EP2984254A1 - Système de régulation et procédé de commande de l'orientation d'un segment d'un manipulateur - Google Patents

Système de régulation et procédé de commande de l'orientation d'un segment d'un manipulateur

Info

Publication number
EP2984254A1
EP2984254A1 EP14723678.0A EP14723678A EP2984254A1 EP 2984254 A1 EP2984254 A1 EP 2984254A1 EP 14723678 A EP14723678 A EP 14723678A EP 2984254 A1 EP2984254 A1 EP 2984254A1
Authority
EP
European Patent Office
Prior art keywords
segment
joint
signal
sensor
orientation
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.)
Pending
Application number
EP14723678.0A
Other languages
German (de)
English (en)
Inventor
Wolfgang TEBEEK
Wolfgang KEMMETMÜLLER
Johannes HENIKL
Andreas Kugi
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.)
Ttcontrol GmbH
Original Assignee
Ttcontrol GmbH
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 Ttcontrol GmbH filed Critical Ttcontrol GmbH
Publication of EP2984254A1 publication Critical patent/EP2984254A1/fr
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • 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
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms

Definitions

  • the invention relates to a control system for controlling the orientation of a segment of a manipulator, in particular a Popemanipulators for truck-mounted concrete pumps, wherein the segment is connected via a hinge to a base or a predecessor segment of the manipulator and at the joint relative to the base or the predecessor segment by at least one Rotary axis by means of at least one actuator, preferably hydraulic actuator, is pivotable.
  • the invention relates to an electro-hydraulic control circuit for controlling a hydraulically actuated actuator, by means of which a segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, is adjustable with respect to its orientation.
  • electro-hydraulic control circuits or related control systems such as those used for example to control multi-unit large manipulators for truck-mounted concrete pumps, generally have a central control block, with individual segments can be controlled individually.
  • hydraulic actuators are assigned to the segments, which can optionally be operated hydraulically by means of pilot valves or manually by means of hand levers.
  • the hydraulic actuators are usually designed as a hydraulic cylinder, wherein the deflection of a piston received in the cylinder correlates with the deflection of an associated segment.
  • For the damping of elastic oscillations algorithms are used in the systems currently used, according to which the pressure difference of the chamber pressure of the respective cylinder is returned to the cylinder associated control valve.
  • known systems are often equipped with geodetic angle or tilt sensors.
  • the electrohydraulic control circuits described at the beginning or the control systems associated therewith have numerous disadvantages, which are discussed as follows.
  • the use of a central control block requires considerable cable lengths, eg up to 70m, between the hydraulic cylinders and the valves controlling them.
  • Long lines degrade the response of the electro-hydraulic control circuit due to delays, increase the susceptibility to line breaks, limit the space available at the segments, and increase the cost of the electro-hydraulic control circuit.
  • Furthermore, to avoid an unwanted sinking of a segment often lowering brake valves must be used, which open only at a corresponding pressure in the associated hydraulic supply lines (and thus actuated control valve).
  • Electrohydraulic control circuits which are implemented exclusively in hardware, are not flexible and can not be adapted to the respective operation.
  • the document EP 1 882 795 B1 shows a large manipulator, in particular for concrete pumps with a frame mounted on a frame, preferably rotatable about a vertical axis of rotation mast block, with a composite of at least three mast arms articulated mast.
  • pressure sensors are provided, wherein a pressure sensor is attached to a bottom end and a rod end of a piston and the pressure difference supplies the corresponding time-dependent measuring signal.
  • the systems used which are typically used for the active damping of elastic vibrations, have the following disadvantages: Pressure sensors used therein do not directly measure the dynamic states of the segment.
  • Vibrations that act on (for example due to static friction) fixed hydraulic cylinder can not be determined. Furthermore, unaccounted for dynamic effects, which are caused for example by a non-ideal pressure supply, have a direct influence on feedback measurement signals and thus reduce the performance of the electro-hydraulic control circuit or the associated control system.
  • this object is achieved with an inventive electrohydraulic control circuit of the type mentioned, in which an electrically controlled first valve, which is connected to hydraulic working lines of the actuator to its control, and provided in the working lines of the actuator check valves, the arranged on the actuator or the actuator associated with this segment and are unlocked for normal operation of the actuator, wherein the unlocking of the check valves is controlled by a separate from the first valve and the check valves electronic control device.
  • the first valve is arranged on the actuator or the actuator associated segment.
  • the line lengths of the working lines between the actuator and the first valve are reduced to a minimum. This improves the response of the electro-hydraulic control circuit, reduces the susceptibility to line breaks, reduces the number of (work) lines routed along a segment or multiple segments, thus increasing the space available on the segment (s) and reducing the cost of the circuit electrohydraulic control circuit.
  • control device is designed as an electronic device dedicated to the segment, which is preferably arranged on the actuator or on the actuator associated segment.
  • the electronic device could also be mounted on an actuator associated with the segment or in its immediate vicinity.
  • the working lines of the actuator are equipped with pressure sensors whose signals are supplied to the control device for monitoring the forces acting on the actuator and / or moments and / or load.
  • the monitoring of the forces acting on the actuator and / or moments and / or load allows the implementation of numerous auxiliary functions.
  • the control circuit can be adapted directly to the operation and / or load of a control variable acting on the actuator (in particular, a state or a position of the electrically controlled first valve).
  • a control variable acting on the actuator in particular, a state or a position of the electrically controlled first valve.
  • servo compensation measures for achieving a constant travel speed of a segment
  • various fail-safe functions for example the automatic detection of overpressure and the initiation of safety-relevant measures
  • control circuit which is supplied by a pressure supply further developed by a pressure sensor is provided for monitoring the pressure supply, for generating a signal, that of the control device for adaptation of the control of the first valve is supplied to detected by the pressure sensor pressure fluctuations.
  • the first valve is designed as a proportional valve, in particular as a proportional valve.
  • the first valve can be designed as a so-called “continuous valve", which is not switched discretely, but allows a steady transition from switching positions.
  • the unlocking of the check valves can be done directly or indirectly.
  • the control device controls a switching valve which supplies hydraulic Unlock lines of the check valves.
  • the control device activates the unlocking of the check valves via electromagnetic actuation. This allows the abandonment of additional hydraulic components / lines.
  • a central electronic control device adapted to control a plurality of control circuits of a plurality of segments of a manipulator.
  • the electronic controller / s enables flexible and efficient consideration of additional parameters that may contribute to improving the performance of the control circuit.
  • the actuator can therefore be assigned sensor means which detect the operating state of the actuator and / or the spatial orientation of the associated segment and generate corresponding measurement signals, which are guided to an orientation control / regulating device associated with the segment and / or the manipulator.
  • an emergency circuit can be provided.
  • this has in an advantageous embodiment, a parallel to the first valve hydraulic emergency circuit.
  • the emergency circuit preferably at least one controllable switching valve, which on the actuator or The actuator associated segment is arranged and is preferably powered by its own pressure supply line, as well as mutually coupled valves to achieve a load-holding function or a Senkbremsfunktion.
  • the emergency circuit additionally has throttles, which are preferably each connected in series with one of the valves of the emergency circuit.
  • a lockable for normal operation check valve whose release is controlled by the electronic control device.
  • the operating lines of the actuator are supplied by a first pressure supply and return system, while a second pressure supply and return system independent of the first system is provided for supplying control lines of the control circuit.
  • the invention according to the first aspect further relates to a manipulator, in particular Popemanipulator for truck-mounted concrete pumps, which at least one segment, preferably two or more segments, and is arranged on a preferably rotatable about a vertical axis of rotation base, wherein the segment or a first of Segments with the base and the segments are each connected to each other via a hinge on which the respective segment relative to the base or to each other by fixed axes of rotation by means of at least one hydraulically actuated actuator are pivotable with an electro-hydraulic control circuit for controlling the actuator or at least one the actuators as discussed above.
  • the object set out above is achieved with a control system according to the invention of the type mentioned at the outset, in which the control system comprises at least the following:
  • a first sensor which is arranged on a segment connected to the joint and supplies a first measuring signal corresponding to a deformation of the segment, referred to as a "deformation signal"
  • a second sensor which supplies a second measuring signal corresponding to the spatial orientation of the segment connected to the joint, referred to as an "orientation signal"
  • control system can preferably be depicted in an electronic control device described below, which detects the measurement signals and processes them efficiently and quickly and outputs the control signals. This allows a digital structure of the control system, which can be quickly and efficiently parameterized and used in a variety of ways.
  • the second sensor comprises a single-axis or multi-axis rotation rate sensor in combination with a two- or three-axis acceleration sensor whose measurement signals are processed to determine the orientation signal.
  • a three-axis rotation rate sensor is used in combination with a three-axis acceleration sensor. This sensor structure allows a particularly accurate determination of the orientation signal.
  • an observer in particular an extended Kalman filter, can be used to process the signals. This can additionally increase the quality of the signals.
  • the second sensor comprises an inertial sensor, preferably an inertial measuring unit (IMU).
  • IMU inertial measuring unit
  • a magnetic field sensor can be used to determine a signal associated with the orientation of the segment, whereby the quality of the measured orientation signal can be further increased.
  • the first sensor comprises a strain sensor, for example a strain gauge.
  • the first sensor is arranged on the segment at a separate position from the hinge associated actuator.
  • the first sensor may be disposed on the body of the segment.
  • the invention according to the second aspect relates to a manipulator, in particular large manipulator for truck-mounted concrete pumps, which at least one segment, preferably two or more segments, and is arranged on a preferably rotatable about a vertical axis of rotation base, wherein the segment or a first of the Segments with the base and the segments are each connected to each other via a hinge on which the respective segment relative to the base or to each other by fixed axes of rotation by means of at least one preferably hydraulic actuator are pivotally, characterized in that at least one of the joints a control system according to a associated with the preceding claims.
  • the problem described above with regard to vibrations of large manipulators is a particularly suitable application of the control system, which allows a significant improvement in the usability of large manipulators.
  • the advantages of the control system according to the invention can be used particularly extensively when a plurality of joints of the manipulator, in particular each of the joints, each associated with a control system.
  • the second aspect of the invention can also be used in the form of a method for controlling the orientation of a segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, wherein the segment is connected via a hinge to a base or a predecessor segment of the manipulator, wherein the segment on the Joint with respect to the base or the predecessor segment is pivotable about at least one axis of rotation by means of at least one preferably hydraulic actuator,
  • a first measurement signal corresponding to a deformation of the segment - referred to as a "deformation signal" - is obtained, and
  • a second measuring signal corresponding to the spatial orientation of the segment connected to the joint is obtained in a second sensor, referred to as an "orientation signal"
  • an actuating signal is determined
  • the control signal is supplied to the joint associated actuator.
  • This method is versatile and particularly suitable for controlling (and regulating) the orientation of segments of a manipulator.
  • FIG. 1 is a side view of a transport vehicle with a large manipulator in a transport state
  • FIG. 2 shows a side view of the transport vehicle according to FIG. 1 with the large manipulator in an operating state
  • FIG. 3 is a schematic representation of a first embodiment of an electro-hydraulic control circuit according to the invention
  • 4 is a schematic representation of a second embodiment of an electro-hydraulic control circuit according to the invention
  • Fig. 5 is a schematic representation of a control system according to the invention.
  • FIG. 6 is a side view of a section of a boom of the large manipulator of FIG .. 1
  • a transport vehicle 5.1 is shown in a side view, which has a large manipulator 5.2, wherein the large manipulator 5.2 has a plurality of segments 5.3.
  • Fig. 1 shows a plurality of segments 5.3, wherein for ease of reading in the illustration, only a first segment 5.3 is provided with reference numerals.
  • the further segments 5.3 may be constructed substantially the same, but each additional segment 5.3 is connected to a predecessor segment 5.3.
  • the first segment 5.3 is connected therein to a base 5.4 via a hinge 5.5, the base 5.4 being e.g. is designed as a vehicle-fixed vertical axis rotatable slewing.
  • the base 5.4 could be configured in any other way - it is essential that the first segment 5.3 is connected via a hinge 5.5 with the base 5.4.
  • a first actuator 5.6 is arranged, which is preferably designed as a hydraulic cylinder; Of course, the actuator 5.6 may be designed in other ways, for example as a hydraulic motor.
  • the first actuator 5.6 is adapted to pivot the first segment 5.3. The pivoting position is determined by the structural design of the first segment 5.3, the base 5.4 and the joint 5.5 and by a deflection of the actuator 5.6.
  • a piston arranged with the first segment 5.3 and within the hydraulic cylinder is preferably displaced by means of pressure differences acting on the hydraulic cylinder.
  • the first segment 5.3 is articulated in the embodiment shown with other segments 5.3, wherein in each case an actuator 5.6 is arranged between the predecessor segment and the successor segment, wherein the actuator 5.6 in the manner described above, a United pivoting of the individual segments 5.3 allows each other ,
  • the term "manipulator” means a working device such as an arm, a boom, a hoist, a mast or a mast, for driving the position and / or orientation of at least one by means of at least one actuator 5.6 movable segment 5.3 is suitable, wherein the position and / or orientation is relative to a predecessor segment 5.3 or the base 5.4.
  • FIG. 2 shows the transport vehicle 5.1 with the large manipulator 5.2 in an exemplary operating state.
  • the individual segments 5.3 are pivoted in such a way that they together form a kind of bridge which is suitable for enabling a mass transport via the connection of the individual segments 5.3 to a location remote from the transport vehicle 5.1.
  • This requirement is particularly prevalent in large-scale manipulators for truck-mounted concrete pumps, where liquid concrete is to be pumped over long distances, as will be explained in more detail below.
  • a concrete pipe (not shown), e.g. a delivery pipe out, which has at its end an outlet 5.7, which is designed for example as a hanging end hose and which can be targeted by the orientation of the segments 5.3 brought to a desired location / position.
  • FIG. 3 shows a schematic representation of a first embodiment of an electrohydraulic control circuit according to the invention, as it can be used in particular for the application in the case of large manipulators 5.2 described above.
  • the reference numerals of the preceding figures have been used and Unless defined otherwise, they correspond to the preceding elements. However, this does not mean that the electro-hydraulic control circuit is restricted to the embodiment shown in the preceding figures.
  • This is an electrically controlled first valve 2.4 can be seen, with which an actuator 5.6, in particular the hydraulic cylinder can be moved by this the actuator 5.6 associated working lines AI, A2 subjected to a pressure difference.
  • the working lines are optionally each connected to a first pressure supply system P2 or a first return system T2.
  • the first valve 2.4 can be designed, for example, as an electromechanically actuated 4/3 proportional directional control valve.
  • the control of the first valve 2.4 for example, directly with proportional solenoids or hydraulically via pilot operated pilot valves by an electronic control unit ECU (electronic control unit).
  • the electronic control unit ECU monitors the state of the system, enables the implementation of complex algorithms, provides an interface for communication to the outside via a bus system (for example CAN) and the possibility of connecting a large number of sensors to it.
  • a switching valve 1.1 which is designed for example as an electromechanically actuated 3/2-way switching valve, acts as a central release valve (this function will be discussed in more detail below) and is controlled by the electronic control unit ECU.
  • the switching valve 1.1 When the switching valve 1.1 is energized by the electronic control unit ECU, the switching valve 1.1 switches the control pressure assigned to a second pressure supply system PI to the check valves 2.1, 2.5 and 2.6, thereby opening them (at the same time) and allowing a supply pressure associated with the pressure supply system P2 to be dependent on the supply pressure Position / from the state of the first valve 2.4 to a working line of the first valve 2.4 associated actuator 5.6, in particular a hydraulic cylinder, is acted upon.
  • the check valves 2.1, 2.5 and 2.6 are preferably designed as a pilot-operated check valves.
  • the pilot-operated check valves preferably have a restoring spring, whereby a defined state is established when the electromagnets assigned to the switching valve 1.1 are switched off, by switching on a (low) tank pressure assigned to a second return system T1 to the check valves 2.1, 2.5 and 2.6.
  • the check valves 2.5 and 2.6 perform a load hold function when the control circuit is in an inactive state.
  • the check valve 2.1 also has a safety function, in particular it prevents the check valves 2.5 or 2.6 from being pressed open (by the supply supply pressure) in the case of a clamping piston in the first valve 2.4 outside the middle position.
  • a further check valve 2.2 which is designed as a check valve, serves as mechanical protection of the control circuit against a break in a supply line associated with the first pressure supply system P2.
  • the actuator 5.6 are preceded by two pressure relief valves 2.9 and 2.10, which protect the actuator 5.6, in particular the hydraulic cylinder from damage by excessive chamber pressures and thus serve as overload valves.
  • control circuit further has an optional and particularly advantageous hydraulic emergency circuit (emergency operation branch) connected in parallel with the first valve 2.4, which supply oil for availability via a separate third pressure supply line P3.
  • the emergency circuit allows a method of the cylinder in case of failure of the first valve 2.4 associated (or upstream or downstream) components.
  • the emergency circuit includes a controllable switching valve 3.1, which is provided for example as electromechanically driven 4 / 3- switching valve 3.1 for controlling the direction of travel, and two mutually coupled valves 3.2 and 3.3, which are preferably designed as Senkbremsventile in classic circuit. With the aid of downstream chokes 3.4 and 3.5, the travel speed can be limited.
  • the control circuit furthermore has a first sensor or a first sensor means 4.1, which is arranged on a segment 5.3 and supplies a first measurement signal corresponding to a deformation of the segment 5.3-referred to as a "deformation signal.”
  • a second sensor or a second sensor means 4.2 provided, which provides a spatial orientation of the segment 5.3 corresponding second measuring signal - referred to as "orientation signal” -.
  • a further sensor means 4.3 may be provided, which is also drawn to determine the orientation.
  • the sensor means 4.1, 4.2 and 4.3 can, for example, be connected to the electronic control unit ECU via bus systems (for example CAN).
  • the electronic control unit ECU monitors the state and the behavior of the control circuit or an associated control system by means of the available Sensors. If the electronic control unit ECU detects a malfunction, it automatically switches the control circuit or the control system to a safe state.
  • the electronic control unit ECU is actuated via a BUS system (for example CAN) via which control commands and setpoint values can be transmitted, which can be preset by a user, for example via a user interface (for example with joystick, levers, etc.). Furthermore, status information of the control circuit or the control system can be transmitted to higher-level control devices.
  • the position of the first valve 2.4 necessary for a desired travel speed can be determined by means of software based on measured pressure conditions. Due to the sensors used, the required supply pressure can be transmitted by a local electronic control unit ECU to a higher-level electronic control unit ECU, which controls, for example, a hydraulic pump, via a BUS system.
  • Fig. 4 shows a schematic representation of a second embodiment of an electro-hydraulic control circuit according to the invention.
  • the number of responsible for the load-holding function valves (2.5, 2.6, 3.2 and 3.3) is reduced by the release valve was 1.1 replaced by a 6/2-way switching valve 2.11 as a selector.
  • the control of the emergency circuit via two switching valves 3.1a and 3.1b.
  • the electronic control device ECU is not explicitly shown, however, to be regarded as similar as in Fig. 3 connected.
  • FIG. 5 is a schematic representation of a control system according to the invention can be seen, which preferably, but not necessarily put on the above-described control circuit, and for ease of understanding in a subsequent consequence based on this control circuit is described (with respect to the reference numerals applies already before predicted).
  • a control algorithm associated with the control system runs on the electronic control device ECU, which is set up to control the travel speed of the cylinder, with which it can be recorded as a control variable of the control system.
  • a local feedback of a dynamic portion of a first sensor 4.1 delivering a deformation signal, which is designed in particular as a strain gauge, can be used to dampen
  • the entire cantilever structure (consisting of a series of segments AL (which form a cantilever corresponding to segments 5.3 - but only a single segment AL can be provided) may be used to provide a steady state portion of the deformation signal whose feedback does not provide a damping effect
  • the joint positions of the joints 5.5 or the deflection of at least one control element 5.6 (and thus the orientation of the segments 5.3) can thus be actively influenced by the control system, in particular when elastic oscillations occur
  • Car audio pump could lead to an intervention of the control system to a drift movement of the segments 5.3 and thus to a deviation from a desired nominal position.
  • the local deformation signal s DMS (t) represents the dynamic component of the measured deformation signal (in particular a beam curvature of a segment 5.3), which is separated by a high-pass filter HP from a stationary component s DMS stat .
  • the factors ki and fo are gain factors and serve for the parameterization of the control system. For positive amplification factors ki, ki> 0, the control system has an asymptotically stable behavior. Instead of regulating the deflection of the actuator 5.6, the deflection of a joint 5.5 could also be regulated.
  • the input variable of an actuator 5.6 is represented by the signal s v (t), which describes, for example, the piston position of a control valve.
  • the electronic tax Direction ECU can determine those valve position (s) which cause a desired travel speed u (t) of an actuator 5.6 (ie the rate of change of a deflection) (speed control GS).
  • the signal u d (t) corresponds to a desired travel speed predetermined by a user.
  • inertial sensors in the form of IMUs of known type are preferably arranged on individual segments 5.3, which can serve for determining the position of the joint 5.5 and / or the deflection of the actuator 5.6 and / or the orientation of a segment 5.3. It is also possible for each segment 5.3 to be assigned an inertial sensor. Such an inertial sensor consists for example of a three-axis rotation rate sensor in combination with a three-axis acceleration sensor. In addition, an earth magnetic field sensor can also be provided, which can determine a deviating from the vertical, fixed direction in space.
  • b (t) k 2 ( BS (t) -ij (t)).
  • ⁇ ⁇ ) denotes the estimated inclination angle
  • ⁇ ⁇ $ (t) the measured rate of rotation in the corresponding axis
  • ⁇ ⁇ $ (t) the inclination angle determined by means of the acceleration sensors.
  • the relationship between the deflection s z ⁇ t) of the actuator 5.6 and the joint angle ⁇ ⁇ ) can be determined by a function being represented.
  • the deflection s z (t) can be determined in this way analytically or alternatively by measurement.
  • the described method for measuring the joint angles (p (t) or the deflection s (t) of an actuator 5.6 can significantly reduce the systematic measurement error compared to known arrangements.) This enables the implementation of a position control with a significantly higher quality and robust construction are given in inertial sensors, which are preferably used in the course of the control system according to the invention.
  • inertial sensors offer even more advantages. For attenuation of a segment 5.3, acceleration values can be measured as an alternative to the feedback of the deformation signal measured with strain gauges (for example a beam curvature of a segment 5.3) since these also represent the forces occurring at individual points of a segment 5.3.
  • strain gauges for example a beam curvature of a segment 5.3
  • the sensors can likewise be used to dampen the vibrations in the horizontal plane by measuring the measured horizontal acceleration is fed back to the actuator of the slewing gear.
  • the inertial sensor is additionally equipped with a terrestrial magnetic field sensor, monitoring and thus also regulation of a slewing angle can be realized. Due to this multi-functionality of the inertial sensors, a variety of control and control functions can therefore be met with fewer components overall, which leads to an increase in the availability of the control system.
  • the actuator 5.6 could also be referred to as an "actuator” and at least one segment 5.3 forms a so-called “cantilever”.
  • FIG. 6 shows a side view of a section of a boom of the large manipulator of FIG. 1.
  • the sensors 4.2 and 4.3 are preferably designed as inertial sensors. Alternatively, only one sensor 4.3 may be provided.
  • the provision of both sensors 4.2 and 4.3, which are each arranged before or after the joint 5.5, however, increases the redundancy of the measurement signals for determining the orientation of the segment 5.3, whereby the fault tolerance of the control system can be increased or measurement errors detected and / or corrected can be.
  • the first sensor 4.1 is recognizable, which is preferably designed as a strain gauge and is placed in a region of the segment 5.3 in which a relevant deformation signal assumes the maximum value. This area is often in the first 20% of the longitudinal extent of the respective segment 5.3.
  • the invention can be used in many ways and is not limited to the embodiments shown.
  • the number of segments can be varied and / or the actuators 5.6 pneumatically or electrically executed.
  • the invention is not limited to large manipulators but can be applied in numerous other fields. Essential are the ideas underlying the invention, which in view of this doctrine by a person skilled in many ways executable and still remain maintained as such.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Abstract

L'invention concerne un système de régulation destiné à commander l'orientation d'un segment (5.3) d'un manipulateur, en particulier d'un manipulateur de grande taille pour des pompes à béton automotrices. Le segment (5.3) est relié par une articulation (5.5) à une base (5.4) ou à un segment précédent (5.3) du manipulateur, et peut pivoter sur l'articulation (5.5) par rapport à la base (5.4) ou au segment précédent (5.3) autour d'au moins un axe de rotation au moyen d'au moins un organe de commande (5.6), de préférence un organe de commande hydraulique. L'invention est caractérisée en ce que le système de régulation comprend au moins : - un premier capteur (4.1), lequel est disposé sur un segment (5.3) fixé à l'articulation (5.5) et délivre un premier signal de mesure correspondant à une déformation du segment (5.3), désigné par « signal de déformation », - un second capteur (4.2, 4.3), lequel délivre un second signal de mesure correspondant à l'orientation spatiale du segment fixé à l'articulation (5.5), désigné par « signal d'orientation », et - au moins un organe de commande (5.6) associé à l'articulation (5.5). Le système de régulation est conçu pour traiter le signal de déformation et le signal d'orientation en tant que grandeurs d'entrée et pour définir à partir de ces derniers, en tenant compte d'une orientation théorique du segment (5.3) associé à l'articulation (5.5), un signal de commande, lequel est amené à l'organe de commande (5.6) associé.
EP14723678.0A 2013-04-09 2014-04-09 Système de régulation et procédé de commande de l'orientation d'un segment d'un manipulateur Pending EP2984254A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50240/2013A AT514116A1 (de) 2013-04-09 2013-04-09 Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
PCT/AT2014/050086 WO2014165889A1 (fr) 2013-04-09 2014-04-09 Système de régulation et procédé de commande de l'orientation d'un segment d'un manipulateur

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EP2984254A1 true EP2984254A1 (fr) 2016-02-17

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US (1) US10106994B2 (fr)
EP (1) EP2984254A1 (fr)
CN (1) CN105247148B (fr)
AT (1) AT514116A1 (fr)
WO (1) WO2014165889A1 (fr)

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AT514116A1 (de) 2014-10-15
WO2014165889A1 (fr) 2014-10-16
US20160076263A1 (en) 2016-03-17
US10106994B2 (en) 2018-10-23
CN105247148A (zh) 2016-01-13
CN105247148B (zh) 2018-12-21

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