arm 4 performs a vertical movement s, which without the regulation according to the invention to a vibrational movement in the mast top 33 would lead. The solution idea is evidently that the basic movement s in every moment motion sensor, for example by means of an acceleration sensor 52 captured and the end arm 5 is placed in a controlled rotational movement about the hinge axis E. The latter is based on a mathematical model for the movement of the end arm 5 with the mass m, the moment of inertia J and the length l, due to which the angular coordinate θ ₁ on θ ₂ is corrected so that the mast tip 33 is kept quiet at the place specified by the user specification of the work space. This results in that at each position s of the base E of the end arm a compensation angle Δθ = θ ₁ -θ ₂ (2) determined and by appropriate variation of the torque M and thus the cylinder force F of the hydraulic cylinder 38 trained linear drive unit for a controlled tracking of the end arm 5 is used. With L is the instantaneous length of the cylinder-piston unit of the hydraulic cylinder 38 designated.

For the following control considerations, see 5a by way of example, it is shown that the base moves from s = s _SOLL = 0 to s = s _IST . The angle θ ₁ in this case can be regarded as the user default θ _SOLL . In order to calculate the correct angle θ ₂ , Δθ must be determined according to the above relationship. Δθ is referred to as the compensation angle resulting from the following relationship:

In 5b is this related to 5a explained principle of the angle compensation again with additional consideration of existing in the region of the articulated joint E mechanical deflection 54 clarified. The starting position of the vibrations is in the upper part, whereas in the lower part in solid lines the desired position of the mast arm 5 with angular compensation and in dashed lines the theoretical position of the mast arm 5 shown without angle compensation. Including the next inner mast arm 4 in the mathematical modeling of the Mastarmbewegung, basically the motion sensorically determined acceleration value s .. the base movement and outside of the joint E of the end arm 5 be measured.

At the in 5a and b treated embodiments, the articulated mast is arranged so that the end arm 5 from the last joint E to the top of the mast 33 extends substantially horizontally. In this Case, taking into account a substantially vertical movement base position s, especially an immobilization of the mast top 33 at height h above the ground 56 be brought about.

In principle, it is also possible that the distance r of a selected mast position 33 to the mast 21 balanced and thus made quiet, if the master arm concerned 5 hangs down and the movement sensory detected base performs a movement with a horizontal component. How out 6 can be seen, an angle compensation in two joints is possible, which, taking into account the substantially horizontal and vertical movement of the eligible joints D and E leads to a height and a distance compensation of the mast top. At the in 6 embodiment shown is the immobilization of the mast top 33 in the direction of the vibration 58 by F _E and the immobilization in the direction of the vibration 59 influenced by F _D.

• – In der Transformations-Routine 74 wird für jeden Arm ν der Gelenkwinkel α_sν als Sollwert berechnet, welcher über den Führungsgrößenregler 84 eingestellt wird.
• – In der Transformations-Routine 76 werden die über die Positionssensoren 44 bis 48 gemessenen geodätischen Winkel ε_ν umgerechnet in die knickachsbezogenen Winkel α_iν, die über eine Filterroutine 78 dem Regelvergleicher 80 zugeführt und dort mit den ankommenden Sollwerten α_sν verglichen werden.
• – An dem Signalgeber 88 werden die notwendigen Fahrsignale für die Mastarme ausgegeben, um den Führungsgrößen 85 aus dem Führungsgrößenregler 84 zu folgen. Zusätzlich wird zur Beruhigung der Schwingung an der Mastspitze die über den Signalgeber 88 an dem als Hydraulikzylinder 38 ausgebildeten letzten Aktuator übertragenen Führungsgröße 85 mit einem ein nachstellendes Drehmoment M erzeugenden Ausgleichswinkel Δϑ beaufschlagt. Hierzu befindet sich bei dem in 7 gezeigten Ausführungsbeispiel am gelenkseitigen Ende des letzten Mastarms ein Beschleunigungssensor 52, dessen Ausgangsgröße s .._IST in einer Filter- und Integrationsroutine 90 zur Weggröße s_IST umgerechnet und gemäß Gleichung (3) in der Berechnungsroutine 92 mit dem Sollwert s_SOLL unter Bildung des Ausgleichswinkels Δϑ verknüpft wird.
• – In 7 ist die Ausgleichswinkelberechnung nur für den letzten Mastarm 5 angedeutet. Wie aus 6 ersichtlich ist, kann in Erweiterung von 7 auch eine Ausgleichswinkelregelung für zwei oder mehrere Mastarme D und E durchgeführt werden. Die Ausgleichswinkelregelung benötigt dann nur noch eine geeignete Regelungstechnik, deren Regelkreise sich in 7 im Signalgeber 88 befinden und die in den nachstehenden 8 und 9 für zwei Ausführungsvarianten dargestellt sind.

To come back to the one in the block diagram according to 7 shown control arrangement is summarized as the via the remote control 50 set user default from the angle of rotation φ, the radius r and the height h of the mast top 33 is converted into a calm mast position:

• - In the transformation routine 74 For each arm ν, the joint angle α _sν is calculated as the setpoint, which is _{controlled by the reference variable controller} 84 is set.
• - In the transformation routine 76 become the over the position sensors 44 to 48 measured geodesic angle ε _ν converted into the kink axis-related angle α _iν , via a filter _routine 78 the rule comparator 80 supplied and compared there with the incoming setpoint values α _sν .
• - At the signal generator 88 the necessary driving signals for the mast arms are output to the reference variables 85 from the reference variable controller 84 to follow. In addition, to calm the vibration at the top of the mast, the signal generator 88 on the as hydraulic cylinder 38 trained last actuator transferred command variable 85 is acted upon by a compensating angle Δθ generating a readjusting torque M. This is located at the in 7 shown embodiment at the joint end of the last boom arm an acceleration sensor 52 whose output s .. _IS in a filter and integration routine 90 to the displacement s _IS converted and according to equation (3) in the calculation routine 92 with the setpoint s _{SOLL is} linked to form the compensation angle Δθ.
• - In 7 is the compensation angle calculation only for the last master arm 5 indicated. How out 6 can be seen in extension of 7 Also, a compensation angle control for two or more arms D and E are performed. The compensation angle control then only needs a suitable control technology whose control circuits are in 7 in the signal generator 88 and in the following 8th and 9 are shown for two variants.

In the schematic diagrams after 8th and 9 The simple-edged fields refer either to a computational model in terms of a transfer function or to a regulatory level, while the doubly edged fields refer to default values or physical metrics. The index i or is indicates the current actual value of a measured variable, while the index s or is intended to mean a nominal value of a controlled variable or a variable calculated from this.

The control loop 100 to 8th refers to a compensation angle control using a sliding mode controller 112 , The box 110 means the specification of the user via the remote control 50 , This results in the changes of the joint angle θ _SOLL and the corresponding changes in the base position s _SOLL resulting from the output signal of an acceleration sensor arranged in the region of the base of the relevant boom arm 52 is derived. In the stage 111 is calculated the compensation angle Δθ, which is necessary so that the selected position of the mast top 33 is kept quiet. The calculation is based on the rigid body model according to equation (3). The measured values of the base position s _IST and of the associated angle θ _IST required for determining the control deviation e _θ result from measurements on the relevant boom arm 5 according to level 114 of the control loop. According to the embodiment 8th is the control deviation e _θ as input to a sliding mode controller 112 supplied with skillful selection of certain control parameters and the current measured values θ _IS , s _IST with a stored mathematical model of the boom 5 a controlled target torque M _SOLL for the joint system 113 Determines what is needed after the model calculation, for the reassurance of the mast top 33 desired target angle θ _SET set. The positioning system joint 113 comprises a model the kinematic system, the θ from the desired torque M _Soll and the current joint angle _IS on the transfer function 121 calculates the cylinder force F _{SOLL to} be applied. In addition, the control system contains joint 113 a regulator 122 , via the variable passage openings Q1, Q2 in the electrically controlled with the current I pilot valves 124 a force F _IST , which is to apply the hydraulic cylinder for tracking adjusts. The force F _IST results from the bottom-side and rod-side pressure measured values p ₁ , p ₂ taking into account the Piston area ratio 123 in the hydraulic cylinder 125 , From the actual force F _IST on the hydraulic cylinder 125 results in an actual moment M _IST on the mast arm 132 considering the real joint kinematics 131 that is a movement of the masthead 132 causes, so that the desired joint angle θ _actual adjusts. On the real mast arm 132 is also the instantaneous base acceleration s .. with an acceleration sensor 52 measured. The acceleration is in a filter 136 filtered and in two integrators 137 and 138 integrated twice and from this the current base position s _is determined, so that in the control loop stage 111 in turn, the instantaneous compensation angle Δθ can be determined for further tracking of the mast top. How out 8th can be seen becomes the real arm 132 In addition, the acceleration ü at the top of the mast, for example with the aid of an accelerometer 53 measured and filtered 133 and two integrators 134 and 135 converted into a position _signal u _IST . With the thus calculated position of the mast top and _IS can be checked whether the actual behavior of the articulated mast 22 corresponds to the desired behavior. If the deviation is too great, the sliding-mode control can be deactivated for safety reasons or u _{IST can be used} as a further controlled variable (see dashed signal path between the stages) 114 and 112 of the control loop).

At the in 9 shown control loop 200 it is a modified embodiment of a compensation angle controller, which in essential components with the compensation angle controller 100 to 8th matches. The numbers of the reference numerals of corresponding components of the control loop are in 9 across from 8th by the amount 100 elevated. An essential distinguishing feature of the second embodiment is that the length L of the cylinder-piston unit of the hydraulic cylinder 38 measured with a distance or distance sensor and based on the geometric constellation within the joint (see. 4 and 5 ) is associated with the angle θ and thus also with the angular deviation Δθ. In this case, the output variable L _SOLL results in the transfer function 212 within the control system 213 the cylinder force F _IS . The controlled system in the positioning system joint 213 includes a regulator 222 , with the control deviation e _L = L _SOLL - L _IS to the default Q1, Q2 of the hydraulic cylinder 225 via the proportional valves 224 is provided. This structural modification is possible because between the angle θ and the length L of the cylinder-piston unit a clear relationship 212 consists. The tracking of the mast arm 5 to calm the mast top 33 with oscillating Mastarmbasis the goal of both control loop variants is after 8th and 9 ,

In connection with the 7 . 8th and 9 each became the end arm, so the last mast arm 5 of the kink-mast 22 a compensation angle control with immobilization of the mast top 33 subjected. Basically, it is possible, the method of the compensation angle control on other mast arms 1 to 4 of the kink-mast 22 apply by there is a selected position with moving base of the respective boom arm of a regulated immobilization is supplied. This is especially relevant if z. B. the last and the penultimate mast arm 5 and 4 in two different, preferably mutually perpendicular directions 58 . 59 a basic movement in the area of the selected positions should be sedated (cf. 6 ).

To further reduce the vibration of the kink mast 22 In addition to the compensation angle control of selected Mastarmpositionen is still the possibility, the rest of the mast arms in the field of their power units of a disturbance variable in the sense of the European patent EP 1 537 282 B1 (See there in particular 4 ) to undergo. The Störgrößenaufschaltung in the drive unit of a mast arm causes the joint in question is stiffened without it comes to a targeted immobilization of a selected Mastarmposition, such as the mast top. With such a combination of control measures, it must be ensured that the compensation angle control and the feedforward control are always carried out on different boom arms within the distributor boom.

In summary, the following should be noted: The invention relates to a method for controlling a kink mast 22 in a large manipulator, for example in a truck-mounted concrete pump. The large manipulator comprises a chain of at least two mast arms assembled at swivel joints about a respective preferably horizontal bending axis A to E. 1 to 5 , by means of a respective one arranged in the region of one of the rotary joints drive unit 34 to 38 relative to a neighboring mast arm or girder in accordance with a user specification in a working space under movement of the kink mast 22 be pivoted or held. The articulated mast 22 forms a vibratory system, which is superimposed during operation an undesirable vibration movement, which is reduced or damped at least one selected mast position by engagement of at least one of the drive units. It should be noted that an outer mast arm containing a selected mast position in the region of its located on a mast arm located further inside pivot joint on the vibrational motion of the articulated mast a base movement is generated. A special feature of the invention is the basic movement detect movement sensor and implement in a controlled rotational movement of the outer mast arm relative to the farther inside mast arm, whereby the selected mast position is kept calm at a specified in accordance with the user specification location of the working space. The most important application is that the outer mast arm containing the selected mast position 5 in the area of his at the next inner mast arm 4 the base movement is impressed and metrologically detected and that as a selected mast position the mast top 33 at the outermost pole 5 of the kink-mast 22 is used.

LIST OF REFERENCE NUMBERS

1 to 5

mast arms

11

chassis

12

Slurry pump

14

concrete distributor

17

feed container

16

Concrete conveying line

18

concretizing

19

rotary drive

21

boom base

22

articulated mast

33

mast top

34 to 38

Drive units (hydraulic cylinders)

43

end hose

44 to 49

angle sensors

50

remote control

52

accelerometer

54

Umlenkkette

56

ground

58

vibration direction

59

vibration direction

60

Remote control member

62

control signal

64

radio link

66

radio receiver

70

computer unit

74, 76, 78

software modules

74

transformation routine

78

filter routine

80

usually comparator

82

measuring signal

84

Reference variable controller

85

command variable

88

signaler

90

integration routine

92

calculation routine

100

Control loop (compensation angle controller)

110

user default

112

Sliding mode controller

113

Actuation system joint

114

Control circuit stage (real master arm)

121

transfer function

122

regulator

123

Piston area ratio

124

pilot valve

125

cylinder

131

joint kinematics

132

mast arm

133, 136

filter

134, 135, 137, 138

integrator

200

loop

212

transfer function

213

Actuation system joint

210

user default

222

regulator

224

proportional valve

225

cylinder

A to E

Knickachsen (swivel joints)

F

cylinder force

H

Vertical axis (rotation axis)

H

height

I

amperage

J

moment of inertia

L

Length (cylinder-piston unit)

l

Length (mast arm)

M

torque

m

Dimensions

r

Distance (distance)

s

Base position (time-dependent)

s ..

Basic movement (acceleration value)

Q1, Q2

Passage openings (proportional valve)

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19503895 A [0003]
• EP 1537282 B1 [0043]

Claims (19)

Method for controlling a kink mast ( 22 ) in a large manipulator, which comprises a chain of at least two mast arms (in each case connected to swivel joints about a substantially horizontal bending axis (A to E)) (US Pat. 1 to 5 ), which by means of a respective arranged in the region of one of the rotary joints drive unit ( 34 to 38 ) with respect to an adjacent mast arm or girder in accordance with a user specification in a work space with movement of the kink mast ( 22 ) are pivoted or held, the articulated mast ( 22 ) forms a vibratory system to which an undesirable oscillating motion is superimposed during operation, which is reduced at at least one selected mast position by engagement of at least one of the drive units, characterized in that the selected mast position ( 33 ) containing outer mast arm ( 5 ) in the region of its on a more inward mast arm ( 4 ) is imposed on the pivot joint (E) via the oscillatory motion of the articulated mast base movement, that the base movement detected by measurement and in a controlled rotational movement of the outer mast arm ( 5 ) opposite the farther inside mast arm ( 4 ) is implemented, by which the selected mast position on one in accordance with the user specification ( 110 . 210 ) location of the work space is kept quiet. A method according to claim 1, characterized in that the outer mast arm containing the selected mast position ( 5 ) in the region of its at the next inner mast arm ( 4 ) located pivot joint (E) imprinted the base movement and is detected by measurement. A method according to claim 1 or 2, characterized in that as a selected mast position, the mast top ( 33 ) on the outermost mast arm ( 5 ) of the buckling mast ( 22 ) is used. Method according to one of claims 1 to 3, characterized in that as a selected mast position, the tip on the second outermost mast arm (D) of the articulated mast ( 22 ) is used. Method according to one of claims 1 to 4, characterized in that the mast arm containing the selected mast position ( 4 . 5 ) has in operation in the working space a horizontal alignment component in its longitudinal direction that the base is moved substantially vertically and that the selected mast position at a predetermined height (h) is kept quiet in the working space. Method according to one of claims 1 to 5, characterized in that the mast arm containing the selected mast position when operating in the working space has a vertically in its longitudinal alignment component, that the base is moved substantially horizontally and that the selected mast position at a predetermined horizontal distance (r ) from the mast stand ( 21 ) is kept quiet. Method according to one of claims 1 to 6, characterized in that the time-dependent base movement (s ..) via an acceleration sensor ( 52 ) is metrologically detected and evaluated using a dual integrator and optionally a filter to form a time-dependent path signal (s _IST ). Method according to one of claims 1 to 7, characterized in that at the selected mast position containing mast arm, in particular in the region of the rotary joint a rotation angle (θ _IST ) measured and there with a given the instantaneous value of a path signal (s _actual ) predetermined target angle (θ _SOLL ) of the base movement to form a compensation angle (Δθ) is compared, and that the compensation angle (Δθ) as a control error in a control circuit for determining a via the drive unit on the mast arm ( 5 ) engaging time-dependent desired torque (M _SOLL ) is used, which tracks the mast arm containing the selected mast position while immobilizing the selected mast position. A method according to claim 8, characterized in that the drive unit in the region of the rotary joint (E) via a predetermined joint kinematics ( 131 ) between the mast arm containing the selected mast position ( 5 ) and the farther inside mast arm ( 4 ) extending, double-acting hydraulic cylinder ( 38 ) whose piston is acted upon by a cylinder force (F _IST ) resulting from the instantaneously measured rod-side and bottom-side pressures and the associated effective surfaces, that from the instantaneous rotational angle (θ _IST ) and the time-dependent torque (M _SOLL ) via a transfer function ( 121 ) of the joint kinematics a desired force (F _SOLL ) is calculated, which is compared with the instantaneous cylinder force (F _IST ) to form a compensating force (e _F ), which over a controller ( 122 ) the mast arm containing the selected mast position ( 114 ) following immobilization of the selected mast position. Method according to one of Claims 1 to 7, characterized in that the drive unit has a double-acting hydraulic cylinder (in the region of the pivot joint, via a predetermined joint kinematics between the mast arm containing the instantaneous mast position and the mast arm extending further inwards. 225 ), the time-dependent length (L _IST ) of which is measured and compared with a _desired length (L _SOLL ) given in accordance with the instantaneous value of the displacement signal (s _IST ) to form a compensation length (e _L ), and in that the compensation length (e _L ) as a control deviation in a controller ( 222 ) tracks the mast arm containing the selected mast position while immobilizing the selected mast position. Method according to one of claims 7 to 10, characterized in that the controller is designed as a PID controller. Method according to one of claims 7 to 10, characterized in that the controller as a sliding-mode controller ( 112 ) is trained. Method according to claim 12, characterized in that in the regulator ( 112 ) a mathematical model of the kinematics and dynamics of the mast arm containing the selected mast position ( 5 ) is provided, which is used to determine the movement of the selected mast position in dependence on the base movement (s ..). A method according to claim 13, characterized in that the mathematical model, the mass, the length and the moment of inertia of the selected mast position containing, at its base a time-dependent movement (s ..) exporting mast arm in the manner of an elongated rigid or under the action of Gravity and any inertial forces elastically bending body includes. Method according to one of claims 1 to 14, characterized in that an outer and inner mast arm each having a selected mast position, that these mast arms are brought into an operating position in which they are bent at an angle to each other and excited with approximately perpendicularly aligned embossed base movements be detected, the basic movements are motion-sensed and implemented in controlled rotational movements of the associated mast arms, by which the selected mast positions are kept quiet at a respective location defined by the user of the working space. Method according to one of claims 1 to 15, characterized in that mast arms, which are arranged on the articulated mast within the at least one of the selected mast positions having outer mast arm, during operation, an undesirable mechanical vibration is impressed, the sensory generating a vibration of the mast arms derived measured variable detected and converted into an evaluation unit in a disturbance, which is switched for the purpose of vibration damping respectively to the respective mast arms associated drive unit. A method according to claim 16, characterized in that a double-acting hydraulic cylinder is used as drive unit, which is acted upon by a proportional valve with pressure oil, that at the rod and bottom end of the hydraulic cylinder, a pressure reading is determined, the pressure readings in the evaluation unit, taking into account the area ratio be compared with each other on the bottom and rod side of the hydraulic cylinder to form the aufzuschaltenden disturbance. Method according to one of claims 1 to 18, characterized in that a distributor mast of a large manipulator designed as a concrete pump is used as articulated mast whose mast arms carry a leading to the mast top, preferably in an end hose opening conveyor line. A method according to claim 18, characterized in that at least one of the mast arms is designed as a telescopic arm.

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