EP3259221B1 - Contrôle de la position d'une pointe de mât - Google Patents

Contrôle de la position d'une pointe de mât Download PDF

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Publication number
EP3259221B1
EP3259221B1 EP16708951.5A EP16708951A EP3259221B1 EP 3259221 B1 EP3259221 B1 EP 3259221B1 EP 16708951 A EP16708951 A EP 16708951A EP 3259221 B1 EP3259221 B1 EP 3259221B1
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EP
European Patent Office
Prior art keywords
mast
sensor
large manipulator
manipulator according
tip
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Active
Application number
EP16708951.5A
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German (de)
English (en)
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EP3259221A1 (fr
Inventor
Johannes HENIKL
Wolfgang KEMMETMÜLLER
Andreas Kugi
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Friedrich Wilhelm Schwing GmbH
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Friedrich Wilhelm Schwing GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • 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

Definitions

  • the invention relates to a large manipulator with a foldable mast arm, which has a turntable that can be rotated about a vertical axis and a plurality of mast segments, the mast segments on articulated joints being pivotable to a limited extent about horizontal articulation axes relative to an adjacent mast segment or the turntable by means of a drive unit, and wherein the mast arm means for inclination measurement are arranged, as well as a truck-mounted concrete pump with a large manipulator according to the invention.
  • the DE 195 03 895 A1 discloses a simple position control loop that compensates for vertical movement. However, this proves to be problematic necessary measurement of the height.
  • ultrasonic and laser sensors for measuring the distance of the boom tip to the ground are proposed.
  • this measuring principle has proven to be unusable in practical use, since no obstacle-free space between the emitting source and the reference plane can be guaranteed during operation.
  • the use of only the last mast joint is proposed for the implementation of the regulation.
  • this control concept cannot be used if the mast is inclined in relation to the earth's gravity field close to the vertical.
  • the height of the mast tip relative to the height of the vehicle can be detected by inclination sensors attached to all mast segments.
  • the position of the mast tip can be calculated with a kinematic description of the system.
  • the use of inclination sensors implicitly takes into account the deformation of the mast segments.
  • the inclination sensors typically used cannot differentiate between a change in the inclination and a translational acceleration of the sensor. For dynamic movements, they therefore supply incorrect measured values. They can therefore not be used to implement a position control.
  • the WO 2014/1658888 A1 or the WO 2014/1658889 A1 concern a large manipulator with an inertial sensor for measuring the inclination and acceleration of a mast segment.
  • a position control for regulating the height of the mast tip is not provided here.
  • a large manipulator is to be provided in which a vertical movement of a boom tip of a truck-mounted concrete pump can be effectively reduced during pump operation, which among other things leads to a significant relief for the operator of the end hose.
  • the large manipulator according to the invention comprises a foldable mast arm that has a turntable that can be rotated about a vertical axis and a plurality of mast segments, wherein the mast segments on articulated joints can be pivoted to a limited extent about horizontal articulation axes relative to an adjacent mast segment or the turntable by means of one drive unit each.
  • the large manipulator according to the invention has at least one inertial sensor for measuring the inclination and / or the acceleration of at least one mast segment.
  • the large manipulator according to the invention With the large manipulator according to the invention, the falsifications known from the prior art for translational accelerations can be prevented.
  • the large manipulator according to the invention thus has the advantage over the prior art that it can be used to achieve a statically and dynamically accurate measurement of the vertical movements of the mast tip.
  • an inertial sensor is preferably an acceleration sensor that detects the vertical acceleration at the location of the sensor.
  • the inertial sensor is particularly preferably a combined sensor which, in addition to a biaxial acceleration sensor, has a rotation rate sensor.
  • the axis of the rotation rate sensor is orthogonal to the acceleration axes. Since translational movements have only a very slight influence on the yaw rate sensor, the measurement signals of the yaw rate sensor can be used to detect and correct a falsification of the inclination angle determined from the measurement signals of the acceleration sensor.
  • the angle of inclination can be determined by integrating the measured rotation rate over time are used, the inclination angle determined by the acceleration sensors being used for the stationary adjustment.
  • a gyroscope is advantageously used.
  • the gyroscope measures the rate of rotation of the tilt, which is not influenced by the translational movement.
  • an observer in the form of an extended Kalman filter or an approach with complementary filters can be used to combine the measurement signals from the acceleration sensors and the rotation rate sensor.
  • At least one inertial sensor can be arranged on each mast segment. As a result, the measurement accuracy and reliability can be further improved.
  • the inertial sensors are advantageously arranged essentially in the middle of a mast segment. Due to the slim design of the mast arm, the individual mast segments during operation have elastic deformations that are not negligible due to the static and dynamic forces that occur. Due to the arrangement of the sensors in the middle of the mast segments, the difference in the measured inclinations of two successive mast segments contains not only the exact joint angle but also a part of the elastic deformation. As a result, the kinematics of the mast arm can be viewed approximately as a rigid body problem. Ideally, each mast segment has an inertial sensor, which is arranged approximately in the middle of the respective mast segment.
  • the inertial sensor is arranged on the last mast segment.
  • the inertial sensor on the last mast segment is particularly preferably not arranged in the middle. Since the influence of the beam curvature of the last mast segment on the height of the mast tip is small in relation to that of the previous mast segments, such an arrangement leads to a sufficiently precise measurement result.
  • the mast arm has an axial sensor at the top of the mast. As a result, the measurement of the height of the mast tip can continue during fast movements with high accelerations be improved.
  • the double integration in time of the measurement signal representing the acceleration in the vertical direction provides a signal which is in good agreement with the dynamic components of the movement in the higher frequency band.
  • two sensors can be arranged on the last mast segment.
  • a sensor is preferably arranged essentially in the middle and another sensor at the mast tip, that is to say at the outer end of the mast segment. For a sufficiently precise measurement, however, it is also sufficient if a sensor is only arranged on the mast tip.
  • At least one of the articulated joints of the mast arm is assigned an angle sensor which detects the angular position of this articulated joint.
  • An angle sensor is particularly preferably assigned to each articulated joint.
  • the large manipulator (using a suitable computer) can advantageously be set up to calculate the height of the mast tip from the angular positions of the articulated joints in combination with the acceleration detected by means of the inertial sensor arranged on the last mast segment, in particular on the mast tip.
  • the angle sensors are not inertial sensors, but measuring sensors with geometric resolution (with mechanical, resistive, inductive, optical or magnetic principle of operation). In other words, the angle sensors serve to determine the (static) position of the mast arm.
  • the height of the mast tip can first be determined via the angular positions of the articulated joints.
  • the deflection of the mast segments can be taken into account. This can be done, for example, using mathematical models alone or in combination with other measurement signals, such as pressure sensors on the hydraulic drive units of the mast arm.
  • the value of the height of the mast tip obtained in this way can then be combined with the high-pass filtered, twice temporally integrated vertical acceleration signal of the inertial sensor arranged on the last mast segment or on the mast tip, and thus gives a particularly precise measurement of the height of the mast tip.
  • only exactly one inertial sensor in the form of an acceleration sensor is required in combination with a number of angle sensors which corresponds to the number of articulated joints.
  • the measurement signals i.e. the measurement signal of the vertical acceleration and the height measurement signal determined via the inclination angle are combined with one another, preferably by suitably selected, preferably complementary, filters.
  • the height of the mast tip determined via the inclinations of the mast segments is filtered with a low-pass filter with a suitable cut-off frequency in order to filter out high-frequency dynamic disturbances.
  • the vertical acceleration signal integrated twice in time is filtered with a complementary high-pass filter with the same cut-off frequency.
  • the two filtered signals are then combined and give an exact measurement of the height of the mast tip.
  • their function can also be implemented by an observer or a Kalman filter.
  • the large manipulator according to the invention has a position controller.
  • the position controller can be used to effectively control the height of the mast tip, thereby compensating for an induced vertical movement of the mast tip.
  • the height of the mast tip can in principle be manipulated with each joint. While there is great manipulation for the joint concerned when the assigned mast segment is close to the horizontal, this disappears when the mast is inclined close to the vertical.
  • the measurement of the coordinates of the boom tip (height and radius) can be used for the implementation of a so-called Cartesian or cylindrical control of the boom tip.
  • the user can specifically specify a stretching or shortening movement for the mast tip while maintaining the height or a lifting or lowering movement while maintaining the radius.
  • an algorithm is used to calculate control signals for the hydraulic actuators of the individual joints, which initiate the desired movement.
  • the position controller preferably feeds back the deviation of the measured height of the mast tip from its target value as a specification of a lifting or lowering movement of the Mast tip for a Cartesian or cylindrical control on the system.
  • a control circuit for vibration damping of the mast is preferably implemented on the basis of a regulation of the joint angle.
  • This control circuit preferably has a computer unit that calculates the height of the mast tip based on a kinematic description of the mast and the measurements of the angles of inclination of the individual mast segments with respect to the earth's gravity field.
  • the angular velocities of the individual articulated joints are advantageously considered as manipulated variables of this vibration damping control loop.
  • the position control according to the invention is preferably superimposed on the vibration damping.
  • the position control preferably has a proportional / integral / differential controller (PID controller).
  • PID controller proportional / integral / differential controller
  • the controller determines a control output which is given to the mast tip in the form of a lifting or lowering movement as the target movement.
  • the algorithm uses this to determine the control signals which are applied to the control inputs of the individual mast joints, ie in practice the control inputs of the proportional hydraulic valves of the hydraulic drives.
  • the algorithm is designed in such a way that, based on the alignment of the individual mast arms and / or the distance of the individual mast joints from the turntable, a weighting takes place with which the control signals applied to the control inputs of the individual mast joints are weighted.
  • the weight increases the further the joint is from the turntable or the closer the joint is to the boom tip. Controlling the mast joints farther away from the turntable has the advantage that the mass to be moved is less and thus a change in position can be counteracted faster and more effectively.
  • the weighting increases the more horizontally the individual mast arms run. The control should act on the horizontally extending mast arms as far as possible in order to be able to influence the height of the jib tip effectively.
  • the algorithm or the weighting according to the invention is therefore expediently carried out in such a way that the greatest control signal is generally applied to the last mast arm if it has an approximately horizontal profile having. However, if the last mast arm is essentially vertical, another mast arm with a horizontal profile is given a greater weight and a correspondingly larger actuating signal is applied. With the sensor and control concept according to the invention, an effective control of the height of the boom tip can thus be achieved overall.
  • the setpoint for the height of the mast tip is preferably determined by the operator's method and therefore results from the rest position for the current position of the mast arm.
  • the large manipulator according to the invention is preferably used for the distribution of thick matter. In particular, it serves to promote concrete.
  • the invention further relates to a truck-mounted concrete pump.
  • the truck-mounted concrete pump according to the invention has a vehicle frame, a thick matter pump, in particular a concrete pump, arranged on the vehicle frame, and a large manipulator with the inertial sensors described above.
  • FIG. 1 shows a schematic representation of a mast arm 10 according to the invention with means 34, 36, 38 for inclination measurement in a first embodiment.
  • the large manipulator has a foldable mast arm 10 with a turntable 12 rotatable about a vertical axis and a plurality of mast segments 14, 16, 18.
  • the mast segments 14, 16, 18 can be pivoted to a limited extent on articulated joints 20, 22, 24 about horizontal articulation axes relative to an adjacent mast segment 14, 16, 18 or the turntable 12 by means of a drive unit 26, 28, 30.
  • the mast arm 10 preferably has between three and five mast segments 14, 16, 18.
  • the large manipulator according to the invention has at least one inertial sensor 34, 36, 38 for detecting the inclination of the mast segments 14, 16, 18 with respect to the earth.
  • the inertial sensors 34, 36, 38 each preferably consist of a biaxial acceleration sensor and a rotation rate sensor. Ideally, the axis of the rotation rate sensor is orthogonal to the acceleration axes of the acceleration sensor. Since the translatory movements have only a very slight influence on the rotation rate sensors, their measurements are used to detect and correct falsifications of the inclination angles determined from the acceleration measurements. This reduces a measurement error when the mast moves.
  • Mast arm 10 according to the invention shown has an inertial sensor 34, 36, 38 on each mast segment 14, 16, 18.
  • the inertial sensors 34, 36, 38 are arranged essentially in the middle of the mast segments 14, 16, 18.
  • the difference in the measured inclinations of two successive mast segments 14, 16, 18 also includes a portion in addition to the exact joint angle the elastic deformation.
  • the kinematics of the mast arm can be viewed approximately as a rigid body problem.
  • FIG. 2 shows a schematic representation of a mast arm 10 according to the invention with means for inclination measurement in a second embodiment.
  • the mast segments 14, 16, 18 each have an inertial sensor 34, 36, 38, which are arranged essentially in the middle thereof.
  • an additional measurement of the accelerations takes place directly on the mast tip 32.
  • the double integration of the proportion of the acceleration in the vertical direction provides a measurement signal which is in good agreement with the dynamic parts of the movement in the higher frequency band.
  • the mast segment 18, the outer end of which represents the mast tip 32 has an additional sensor 40 at its outer end, the mast tip 32.
  • FIG. 3 shows a schematic representation of a mast arm 10 according to the invention with means for inclination measurement in a third embodiment.
  • the mast segments 14, 16 each have an inertial sensor 34, 36, which are arranged essentially in the middle thereof.
  • the mast segment 18 has an inertial sensor 40 at its outer end, the mast tip 32. Since the influence of the beam curvature of the last mast segment 18 on the height of the mast tip is small in relation to that of the preceding mast segments 14, 16, such an arrangement leads to a sufficiently precise measurement result.
  • An additional sensor 38 can thus be dispensed with.
  • FIG. 4 shows a schematic view of a mast arm 10 according to the invention in a fourth embodiment.
  • the mast segments 14, 16, 18 each have an angle sensor 48, 50, 52.
  • the angle sensors 48, 50, 52 detect the angular positions of the individual articulated joints 20, 22, 24.
  • An inertial sensor 40 is also arranged on the mast tip 32 and detects the vertical acceleration of the mast tip 32.
  • the vibration damping is superimposed on a position control based on a PID controller 46 and a module 47 for controlling the lifting or lowering movement of the mast tip 32.
  • a position control based on a PID controller 46 and a module 47 for controlling the lifting or lowering movement of the mast tip 32.
  • the position control uses the control deviation (deviation of the actual value of the height of the mast tip 32 from its target value) to determine a controller output A, which is specified as a target value in the form of a lifting or lowering movement of the mast tip for the module 47. This calculates the control signals which are applied to the manipulated variables U1, U2 and U3 of the individual joints 20, 22 and 24.
  • the desired value for the height of the mast tip 32 is determined in practical operation by the operator's method and therefore results from the rest position for the current position of the mast arm 10.
  • a simple high-pass filter 44 with a suitably selected cutoff frequency is therefore used for the PID controller 46 to determine the control deviation.
  • a drifting of the height from the original position through the controller intervention is based on the prevents lying vibration damping control, which includes a control of the joint positions.
  • the illustrated regulation can effectively reduce vertical movements of the mast tip 32, for example a truck-mounted concrete pump, during pump operation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Claims (12)

  1. Manipulateur de grande dimension comprenant un bras de mât (10) dépliable, qui comporte une selle orientable (12) rotative sur un axe vertical et une pluralité de segments de mât (14, 16, 18), les segments de mât (14, 16, 18) pouvant pivoter de manière limitée au niveau d'articulations (20, 22, 24) respectivement sur des axes d'articulation horizontaux par rapport à un segment de mât (14, 16, 18) voisin ou à la selle orientable (12) au moyen respectivement d'un ensemble moteur (26, 28, 30), comprenant au moins un capteur inertiel (34, 36, 38, 40) pour mesurer l'inclinaison et/ou l'accélération d'au moins un segment de mât (14, 16, 18), caractérisé par au moins un capteur angulaire (48, 50, 52) associé à une des articulations (20, 22, 24) et qui détecte la position angulaire de cette articulation (20, 22, 24), au moins un capteur inertiel (38, 40) étant disposé sur le dernier segment de mât (18), en particulier à la pointe du mât (32), et détectant l'accélération du dernier segment de mât (18), un dispositif de contrôle de position destiné à contrôler la hauteur de la pointe du mât (32) sur la base des signaux de mesure de l'au moins un capteur inertiel (34, 36, 38, 40) étant prévu, le dispositif de contrôle de position étant configuré pour calculer la hauteur de la pointe du mât (32) à partir des inclinaisons mesurées des segments de mât (14, 16, 18) ou à partir des positions angulaires détectées des articulations (20, 22, 24) en combinaison avec l'accélération détectée au moyen du capteur inertiel (38, 40) disposé sur le dernier segment de mât (18), en particulier à la pointe du mât (32), une double intégration temporelle de la part de l'accélération dans la direction verticale mesurée étant effectuée.
  2. Manipulateur de grande dimension selon la revendication 1, caractérisé en ce que le capteur inertiel (34, 36, 38, 40) comprend un accéléromètre deux axes et un capteur de vitesse de rotation.
  3. Manipulateur de grande dimension selon la revendication 2, caractérisé en ce que le capteur inertiel est conçu de manière à combiner les signaux de mesure de l'accéléromètre deux axes et le signal de mesure intégré temporellement du capteur de vitesse de rotation.
  4. Manipulateur de grande dimension selon la revendication 3, caractérisé en ce qu'il utilise, pour le traitement des signaux de mesure de l'accéléromètre deux axes et du capteur de vitesse de rotation, un observateur, en particulier un filtre de Kalman étendu ou un filtre complémentaire.
  5. Manipulateur de grande dimension selon l'une des revendications 1 à 4, caractérisé en ce qu'au moins un capteur inertiel (34, 36, 38) est disposé sur chaque segment de mât (14, 16, 18).
  6. Manipulateur de grande dimension selon l'une des revendications précédentes, caractérisé en ce que les capteurs inertiels (34, 36, 38) sont disposés sensiblement au milieu d'un segment de mât (14, 16, 18).
  7. Manipulateur de grande dimension selon l'une des revendications précédentes, caractérisé en ce qu'un capteur angulaire (48, 50, 52) est respectivement associé à chaque articulation (20, 22, 24).
  8. Manipulateur de grande dimension selon l'une des revendications précédentes, caractérisé en ce que le manipulateur de grande dimension comporte un moyen de contrôle pour l'amortissement des vibrations.
  9. Manipulateur de grande dimension selon la revendication 8, caractérisé en ce que le dispositif de contrôle de la position a la priorité sur l'amortissement des vibrations.
  10. Manipulateur de grande dimension selon l'une des revendications précédentes, caractérisé en ce que le dispositif de contrôle de la position est conçu de manière à déterminer des signaux de commande, qui sont appliqués aux entrées de commande des différentes articulations du mât, en fonction de l'orientation des différents bras de mât et/ou de la distance entre les différentes articulations du mât / différents bras de mât et la selle orientable.
  11. Manipulateur de grande dimension selon la revendication 10, caractérisé en ce que le dispositif de contrôle de la position est conçu de manière à déterminer les signaux de commande à l'aide d'une commande cartésienne ou cylindrique de la pointe du mât.
  12. Pompe à béton automotrice comportant un châssis de véhicule, une pompe à liquides visqueux, en particulier une pompe à béton, disposée sur le châssis de véhicule, et un manipulateur de grande dimension selon l'une des revendications précédentes.
EP16708951.5A 2015-02-19 2016-02-19 Contrôle de la position d'une pointe de mât Active EP3259221B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015102368.7A DE102015102368A1 (de) 2015-02-19 2015-02-19 Positionsregelung Mastspitze
PCT/EP2016/053596 WO2016131977A1 (fr) 2015-02-19 2016-02-19 Régulation de position d'une pointe de mât

Publications (2)

Publication Number Publication Date
EP3259221A1 EP3259221A1 (fr) 2017-12-27
EP3259221B1 true EP3259221B1 (fr) 2020-02-12

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EP16708951.5A Active EP3259221B1 (fr) 2015-02-19 2016-02-19 Contrôle de la position d'une pointe de mât

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Country Link
US (1) US10407282B2 (fr)
EP (1) EP3259221B1 (fr)
CN (1) CN107406237B (fr)
DE (1) DE102015102368A1 (fr)
WO (1) WO2016131977A1 (fr)

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CN110549335A (zh) * 2019-08-16 2019-12-10 珠海格力电器股份有限公司 一种关节减速比自动标定方法、控制系统及其机器人
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EP3978420B1 (fr) * 2020-09-30 2024-03-27 STILL GmbH Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention
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CN113899915B (zh) * 2021-09-28 2024-06-04 湖南三一智能控制设备有限公司 一种臂架线速度获取方法、装置及工程车辆
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EP3259221A1 (fr) 2017-12-27
DE102015102368A1 (de) 2016-08-25
CN107406237A (zh) 2017-11-28
CN107406237B (zh) 2020-08-25
US10407282B2 (en) 2019-09-10
WO2016131977A1 (fr) 2016-08-25
US20180037444A1 (en) 2018-02-08

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