EP2022749B1 - Drehleiter - Google Patents

Drehleiter Download PDF

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Publication number
EP2022749B1
EP2022749B1 EP20080162080 EP08162080A EP2022749B1 EP 2022749 B1 EP2022749 B1 EP 2022749B1 EP 20080162080 EP20080162080 EP 20080162080 EP 08162080 A EP08162080 A EP 08162080A EP 2022749 B1 EP2022749 B1 EP 2022749B1
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EP
European Patent Office
Prior art keywords
ladder
telescopic mast
parts
oscillation
turntable
Prior art date
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Active
Application number
EP20080162080
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English (en)
French (fr)
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EP2022749A1 (de
Inventor
Oliver Sawodny
Nico Zimmert
Alexander Kharitonov
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.)
Iveco Magirus AG
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Iveco Magirus AG
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Publication of EP2022749A1 publication Critical patent/EP2022749A1/de
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    • 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
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • 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
    • 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

Definitions

  • the present invention concerns a turntable ladder, a telescopic platform or similar, with a telescoping ladder set or telescopic mast and, possibly, a passenger cage attached thereto, as per the preamble of claim 1.
  • the invention concerns a turntable ladder, for example a fire-fighting ladder with a bendable articulated arm, or a similar system, such as articulated or telescopic platforms and aerial rescue equipment.
  • a turntable ladder for example a fire-fighting ladder with a bendable articulated arm, or a similar system, such as articulated or telescopic platforms and aerial rescue equipment.
  • These systems are, in general, mounted on a vehicle such that they are rotatable and erectable, and may be provided with a bendable articulated arm which may, additionally, be telescopeable with another axis.
  • the control device is a continuous path control system which moves the passenger cage or lifting platform along a predetermined path in the operating area of the turntable ladder or lifting platform. Oscillations and pendulum movements by the passenger cage and lifting platform are actively dampened.
  • Control devices for turntable ladders, elevated platforms and similar are disclosed in DE 100 16 136 C2 and DE 100 16 137 C2 , for example. Oscillations in the ladder elements can be suppressed if at least one value of the ladder set is fed back, via a controller, to the drive values for the drives.
  • a pre-control device represents the ideal movement of the ladder in a dynamic model based on differential equations, and calculates ideal control values for the drives of the ladder elements, to enable essentially oscillation-free motion of the ladder.
  • DE 10 2005 042 721 A1 discloses such a control device for a turntable ladder which, at the end of its ladder set, is provided with an articulated arm to which a passenger cage is attached. Its dynamic characteristics are included in the dynamic model used to represent the characteristics, thus allowing appropriate configuration of the control device.
  • Prior art articulated ladders or similar are hydraulically or electro-hydraulically controlled by hand-operated levers.
  • the hand-operated lever deflection is directly translated, via the hydraulic control circuit, into a proportional control signal for the control block, which is contrived as a proportional valve.
  • Damping elements in the hydraulic control circuit can be used to render the movements less jerky and smoother in transition. These cannot, however, be satisfactorily adjusted to the entire operating area of extension length and erection angle. Furthermore, this often leads to strongly dampened adjustments with sluggish reactions.
  • the task of this invention is, therefore, to create a turntable ladder, a telescopic mast platform or similar, according to the preamble of claim 1, in which the oscillation states of the ladder or the telescopic mast can be recorded and reconstructed more accurately, so that actively occurring oscillations (either during movement or when at rest, caused e.g. caused by wind or changes in load) can be dampened, or the ladder end with the passenger cage or work platform can be guided along a predetermined path.
  • the aim is not only to enable compensation of fundamental oscillation, but also to effectively dampen the higher modes of oscillation.
  • this task is solved by a turntable ladder or telescopic mast platform with the features of claim 1.
  • inertial sensors are attached to the ladder set or telescopic mast and/or to the passenger cage for detecting the bending state of the ladder set or telescopic mast.
  • the inertial sensors may be affixed either to the ladder set or the telescopic mast, to a passenger cage attached to the latter, or to both the ladder set or telescopic mast and the passenger cage.
  • a plurality of inertial sensors for measuring the angle speed in different spatial directions are preferably provided on the passenger cage and/or at the end of the ladder set or telescopic mast connected with the passenger cage.
  • further inertial sensors are provided on the passenger cage and/or the corresponding end of the ladder set or telescopic mast for measuring acceleration in various spatial directions.
  • a gyroscope platform on the top ladder part or telescopic mast part, or in the passenger cage, comprising up to three sensors in the Cartesian spatial directions for detecting angle speed has proved particularly advantageous.
  • This gyroscope platform can also be supplemented with three acceleration sensors in the corresponding spatial directions.
  • the turntable ladder or telescopic mast platform comprises a pre-control device which, when the passenger cage is operated, represents the ideal motion of the ladder or telescopic mast in a dynamic model, based on differential equations, and, using the dynamic model, calculates ideal control values for the drives of the ladder parts or telescopic mast parts for essentially oscillation-free movement of the ladder or the telescopic mast, said dynamic model simulating a mass distribution of the ladder set or telescopic mast.
  • the continuous path control with active oscillation damping according to the invention is also based on the basic idea of starting out by depicting the dynamic behaviour of the mechanical and hydraulic system of the turntable ladder or telescopic mast platform in a dynamic model based on differential equations.
  • the approach used for the dynamic model is not one based on an elastic multi-element model as an approximation for the distributed parametric model, but rather the distributed masses of the ladder set are modelled directly. In doing so, the mass of the passenger cage may still be taken as the point mass.
  • a path planning module is used to generate the path of movement of the ladder or telescopic mast in the operating area, and transmits the path of movement in the form of time functions for the passenger cage position, passenger cage speed, passenger cage acceleration, passenger cage jerking and, possibly, derivation of the passenger cage jerking, to a pre-control block which controls the drives of the ladder parts or the telescopic mast parts.
  • Figure 1 is a diagrammatic representation of the structure of the overall system
  • Figure 2 explains, by way of an example, the rotary motion of the turntable ladder according to the invention.
  • the following representation of the invention relates by way of example only, but not in any limiting fashion, to a turntable ladder, and may also easily be used for a telescopic mast platform or similar, fitted with a telescoping mast.
  • the individual parts of this telescopic mast then correspond to the ladder parts of the ladder set of the turntable ladder described here.
  • the invention is not limited to a turntable ladder with a passenger cage, but can easily also be used on ladders or telescopic mast platforms without a passenger cage.
  • Fig. 3 shows a diagrammatic representation of a control circuit to control the movement of the turntable ladder presented here.
  • the measured data from the gyroscope are initially corrected in relation to offset.
  • the influence of gravity caused by the intrinsic weight of the ladder is calculated using the expansion-measuring strip signal.
  • these signals are used to calculate the first two modes of intrinsic oscillation. These can then be compensatingly fed back in separated form via the controller feedback, and hence have an oscillation-damping effect. With respect to the previous state of the art one therefore achieves damping of both fundamental oscillation and first harmonic oscillation.
  • Fig. 4 An alternative structure is shown in Fig. 4 .
  • the fundamental oscillation is extracted from the sensor signals and the components of the higher modes are calculated via a model-based observer. This does not produce active suppression of first harmonic oscillation, but one can prevent the components of the higher modes from being coupled-in and having a destabilising effect on the vehicle via the feedback. Once isolated, the fundamental oscillation is then fed back, with active damping effect, to the actuator input.
  • the actuator input is the voltage across the proportional valve of the hydraulic system u(t), which may be interpreted as the target speed ⁇ A,Soll .
  • feedback is achieved via a modal breakdown of the measured signals from the expansion-measuring strip and the gyroscope, plus feedback of the separated oscillation signals.
  • Modelling as a distributed mass for the ladder set and as a point mass for the passenger cage at the end of the ladder set means that the boundary conditions of the dynamics of the concentrated mass must be met.
  • the oscillation of the ladder in the vertical plane is considered (the latter may be inclined by a certain erection angle)
  • the influence of gravity for the concentrated mass is ignored as the mathematical model for small angles may be assumed to be linear and the stationary solution to the problem takes account of the influence of gravity.
  • this influence can, therefore, basically be eliminated from the outset.
  • L is the length of the ladder
  • ⁇ (t) is the angle of rotation.
  • M p and J p are the mass of the passenger cage, and possibly the articulated arm, or the moment of inertia of the passenger cage converted into the moment of inertia relative to the centre of the gravity of the point mass.
  • EI ⁇ ⁇ 4 ⁇ w z ⁇ t ⁇ z 4 J p ⁇ d 2 d t 2 ⁇ ⁇ t + ⁇ w L ⁇ t ⁇ z , t > 0
  • EI ⁇ ⁇ 3 ⁇ w z ⁇ t ⁇ z 3 M p ⁇ d 2 d t 2 ⁇ ⁇ t ⁇ L + w L ⁇ t , t > 0.
  • Eq. (7) is the partial differential equation describing the bending.
  • E is the elasticity module
  • I is the moment of inertia of area of the ladder set
  • ⁇ is the density
  • S is the (equivalent) cross-sectional area of the ladder set.
  • Eq.(10) and (11) are the boundary conditions corresponding to the transition condition between distributed and concentrated mass, with eq.(10) describing the balance of the moments and eq.(11) the balance of the forces.
  • M(t) J h ⁇ d 2 ⁇ ⁇ t d t 2 - EI ⁇ ⁇ 2 ⁇ w 0 ⁇ t ⁇ z 2
  • J h is the moment of inertia of the ladder gear (15).
  • V I (z,t) V I x ⁇ t ⁇ f z ⁇ u t
  • V ⁇ Hk * s - f k * ⁇ s 2 + 1 ⁇ ⁇ f k IV * s 2 + ⁇ k 2 ⁇ u ⁇ s + s s 2 + ⁇ k 2 ⁇ V Hk * 0 + 1 s 2 + ⁇ k 2 ⁇ V ⁇ Hk * 0 .
  • N modes i.e. the first N summands of infinite rows (45)-(46)
  • u t K [ x ⁇ 1 t x ⁇ 2 t x ⁇ 3 t x ⁇ 4 t ⁇ ] T , where the amplitude matrix is calculated from the determinant of A - BK by assigning the zero positions of the characteristic equation.
  • Fig. 6a and 6b show, by way of example, the damping characteristics of the control. In Figure 6a , the bending b (L, t) is shown over time, Figure 6b shows the actuator value. In the case shown here, the control is turned on after ten seconds.
  • the interference value observer for the sensor data merger from the gyroscope measurement at the cage fixation and the expansion-measuring strip at the fixing point of the ladder should separate the fundamental oscillation of the bending oscillation from its dominant harmonics in order to exclude, as far as possible, any amplification of the harmonics in the feedback.
  • the first component of the output vector corresponds to the DMS signal, the second component to the gyroscope measurement.
  • ⁇ Art - K 0 ⁇ ⁇ 0 2 0 - ⁇ 1 2 - ⁇ 0 2 + 4 ⁇ D 0 2 ⁇ ⁇ 0 - 4 ⁇ D 0 ⁇ D 1 ⁇ ⁇ 0 ⁇ ⁇ 1 ⁇ K 0 ⁇ ⁇ 0 2 2 ⁇ D 0 ⁇ ⁇ 0 - D 1 ⁇ ⁇ 1 ⁇ K 0 ⁇ ⁇ 0 2 - K 0 ⁇ ⁇ 0 2 - K 1 ⁇ ⁇ 1 2 b BNF ⁇ 2.
  • ⁇ Art 0 1 0 0 0 0 0 0 0 0 1 ⁇ H BNF ⁇ 2.
  • the observer is thus in a position to generate, using the interference-affected (by harmonic oscillation, etc.) measured signals from expansion-measuring strip and gyroscope, a reconstructed estimated signal for the fundamental oscillation, which then has a damping effect, via feedback, on the ladder oscillations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Feedback Control In General (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
  • Gyroscopes (AREA)

Claims (4)

  1. Verfahren zum Steuern des Antreibens einer Drehleiter oder einer Teleskopmast-Plattform, um Schwingungen in den Leiter-Teilen oder Teleskopmast-Teilen zu unterdrücken, aufweisend einen unteren Teil und einen oberen Teil und umfassend:
    - Antriebe der Leiter-Teile oder Teleskopmast-Teile; und
    - Expansions-Messstreifen-Sensoren zum Erfassen des Biege-Zustands des Leiter-Satzes oder des Teleskopmastes sind an einem unteren Teil des Leiter-Satzes oder Teleskopmastes angebracht;
    - eine Steuer-Einrichtung, die eine Steuerung der Bewegung der Leiter-Teile oder Teleskopmast-Teile realisiert; gekennzeichnet durch
    - ein Gyroskop, das befestigt ist an einem oberen Ende der Drehleiter oder des Teleskopmastes, zum Messen der Winkelgeschwindigkeit in verschiedenen Raumrichtungen;
    wobei das Verfahren die folgenden Schritte umfasst:
    - Ausführen eines dynamischen Modells, das eine Masse-Verteilung des Leiter-Satzes oder Teleskopmastes simuliert, auf der Basis von Differentialgleichungen zum Berechnen idealer Steuerungs-Werte für die Antriebe für ein im Wesentlichen schwingungsfreies Bewegen der Leiter oder des Teleskopmastes, die alle Zustands-Werte (x1 - x4) messbar aufweisen;
    - Erhalten der Signal-Werte des Gyroskops und der Expansions-Messstreifen-Sensoren;
    - Verwenden der Sensoren-Werte in einer Beobachter-Struktur, die durch das dynamische Modell erhalten wird, welche zusätzlich beide gemessenen Werte zusammenbringt und so abschätzt, welche Amplituden-Komponenten die Betriebsweisen an der Leiter- oder Teleskopmast-Schwingung ausmachen;
    - Erhalten einer direkten funktionalen Beziehung zwischen den gemessenen Werten an den Expansions-Messstreifen und dem Gyroskop und den Amplituden für die ersten beiden Betriebsweisen, die eine Schwingung ausmachen, um das System zu stabilisieren.
  2. Verfahren nach Anspruch 1, wobei ein verteiltes parametrisches System durch intrinsische Funktionen verkörpert ist.
  3. Verfahren nach Anspruch 1, wobei der Beobachter erhalten wird durch die Inversion einer Matrix (Z) der intrinsischen Funktionen.
  4. Drehleiter oder Teleskopmast-Plattform, aufweisend einen unteren Teil und einen oberen Teil und umfassend:
    - Antriebe der Leiter-Teile oder Teleskopmast-Teile;
    - ein Gyroskop, das befestigt ist an einem oberen Ende der Drehleiter oder des Teleskopmastes, zum Messen der Winkelgeschwindigkeit in verschiedenen Raumrichtungen; und
    - Expansions-Messstreifen-Sensoren zum Erfassen des Biege-Zustands des Leiter-Satzes oder des Teleskopmastes sind an einem unteren Teil des Leiter-Satzes oder Teleskopmastes angebracht;
    - eine Steuer-Einrichtung, die eine Steuerung der Bewegung der Leiter-Teile oder Teleskopmast-Teile realisiert:
    dadurch gekennzeichnet, dass die Steuer-Einrichtung ein Steuerungsverfahren zum Antreiben der Dreheiter oder Teleskopmast-Plattform gemäß irgendeinem der vorangehenden Ansprüche realisiert.
EP20080162080 2007-08-10 2008-08-08 Drehleiter Active EP2022749B1 (de)

Applications Claiming Priority (1)

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DE200710038016 DE102007038016A1 (de) 2007-08-10 2007-08-10 Drehleiter

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EP2022749A1 EP2022749A1 (de) 2009-02-11
EP2022749B1 true EP2022749B1 (de) 2014-06-18

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DE (1) DE102007038016A1 (de)
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3034455A1 (de) 2014-12-18 2016-06-22 Iveco Magirus Ag Verfahren zur Steuerung einer Auslegervorrichtung und Auslegervorrichtung mit Steuerung zur Durchführung des Verfahrens
EP3754151B1 (de) * 2019-06-21 2022-06-01 Iveco Magirus Ag Verfahren zur steuerung einer teleskopischen hebevorrichtung und teleskopische hebevorrichtung

Families Citing this family (11)

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US9403667B2 (en) 2011-03-18 2016-08-02 The Raymond Corporation Dynamic vibration control systems and methods for industrial lift trucks
US8731785B2 (en) 2011-03-18 2014-05-20 The Raymond Corporation Dynamic stability control systems and methods for industrial lift trucks
FR2980184B1 (fr) * 2011-09-19 2015-11-13 Manitou Bf Procede et dispositif de gestion de deplacement, notamment pour nacelle elevatrice de personnel
WO2013056517A1 (zh) 2011-10-20 2013-04-25 中联重科股份有限公司 泵车及其臂架的振动抑制方法、控制器和装置
US8763990B2 (en) 2012-03-20 2014-07-01 The Raymond Corporation Turn stability systems and methods for lift trucks
US9302893B2 (en) 2013-02-07 2016-04-05 The Raymond Corporation Vibration control systems and methods for industrial lift trucks
US9002557B2 (en) 2013-03-14 2015-04-07 The Raymond Corporation Systems and methods for maintaining an industrial lift truck within defined bounds
AT514116A1 (de) * 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
EP2865842B1 (de) * 2013-10-24 2016-09-14 Iveco Magirus Ag Verfahren zum Steuern einer gelenkigen Drehleiter eines Rettungsfahrzeugs
EP3199486B1 (de) * 2016-01-28 2018-06-20 MOBA - Mobile Automation AG Kranmechanismus und arbeitsbühne mit lasterfassungseinrichtung und integrierten neigungssensor
CN111634864A (zh) * 2019-12-09 2020-09-08 苏州罗克韦尔机械设备有限公司 一种底座可转向调节的剪叉式升降机

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
JPH0958998A (ja) * 1995-08-24 1997-03-04 Tamagawa Seiki Co Ltd 搬送車の振れ防止方法
DE10016136C2 (de) 2000-03-31 2003-08-21 Iveco Magirus Drehleiter-Regelung
DE10016137C2 (de) 2000-03-31 2003-08-21 Iveco Magirus Drehleiter
JP2003221191A (ja) * 2002-01-30 2003-08-05 Aichi Corp 高所作業車のレベリング装置
DE102005042721A1 (de) 2005-09-08 2007-03-15 Iveco Magirus Ag Gelenkleiter oder Hubbühne mit Bahnsteuerung und aktiver Schwingungsdämpfung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3034455A1 (de) 2014-12-18 2016-06-22 Iveco Magirus Ag Verfahren zur Steuerung einer Auslegervorrichtung und Auslegervorrichtung mit Steuerung zur Durchführung des Verfahrens
US9695025B2 (en) 2014-12-18 2017-07-04 Iveco Magirus Ag Method for controlling an aerial apparatus, and aerial apparatus with controller implementing this method
EP3754151B1 (de) * 2019-06-21 2022-06-01 Iveco Magirus Ag Verfahren zur steuerung einer teleskopischen hebevorrichtung und teleskopische hebevorrichtung

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EP2022749A1 (de) 2009-02-11
ES2500493T3 (es) 2014-09-30
DE102007038016A1 (de) 2009-02-12

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