EP1772588A2 - Echelle articulée ou plate-forme mobile avec dispositif de contrôle du mouvement et dispositif d'amortissement actif de vibrations - Google Patents

Echelle articulée ou plate-forme mobile avec dispositif de contrôle du mouvement et dispositif d'amortissement actif de vibrations Download PDF

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Publication number
EP1772588A2
EP1772588A2 EP06119983A EP06119983A EP1772588A2 EP 1772588 A2 EP1772588 A2 EP 1772588A2 EP 06119983 A EP06119983 A EP 06119983A EP 06119983 A EP06119983 A EP 06119983A EP 1772588 A2 EP1772588 A2 EP 1772588A2
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Prior art keywords
ladder
cage
control
turntable
position path
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EP06119983A
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German (de)
English (en)
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EP1772588A3 (fr
EP1772588B1 (fr
Inventor
Oliver Sawodny
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Iveco Magirus AG
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Iveco Magirus AG
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    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
    • E06C5/04—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic
    • E06C5/06—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic by piston and cylinder, or equivalent means, operated by a pressure medium
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/36—Safety devices against slipping or falling of ladders; Safety devices against overloading ladders
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/44—Other accessories on ladders, e.g. acoustical signalling devices, dismountable switchboards

Definitions

  • German patent specifications DE 100 16 136 C2 and DE 100 16 137 C2 each disclose turntable ladders which are provided with command or control for moving the ladder sections.
  • vibrations of the ladder sections are prevented by feeding back at least one of the measured variables: bending of the ladder in the horizontal and vertical direction, angle of elevation of the ladder, angle of rotation, run-out length and cage mass, via a controller to the control variables for the drives.
  • a pilot control reproduces the idealised motion behaviour of the ladder in a dynamic model, based on differential equations, and calculates idealised control variables for the drives of the ladder sections, in order to enable an essentially vibration-free movement of the ladder.
  • Such turntable ladders are controlled hydraulically or electro-hydraulically by hand levers.
  • the hand lever deflection is directly converted by the hydraulic control circuit into a proportional control signal for the control block designed as a proportional valve.
  • Damping elements in the hydraulic control circuit can be used to make the movements less jerky and smoother in transition.
  • these cannot be satisfactorily adapted to the entire operating range of run-out lengths and angles of elevation.
  • this often leads to highly damped positions with sluggish response behaviour.
  • the electro-hydraulic controls firstly convert the hand lever deflection into an electrical signal which is further processed in a control device with a microprocessor.
  • the signal is damped by ramp functions so that movements of the turntable ladder or working platform are less jerky and smoother.
  • the processed electrical signal is then passed to the hydraulic proportional valve.
  • the slope of the ramp function limits the damping effect and is a measure of the response behaviour.
  • the objective of the invention is to equip a turntable ladder, having an articulated arm, with a position path control which actively damps vibrations which occur (either during movement or in the static position, e.g. through wind effects or loading changes) or guides the cage or working platform on a specified position path.
  • the position path control with active vibration damping is based on the principle of describing the dynamic behaviour of the mechanical and hydraulic systems of the turntable ladder firstly as a dynamic model based on differential equations.
  • a pilot control can be designed which, under the idealised conditions of the dynamic model, generates no vibrations of the ladder unit when moving the axes of the articulated ladder and guides the cage exactly on the specified position path.
  • additional torsional vibrations occur in the case of articulated ladders, which also have to be damped by the rotary actuation.
  • the telescopic axis of the articulated arm has to be taken into account. These additional axes must be considered in the position path planner.
  • the prerequisite for the pilot control is firstly the generation of the position path in the working area which has to be undertaken by the position path planning module.
  • the position path planning module generates the position path which is given to the pilot control in the form of time functions for the cage position, velocity and acceleration, the jerking and, if necessary, the time derivative of the jerking, from the input requirement of the reference velocity proportional to the deflection of the hand lever in the case of semi-automatic operation or target points in the case of fully automatic operation.
  • the system of pilot control and position path planning module is supported by a state controller during strong deviations from the idealised dynamic model (e.g. through disturbance). This feeds back at least one of the measured variables: angle of elevation, run-out length, angle of rotation, articulation angle, bending of the ladder in the horizontal and vertical direction or torsion respectively.
  • Fig. 1 shows the basic mechanical structure of a turntable ladder with articulated arm or the like.
  • the turntable ladder is generally mounted on a vehicle 1.
  • the ladder unit 5 can be tilted with the elevation/inclination axis 7 by the angle ⁇ A and folded with the articulation axis 8 by the angle ⁇ K .
  • the articulated arm can be extended and retracted with the telescopic articulated arm axis 10.
  • the ladder length l can be varied with the run-out/run-in axis 9.
  • the rotation axis 11 allows orientation by the angle ⁇ D about the vertical axis. In the case of a vehicle which is not standing horizontally, an undesirable additional inclination can be compensated with the level axis 13 upon rotation of the ladder unit by tilting the ladder mechanism 15 by the angle ⁇ N .
  • the turntable ladder has a hydraulic drive system 21. It consists of the hydraulic pump 33 driven by the drive motor, the proportional valve 39 and the hydraulic motors 311 and hydraulic cylinders 313.
  • the hydraulic control is generally equipped with systems with auxiliary flow rate control for the hydraulic circuits with load-sensing properties. It is essential in this case that the control voltages u StD , u StA , u StN , u StE u StK , u StT at the proportional valves are converted by the auxiliary flow rate control into proportional flow rates Q FD , Q FA , Q FN , Q FE , Q FK , Q FT in the corresponding hydraulic circuit (Fig. 3).
  • the corresponding vectors for the cage position with reference to the angle of rotation co-ordinate, to the angle of elevation co-ordinate, to the angle of articulation co-ordinate and to the run-out length and their derivatives are calculated from these pre-set variables in the position path planning module 39 or 41 (Fig. 4), as explained in detail below.
  • the function of the position path planning module 39 or 41 is the calculation of the time functions of the reference cage position, of the rotation, elevation, run-out, telescopic and articulation axes and their derivatives which are combined in the vectors ⁇ Dref , ⁇ Aref , l ref,, l Kref,, ⁇ Kref.
  • Each of these vectors comprises at most 4 components up to the 3 rd derivative (position, velocity, acceleration, jerking).
  • the reference position vectors are fed to the axis controllers 43, 45, 47, 49, 411 and 413 which hence calculate the control functions u StD , u StA , u StE , u StT, u StN , u StK for the proportional valves 39 of the hydraulic drive system 21 by evaluating at least one of the sensor values v y , v x , ⁇ x , l, l K , ⁇ A , ⁇ D , ⁇ N ⁇ K .
  • the operator pre-selects the target speeds or the destinations either via the hand lever 35 at the operating panels (semi-automatic operation) or via a target point matrix 37 which has been stored in the computer during a previous turntable ladder run (fully automatic operation).
  • the semi-automatic position path planning module (41) calculates the corresponding time functions of the reference cage position from the hand lever signals for the various directions of movement (rotation, elevation/inclination, run-in/run-out and articulation of the articulated arm) which can be taken as the target velocity for the respective axis.
  • kinematic restrictions especially the maximum velocity for each axis
  • position path planning methods which calculate in advance the entire position path to be followed are not suitable for the present application.
  • the aim of fully automatic operation is to move along a previously travelled position path as quickly as possible (possibly slowly for the purpose of avoiding collisions with obstacles) while maintaining a previously defined maximum allowed deviation.
  • a calculation of the time function by the steepness limiter 53 is adequate for semi-automatic operation.
  • the steepness limiter 53 is supplemented by a positioning loop with a proportional controller (p-controller) with variable limitation 57 (Fig. 5).
  • the difference between the target position and actual corrected reference position is amplified by the p-controller and limited to the maximum allowed velocity ⁇ D max .
  • the output of the additional feedback is then the corresponding target velocity ⁇ Dziel , which in turn forms the input of the steepness limiter 53 of the semi-automatic position path planning module (41).
  • the maximum velocity for each axis can be changed proportionally by a factor, as the limitation is variable as a function of the maximum velocity. This factor can also be use for the synchronisation of the axes and is calculated in the module 'calculation of synchronisation factors' 51.
  • the transfer to the next target point of the respective axis in the target point matrix is dependent upon the remaining distance from the actual position of the ladder to the actual target point and the maximum deviation which can occur if the next target point in the target point matrix is used as actual target position.
  • the actual ladder position is first of all converted into Cartesian co-ordinates in the co-ordinate transformation module 55.
  • the Euclidean distance to the next target point and the distance in the normal direction of a straight line from the actual position of the ladder to the next but one target position are then calculated 59. Switching occurs if both distances lie within a specified limit. The ladder thus remains within a defined corridor while travelling.
  • the time functions for the reference position of the cage in all relevant directions of motion with the mentioned derivatives are thereby available at the output of the semi-automatic position path planner as well as the fully automatic position path planner, taking into account the kinematic restrictions.
  • the output functions of the position path planning module are fed to the corresponding pilot control blocks in the form of reference cage position in the individual directions as well as their derivatives (velocity, acceleration, jerking and derivative of jerking).
  • the functions are amplified in these blocks in such a way that, as a result, position path-true travel of the ladder without vibrations ensues under the idealised assumptions/conditions of the dynamic model.
  • the basis for the determination of the pilot control gains is the dynamic model which will be derived for the individual axes in the following sections. Under these idealised conditions, the vibration of the turntable ladder is thereby eliminated and the cage follows the generated position path.
  • the pilot controls can be supplemented by corresponding state controller blocks.
  • the measured variables for the respective positions as well as for the bending and torsion of the ladder unit (and optionally their derivatives) are amplified in these blocks and fed back again to the servo input
  • the derivatives of the measured variables are generated numerically in the microprocessor control.
  • the turntable ladder or the like is not regarded as a system of large elements.
  • the entire system can be regarded as a system consisting of three point masses.
  • the system elements are thereby approximated by three equivalent masses and the elastic degrees of freedom considered as spring damper elements (see Fig. 6).
  • the method of 2 nd order Lagrange equations one obtains ten mutually independent differential equations with a total of ten degrees of freedom of the system.
  • T is a time delay constant which is determined from measurements on real systems.
  • the components of w D are weighted with the pilot control gains K VD0 to K VD2 and the total fed to the servo input.
  • the pilot control block 71 is supported by a state controller 73, as the dynamic model, as already mentioned, only abstractly reproduces the real relationships and can also react to non-deterministic disturbance (e.g. wind effects, load fluctuations in the cage, etc.) with the aid of the controller.
  • At least one of the quantities to be measured of the state vector (Equ. 28) is weighted with a control gain and fed back to the servo input. There the difference between the output value of the pilot control block 71 and the output value of the state controller block 73 is generated. The following goes into the computation of the pilot control gains in more detail.
  • Equation 35 The individual pilot control coefficients are calculated as follows.
  • the control feedback 73 is configured as state controller.
  • a state controller is characterised in that every state parameter, that is every component of the state vector x D is weighted with a control gain k iD and is fed back to the servo input of the control system.
  • the control gains k iD are combined as the feedback vector K D .
  • the dynamic behaviour of the system is determined by the position of the eigen- values of the system matrix A D , which, at the same time, are poles of the transfer function in the frequency range.
  • the eigen-values of the matrix can be determined as follows by calculating the zeros from the determinants with respect to the variables s of the characteristic polynomials. det ⁇ s ⁇ I ⁇ - A ⁇ D ⁇ 0
  • Equ. 44 and 45 respectively adopt particular zeros through the control gains k iD in order to selectively influence the system dynamics which is reflected in the zeros of this polynomial.
  • the way the poles are located is known from the calculation of the open-loop poles for the subsystem rotation (Equ. 42).
  • Equ. 42 There exists a negative real pole (conditional on the time delay constant of the hydraulics from Equ. 24) and one each of conjugated complex pole pairs conditional upon the bending and torsion.
  • the conjugated complex poles are not addressed individually but through direct access to the real and imaginary parts. In this way one can selectively influence the vibration and damping for torsion and bending of the arm by the adjustment of the controller.
  • the control coefficients are therefore a function of the real and imaginary parts of the pole.
  • the pole positions are to be chosen from Equ. 46 in such a way that the system is stable, the controller works adequately fast with good damping and the limit of the variables is not reached under the typically arising control deviations.
  • the exact values can be established before initial operation via simulation according to these criteria.
  • control gains can now be determined by comparing coefficients of the polynomials Equ. 46 and 44. det ⁇ s ⁇ I ⁇ - A ⁇ D + B ⁇ D ⁇ K ⁇ D ⁇ p D s
  • Equ. 47 there results a set of linear equations to be solved dependent on the control gains k iD .
  • the analysis of this set of equations leads to analytic expressions for the respective control gains dependent upon the desired poles from Equ. 46 and the individual system parameters. If these parameters change, as for example the angle of articulation or the run-out length, then these changes are immediately taken into account by a variation of the individual control parameters. A separate description of the individual control coefficients will be dispensed with here on account of the complexity of the individual expressions.
  • the states ⁇ D , ⁇ x , ⁇ x , v y ,v ⁇ y of the subsystem rotation being considered are either directly or indirectly measured by suitable sensors.
  • the angular velocity is generally measured with corresponding encoders on the swivel joint.
  • strain gauges SG
  • two SGs can be installed right- and left-sided respectively on the lower and upper rails of the ladder in a vertical preferred direction (vertical SG) and horizontal preferred direction (horizontal SG), so that a differential sensitivity results with torsional deflections.
  • the articulated ladder is considered as a discrete multiple body system with three point masses and corresponding spring and damper elements.
  • dynamic effects occur which are not thereby taken into account.
  • higher harmonics occur, for example, which are correspondingly recorded by the sensor elements and thereby coupled in the signal flow of the control feedback.
  • the control behaviour is thus negatively influenced.
  • the measurement signal of the elastic degrees of freedom has an offset. This can lead to a non-damped rotary motion.
  • the processing of measured data can be supplemented by a disturbance observer with the following functions:
  • the angular amplitude of the vibration ⁇ ⁇ x,vy is approximated by a 2 nd order damped differential equation with the parameters resonance frequency ⁇ ⁇ x,vy and damping d ⁇ ⁇ x,vy . It is essential here that the parameters are variable with respect to the system states, such as ladder length, angles of elevation and articulation or load masses. They can, for example, be obtained experimentally or from suitable physical models.
  • ⁇ offset, ⁇ x,vy 0
  • the resonance frequency ⁇ COMP, ⁇ x,vy and the damping d ⁇ embod, ⁇ x,vy are determined experimentally, these being also here generally dependent on the variable system parameters such as ladder length, angles of elevation and articulation and load masses.
  • the resonance frequency and the damping can be determined from a suitable physical model description.
  • the disturbance observer matrix H ⁇ x,vy [ h ⁇ x,vy, 1 , h ⁇ x,vy, 2 , h ⁇ x,vy, 3 , h ⁇ x,vy, 4 , h ⁇ x,vy, 5 ] T is calculated, for example, according to the Riccati design procedure. It is essential here that the variable parameters such as ladder length, angle of elevation and load masses are likewise taken into account in the observer by adapting the observer differential equation and the observer gains. The estimated values for and ⁇ ⁇ x,vy from the disturbance observer can be fed directly to the state controller. In this way the function of vibration damping can be improved significantly.
  • the feedback gain of the state controller 73 during the rotational motion can also be attenuated by means of the proportional attenuator 72. In this way, the control function for the ladder at standstill can be improved if no observer-based elimination has been performed.
  • axis controller for the axis of elevation/ inclination 7 will be explained by using the results from the derivation of the control module for the axis of rotation.
  • Fig. 8 shows the basic structure of the axis controller for the axis of elevation/inclination.
  • the pilot control can optionally be supplemented by a state controller block 93 to compensate for disturbances (e.g. wind effects) and modelling errors (cf. axis of rotation 73).
  • a state controller block 93 to compensate for disturbances (e.g. wind effects) and modelling errors (cf. axis of rotation 73).
  • this block at least one of the quantities to be measured, angle of elevation ⁇ A , angle of articulation ⁇ K , run-out length 1, bending of the ladder in the vertical direction v z or the derivative of the vertical bending v ⁇ z , is amplified and fed back to the servo input.
  • the derivative of the measurements ⁇ A and v ⁇ z is formed numerically in the microprocessor control.
  • the kinematics of the elevation/inclination axis is shown in Fig. 9.
  • the actuation occurs by means of two hydraulic cylinders, whereby the position and speed of the ram are to be taken into account in the model.
  • the bending and torsion signals can also be estimated for the elevation axis from the pressure signals of Equ. 50 via an observer, as for the axis of rotation.
  • Equating Equ. 52 (in the time domain) and 54 and subsequently rearranging the resulting expression for ⁇ A leads, after corresponding collecting of the coefficients, to the following expression.
  • ⁇ ⁇ A K PA A ZylA ⁇ T ⁇ ⁇ ⁇ u StA + - 1 T - ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ A
  • Input variables of the pilot control block 91 are the reference angular velocity ⁇ Aref the reference angular acceleration ⁇ Aref and the reference jerking (and, if necessary, the derivative of the reference jerking).
  • the components of w A are weighted with the pilot control gains K VA 0 to K VA 2 in the pilot control block 91 and their summation fed to the servo input.
  • the pilot control block 91 is supported by a state controller 93, because as already mentioned, the dynamic model only reproduces the real relationships in an abstract way and, with the aid of the controller, non-deterministic disturbances (e.g. wind effects, load fluctuations in the cage, etc.) can also be reacted to.
  • At least one of the measured quantities of the state vector from Equ. 57 is weighted with a control gain and fed back to the servo input.
  • the control feedback 93 is implemented as a state controller.
  • the individual feedback gains are calculated analogue to the rotation axis controller (Equ. 42 - 48).
  • the components of the state vector x A are weighted with the control gains k iA of the control matrix K A and fed back to the servo input control system.
  • the eigen-values of the system can be selectively displaced by feeding back the state variables via the control matrix K A to the control input, as the position of the eigen-values is in turn determined by the analysis of the following determinants: det ⁇ s ⁇ I ⁇ - A ⁇ A + B ⁇ A ⁇ K ⁇ A ⁇ 0
  • the characteristic equation of the controlled system then becomes: s 3 + a 2 k 3 ⁇ A ⁇ k 1 ⁇ A ⁇ s 2 + a 1 ( k 2 ⁇ A , k 1 ⁇ A ) s + a 0 ⁇ 0
  • Equ. 45 (and thus the dynamics of the closed-loop system) can again be influenced by the control gains k iA .
  • the position of the poles is known from the calculation of the open-loop poles. There exists a negative real pole (conditional on the time delay constant of the hydraulics from Equ. 52) and one conjugated complex pole pair conditional upon the vertical bending.
  • the control coefficients are functions of the real and imaginary parts of the conjugated complex pole pair.
  • the pole positions, according to Equ. 70, are to be chosen so that the system is stable, the controller works adequately fast with good damping and the limit of the variables is not reached under the typically arising control deviations.
  • the exact values can be established before initial operation via simulation according to these criteria.
  • control gains can be determined by comparing coefficients of the polynomials analogue to Equ. 47 det ⁇ s ⁇ I ⁇ - A ⁇ A + B ⁇ A ⁇ K ⁇ A ⁇ p A s
  • Equ. 71 Based on Equ. 71, there results a set of linear differential equations to be solved dependent on the control gains k iA , as with the axis of rotation.
  • the analysis of this set of equations produces analytic expressions for the respective control gains dependent upon the desired poles from Equ. 70 and the individual system parameters. If these parameters change, as for example the angle of articulation or the run-out length, then these changes are immediately taken into account by a variation of the individual control parameters.
  • the states ⁇ A ,v z ,v ⁇ z of the subsystem elevation under consideration are measured either directly or indirectly by suitable sensors.
  • the elevation velocity is usually measured on the ladder hinge with corresponding encoders.
  • strain gauges SG
  • the sensor data is further processed in block 95, measurement data processing.
  • v z ′ b ⁇ ⁇ v ⁇ - ( ⁇ vr - ⁇ vl ) / 2 - ⁇ offs ⁇ l A 3 l A - l 0 ⁇ v - - m ers ⁇ g cos ⁇ A c v l A with
  • the parameter ⁇ offs can be determined from a series of measurements with slowly varying ladder run-out length.
  • the resonance frequency ⁇ COMP,vz and the damping d ⁇ EN,vz are determined experimentally , these being also here generally dependent on the variable system parameters such as ladder length, angles of elevation and articulation and load masses.
  • the resonance frequency and the damping can be determined from a suitable physical model.
  • the disturbance signal portions are eliminated from the measurement signal with an estimation procedure supported by an observer.
  • the feedback gain of the state controller 93 during the raising motion can also be attenuated by means of the proportional attenuator 92. In this way, the control function for the ladder at standstill can be improved if no observer-based elimination has been performed.
  • the axis controllers for extending and retracting the ladder 47, to telescope the articulated arm 413, for the level axis 49 and for the articulated arm 411 are provided with conventional cascade control with an external servo loop for the position and an internal one for the speed, as these axes exhibit only a slight tendency to vibration.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Ladders (AREA)
EP20060119983 2005-09-08 2006-09-01 Echelle articulée ou plate-forme mobile avec dispositif de contrôle du mouvement et dispositif d'amortissement actif de vibrations Active EP1772588B1 (fr)

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Application Number Priority Date Filing Date Title
DE200510042721 DE102005042721A1 (de) 2005-09-08 2005-09-08 Gelenkleiter oder Hubbühne mit Bahnsteuerung und aktiver Schwingungsdämpfung

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EP1772588A2 true EP1772588A2 (fr) 2007-04-11
EP1772588A3 EP1772588A3 (fr) 2009-10-07
EP1772588B1 EP1772588B1 (fr) 2013-06-19

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CN102707730A (zh) * 2012-04-05 2012-10-03 大连理工大学 高空作业车操作平台轨迹控制装置
FR2980184A1 (fr) * 2011-09-19 2013-03-22 Manitou Bf Procede et dispositif de gestion de deplacement, notamment pour nacelle elevatrice de personnel
WO2013097509A1 (fr) * 2011-12-30 2013-07-04 中联重科股份有限公司 Procédé, dispositif et système pour commander une rétraction de flèche, et véhicule pour rétraction de flèche
US8505184B2 (en) 2009-03-13 2013-08-13 Cifa Spa Method to make an arm for the distribution of concrete, and arm thus made
RU2695006C2 (ru) * 2014-12-18 2019-07-18 Ивеко Магирус Аг Способ для управления воздушным устройством и воздушное устройство с контроллером, осуществляющим этот способ
EP3556969A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Pompe à béton
EP3556968A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Pompe à béton
EP3556967A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Manipulateur de grande taille, en particulier pour pompes à béton
CN110509276A (zh) * 2019-08-28 2019-11-29 哈尔滨工程大学 一种机场跑道检测机器人的运动建模及参数辨识方法
RU2748090C1 (ru) * 2020-11-12 2021-05-19 Валерий Иванович Паутов Маятниковое лафетное пожарное устройство

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DE102007038016A1 (de) 2007-08-10 2009-02-12 Iveco Magirus Ag Drehleiter
US9651112B2 (en) 2011-10-20 2017-05-16 Zoomlion Heavy Industry Science And Technology Co., Ltd. Vibration suppression method, controller, device of boom and pump truck
RU2700735C1 (ru) * 2019-04-23 2019-09-19 Валерий Иванович Паутов Раздвижная пожарно-спасательная система
CN114572909B (zh) * 2022-03-09 2022-12-16 杭州爱知工程车辆有限公司 一种高空作业车扩大工作斗作业范围的方法

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DE10016137C2 (de) 2000-03-31 2003-08-21 Iveco Magirus Drehleiter
DE10016136C2 (de) 2000-03-31 2003-08-21 Iveco Magirus Drehleiter-Regelung

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EP2103760A3 (fr) * 2008-03-17 2010-04-07 Cifa S.p.A. Procédé de contrôle des vibrations dans un bras articulé pour pomper du béton et dispositif associé
US8082083B2 (en) 2008-03-17 2011-12-20 Cifa Spa Method to control the vibrations in an articulated arm for pumping concrete, and relative device
US8505184B2 (en) 2009-03-13 2013-08-13 Cifa Spa Method to make an arm for the distribution of concrete, and arm thus made
FR2980184A1 (fr) * 2011-09-19 2013-03-22 Manitou Bf Procede et dispositif de gestion de deplacement, notamment pour nacelle elevatrice de personnel
WO2013097509A1 (fr) * 2011-12-30 2013-07-04 中联重科股份有限公司 Procédé, dispositif et système pour commander une rétraction de flèche, et véhicule pour rétraction de flèche
CN102707730A (zh) * 2012-04-05 2012-10-03 大连理工大学 高空作业车操作平台轨迹控制装置
RU2695006C2 (ru) * 2014-12-18 2019-07-18 Ивеко Магирус Аг Способ для управления воздушным устройством и воздушное устройство с контроллером, осуществляющим этот способ
EP3556969A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Pompe à béton
EP3556968A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Pompe à béton
EP3556967A1 (fr) * 2018-04-17 2019-10-23 Liebherr-Mischtechnik GmbH Manipulateur de grande taille, en particulier pour pompes à béton
CN110509276A (zh) * 2019-08-28 2019-11-29 哈尔滨工程大学 一种机场跑道检测机器人的运动建模及参数辨识方法
RU2748090C1 (ru) * 2020-11-12 2021-05-19 Валерий Иванович Паутов Маятниковое лафетное пожарное устройство

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ES2427563T3 (es) 2013-10-31
EP1772588B1 (fr) 2013-06-19
DE102005042721A1 (de) 2007-03-15

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