DE60113777T2 - Verfahren und System zum Steuern eines Auslegers - Google Patents

Verfahren und System zum Steuern eines Auslegers Download PDF

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Publication number
DE60113777T2
DE60113777T2 DE60113777T DE60113777T DE60113777T2 DE 60113777 T2 DE60113777 T2 DE 60113777T2 DE 60113777 T DE60113777 T DE 60113777T DE 60113777 T DE60113777 T DE 60113777T DE 60113777 T2 DE60113777 T2 DE 60113777T2
Authority
DE
Germany
Prior art keywords
boom
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60113777T
Other languages
English (en)
Other versions
DE60113777D1 (de
Inventor
Heikki Handross
Janne Kovanen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
John Deere Forestry Oy
Original Assignee
John Deere Forestry Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by John Deere Forestry Oy filed Critical John Deere Forestry Oy
Application granted granted Critical
Publication of DE60113777D1 publication Critical patent/DE60113777D1/de
Publication of DE60113777T2 publication Critical patent/DE60113777T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41166—Adaptive filter frequency as function of oscillation, rigidity, inertia load
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45046—Crane

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
DE60113777T 2000-07-18 2001-07-11 Verfahren und System zum Steuern eines Auslegers Expired - Lifetime DE60113777T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20001682A FI109349B (fi) 2000-07-18 2000-07-18 Menetelmä puomin ohjaamiseksi ja puomin ohjausjärjestelmä

Publications (2)

Publication Number Publication Date
DE60113777D1 DE60113777D1 (de) 2006-02-16
DE60113777T2 true DE60113777T2 (de) 2006-06-14

Family

ID=8558793

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60113777T Expired - Lifetime DE60113777T2 (de) 2000-07-18 2001-07-11 Verfahren und System zum Steuern eines Auslegers

Country Status (4)

Country Link
US (1) US6553278B2 (de)
EP (1) EP1174384B8 (de)
DE (1) DE60113777T2 (de)
FI (1) FI109349B (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019121628B3 (de) * 2019-08-12 2020-08-20 Franka Emika Gmbh Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last

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US7133689B2 (en) 2002-09-12 2006-11-07 Interdigital Technology Corporation Method and system for adjusting downlink outer loop power to control target SIR
US6994223B1 (en) * 2002-10-29 2006-02-07 Auto Crane Company Diagnostic readout for operation of a crane
US7426423B2 (en) * 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance
JP4023749B2 (ja) * 2003-08-05 2007-12-19 新東工業株式会社 クレーン及びそのコントローラ
JP4647325B2 (ja) 2004-02-10 2011-03-09 株式会社小松製作所 建設機械の作業機の制御装置、建設機械の作業機の制御方法、及びこの方法をコンピュータに実行させるプログラム
KR100559296B1 (ko) 2004-03-22 2006-03-15 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 유압실린더의 진동 제어방법
US7385946B2 (en) 2004-06-03 2008-06-10 Nokia Corporation Service based bearer control and traffic flow template operation with mobile IP
US7386377B2 (en) * 2005-04-07 2008-06-10 Sorensen David I Vehicle and equipment monitoring apparatus
FI122885B (fi) * 2005-05-30 2012-08-31 John Deere Forestry Oy Metsäkoneen suorituskyvyn mittausjärjestelmä
US7278262B2 (en) * 2005-06-03 2007-10-09 Board Of Control Of Michigan Technological University Control system for suppression of boom or arm oscillation
US20080038106A1 (en) * 2005-10-05 2008-02-14 Oshkosh Truck Corporation Mobile lift device
US7489098B2 (en) 2005-10-05 2009-02-10 Oshkosh Corporation System for monitoring load and angle for mobile lift device
US7296404B2 (en) 2005-12-12 2007-11-20 Husco International Inc. Apparatus for controlling deceleration of hydraulically powered equipment
US8386133B2 (en) * 2007-02-21 2013-02-26 Deere & Company Automated control of boom and attachment for work vehicle
US8036797B2 (en) * 2007-03-20 2011-10-11 Deere & Company Method and system for controlling a vehicle for loading or digging material
TWI444939B (zh) * 2008-01-10 2014-07-11 Univ Nat Taiwan 工程吊車之模擬系統及其方法
ITTO20090100A1 (it) * 2009-02-11 2010-08-12 Merlo Project S R L Con Unico Soci O Veicolo comprendente un braccio di sollevamento e relativo metodo di controllo dei sovraccarichi dinamici
US8272521B1 (en) * 2009-10-05 2012-09-25 Auto Crane Company Crane moment load and load delivery system control and method
NO337712B1 (no) * 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
US8666574B2 (en) * 2011-04-21 2014-03-04 Deere & Company In-vehicle estimation of electric traction motor performance
US10647560B1 (en) * 2011-05-05 2020-05-12 Enovation Controls, Llc Boom lift cartesian control systems and methods
ITTO20120350A1 (it) * 2012-04-20 2013-10-21 Cormach Srl Metodo e sistema per il controllo di una gru, in particolare di una gru su autocarro articolata telescopica.
CN103318765B (zh) * 2013-06-21 2015-01-07 林汉丁 吊重摆角、吊重载荷或吊重姿态的监测方法与装置及起重机
US9913437B2 (en) 2015-04-10 2018-03-13 Deere & Company Velocity-based control of end effector
US10480541B2 (en) 2017-07-06 2019-11-19 Deere & Company Intelligent boom control with rapid system cycling
US10844572B2 (en) 2018-04-25 2020-11-24 Deere & Company Method of controlling movement of an intelligent boom
JP7293795B2 (ja) * 2019-03-27 2023-06-20 株式会社タダノ クレーンの制御方法およびクレーン
EP3725727A1 (de) * 2019-04-18 2020-10-21 Deere & Company Steuerungssystem für einen kran einer arbeitsmaschine, verfahren und arbeitsmaschine
CN110103256A (zh) * 2019-06-06 2019-08-09 广东科佩克机器人有限公司 一种可自保护的工业机器人及方法
EP4310045A1 (de) * 2022-07-19 2024-01-24 Volvo Construction Equipment AB Bedienerassistenzsystem, arbeitsmaschine und verfahren zum aufheben oder verstärken von schwingungen

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US3624783A (en) * 1970-06-12 1971-11-30 Santa Fe Int Corp Motion control system
US4395904A (en) * 1979-05-18 1983-08-02 Ivanov Gely M Device for damping oscillations
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
FI862627A0 (fi) * 1986-06-19 1986-06-19 Fiskars Ab Oy System foer reglerande av en krans hastighet.
US4804896A (en) * 1987-09-30 1989-02-14 University Of Lowell Vibratory interference sensor
US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
JPH01304511A (ja) * 1988-06-02 1989-12-08 Seiko Instr Inc サーボ制御装置
US5117992A (en) * 1991-01-28 1992-06-02 Virginia International Terminals, Inc. System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway
US5617515A (en) * 1994-07-11 1997-04-01 Dynetics, Inc. Method and apparatus for controlling and programming a robot or other moveable object
US5598090A (en) * 1995-07-31 1997-01-28 Caterpillar Inc. Inductive joystick apparatus
US5960969A (en) * 1996-01-26 1999-10-05 Habisohn; Chris Xavier Method for damping load oscillations on a crane
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6371214B1 (en) * 1999-06-11 2002-04-16 Caterpillar Inc. Methods for automating work machine functions

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019121628B3 (de) * 2019-08-12 2020-08-20 Franka Emika Gmbh Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last

Also Published As

Publication number Publication date
EP1174384B8 (de) 2005-12-07
US20020008075A1 (en) 2002-01-24
FI20001682A0 (fi) 2000-07-18
EP1174384A1 (de) 2002-01-23
FI20001682A (fi) 2002-01-19
DE60113777D1 (de) 2006-02-16
EP1174384B1 (de) 2005-10-05
US6553278B2 (en) 2003-04-22
FI109349B (fi) 2002-07-15

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Legal Events

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8364 No opposition during term of opposition
8328 Change in the person/name/address of the agent

Representative=s name: DERZEIT KEIN VERTRETER BESTELLT