EP2022749B1 - Échelle à plateau tournant - Google Patents
Échelle à plateau tournant Download PDFInfo
- 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
- Authority
- EP
- European Patent Office
- Prior art keywords
- ladder
- telescopic mast
- parts
- oscillation
- turntable
- 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.)
- Active
Links
- 230000010355 oscillation Effects 0.000 claims description 38
- 238000005452 bending Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000013016 damping Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000009795 derivation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 239000012456 homogeneous solution Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- 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)
- Procédé de commande de l'entraînement d'une échelle à plateau mobile ou d'une plateforme de mât télescopique pour supprimer les oscillations dans les parties de l'échelle ou les parties de mât télescopiques, ayant une partie inférieure et une partie supérieure et comprenant- des entraînements des parties de l'échelle ou des parties de mât télescopiques et- des capteurs de bande de mesure d'expansion pour détecter l'état de courbure de l'ensemble d'échelle ou de mât télescopique sont fixés à une partie inférieure de l'ensemble d'échelle ou du mât télescopique,- un dispositif de commande mettant en oeuvre une commande du déplacement des parties d'échelle ou des parties du mât télescopiques,caractérisé par un gyroscope fixé à un dessus de l'échelle à plateau mobile ou du mât télescopique pour mesurer la vitesse d'angle dans des directions spatiales différentes,
le procédé comprenant les étapes suivantes :exécuter un modèle dynamique simulant une distribution de la masse de l'ensemble d'échelle ou du mât télescopique, basé sur des équations différentielles, pour calculer des valeurs de commande idéales pour lesdits entraînements en vue d'un déplacement essentiellement exempt d'oscillations de l'échelle ou du mât télescopique, ayant toutes des valeur d'état (x1 - x4) mesurables,obtenir les valeurs de signaux dudit gyroscope et desdits capteurs de bande de mesure d'expansion,utiliser les valeurs de capteur dans une structure d'observateur, obtenues par ledit modèle dynamique, qui réunit additionnellement les deux valeurs mesurées, pour estimer les composants d'amplitude que les modes établissent de l'oscillation de d'échelle ou du mât télescopique,obtenir une relation fonctionnelle directe entre les valeurs mesurées aux bandes de mesure d'expansion et le gyroscope, et les amplitudes pour les deux premiers modes établissant une oscillation afin de stabiliser le système. - Procédé selon la revendication 1, dans lequel un système paramétrique distribué est représenté par des fonctions intrinsèques.
- Procédé selon la revendication 1, dans lequel ledit observateur est obtenu par l'inversion d'une matrice (Z) desdits fonctions intrinsèques.
- Plateforme à échelle mobile ou à mât télescopique, ayant une partie inférieure et une partie supérieure et comprenant- des entraînements des parties de l'échelle ou des parties de mât télescopiques,- un gyroscope fixé à un dessus de l'échelle mobile ou du mât télescopique pour mesurer la vitesse angulaire dans différentes directions spatiales et- des capteurs de bande de mesure d'expansion pour détecter l'état de courbure de l'ensemble d'échelle ou du mât télescopique sont fixés à une partie inférieure de l'ensemble d'échelle ou du mât télescopique,- un dispositif de commande mettant en oeuvre une commande du déplacement des parties d'échelle ou des parties de mât télescopiques ;caractérisée en ce que ledit dispositif de commande met en oeuvre un procédé de commande pour entraîner l'échelle à plateau mobile, la plateforme de mât télescopique, selon l'une quelconque des revendications précédentes.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200710038016 DE102007038016A1 (de) | 2007-08-10 | 2007-08-10 | Drehleiter |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2022749A1 EP2022749A1 (fr) | 2009-02-11 |
EP2022749B1 true EP2022749B1 (fr) | 2014-06-18 |
Family
ID=38578596
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20080162080 Active EP2022749B1 (fr) | 2007-08-10 | 2008-08-08 | Échelle à plateau tournant |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2022749B1 (fr) |
DE (1) | DE102007038016A1 (fr) |
ES (1) | ES2500493T3 (fr) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3034455A1 (fr) | 2014-12-18 | 2016-06-22 | Iveco Magirus Ag | Procédé pour commander un appareil aérien, appareil aérien avec contrôleur mettant en oeuvre ce procédé |
EP3754151B1 (fr) * | 2019-06-21 | 2022-06-01 | Iveco Magirus Ag | Procédé de commande d'un dispositif de levage télescopique et dispositif de levage télescopique |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 (fr) | 2011-10-20 | 2013-04-25 | 中联重科股份有限公司 | Camion pompe et procédé, unité de commande et appareil pour commander la vibration de la flèche d'un camion pompe |
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 (fr) * | 2013-10-24 | 2016-09-14 | Iveco Magirus Ag | Procédé de commande d'une échelle à plateau tournant articulé d'un véhicule de secours |
EP3199486B1 (fr) * | 2016-01-28 | 2018-06-20 | MOBA - Mobile Automation AG | Mécanisme de grue et plate-forme de travail avec un dispositif de detection de charge et un capteur d'inclinaison intégré |
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)
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 |
-
2007
- 2007-08-10 DE DE200710038016 patent/DE102007038016A1/de active Pending
-
2008
- 2008-08-08 EP EP20080162080 patent/EP2022749B1/fr active Active
- 2008-08-08 ES ES08162080.9T patent/ES2500493T3/es active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3034455A1 (fr) | 2014-12-18 | 2016-06-22 | Iveco Magirus Ag | Procédé pour commander un appareil aérien, appareil aérien avec contrôleur mettant en oeuvre ce procédé |
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 (fr) * | 2019-06-21 | 2022-06-01 | Iveco Magirus Ag | Procédé de commande d'un dispositif de levage télescopique et dispositif de levage télescopique |
Also Published As
Publication number | Publication date |
---|---|
EP2022749A1 (fr) | 2009-02-11 |
ES2500493T3 (es) | 2014-09-30 |
DE102007038016A1 (de) | 2009-02-12 |
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