EP3362399B2 - Anordnung aus einer steuerung und einem mobilen steuerungsmodul - Google Patents

Anordnung aus einer steuerung und einem mobilen steuerungsmodul Download PDF

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Publication number
EP3362399B2
EP3362399B2 EP16794921.3A EP16794921A EP3362399B2 EP 3362399 B2 EP3362399 B2 EP 3362399B2 EP 16794921 A EP16794921 A EP 16794921A EP 3362399 B2 EP3362399 B2 EP 3362399B2
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EP
European Patent Office
Prior art keywords
lifting device
arrangement according
control module
mobile control
information
Prior art date
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Active
Application number
EP16794921.3A
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German (de)
English (en)
French (fr)
Other versions
EP3362399B1 (de
EP3362399A1 (de
Inventor
Michael HANGÖBL
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.)
Palfinger AG
Original Assignee
Palfinger AG
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
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Priority to PL16794921.3T priority Critical patent/PL3362399T5/pl
Publication of EP3362399A1 publication Critical patent/EP3362399A1/de
Publication of EP3362399B1 publication Critical patent/EP3362399B1/de
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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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/42—Hydraulic transmitters
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

Definitions

  • the present invention relates to an arrangement consisting of a control arranged or to be arranged on a hydraulic lifting device and a mobile control module with the features of the preamble of claim 1 and a hydraulic lifting device with such an arrangement.
  • the current lifting load situation is calculated based on the current geometry of the lifting device and the support status of the lifting device in the stationary control. From the data calculated in this way, information is determined which is characteristic of the current lifting load situation and/or the permissibility of work operations on the lifting device given the current lifting load situation. This information is transmitted wirelessly or wired to the mobile control module.
  • the problem is the amount of data to be transmitted within the scope of the real-time requirement, i.e. H. data transmission without time delay. If the delay is too great, the situation displayed on the mobile control module may deviate from the actual situation on the lifting device. For example, a movement on the mobile control module can still be shown as permitted even though the control of the lifting device already prevents this movement.
  • the remote control of the control by the mobile control module is a safety-relevant process, not any electronic hardware can be used in the mobile control module.
  • the WO 2015/145725 A1 shows a non-generic arrangement with a portable device with a display unit, a terminal device arranged in the cabin with a device for generating image information and a crane control arranged on a crane.
  • the EP 2806324 A1 shows a non-generic arrangement consisting of a central computer and at least one mobile terminal, wherein an optimized path for the movement of a load carried by a lifting device can be calculated by the central computer and the result of the calculation can be displayed on a screen of the mobile terminal.
  • a control of the lifting device can be operated via its own control device.
  • the JP 2014 234260 A shows a non-generic arrangement for exchanging information via a crane, wherein operating information can be communicated from a first information processing device attached to the crane to a second information processing device, for example a smartphone.
  • the alien one WO 2015/086912 A1 describes a method for detecting the presence of a mobile device in an environment of a lifting device, wherein information about the device can be displayed on a display of the mobile device.
  • the object of the invention is to provide an arrangement consisting of a controller and a mobile control module, whereby the mobile control module, while ensuring real-time operation, does not require such massive processor power that the operating time of the battery of the mobile control module would be noticeably limited, and a hydraulic lifting device with such an arrangement .
  • control has a mode in which it sends the mobile control module via a transmitting and receiving module the information that is relevant to the current lifting load situation and / or the permissibility of work processes on the lifting device - if necessary at the given current lifting load situation - are characteristic, transmitted to a transmitting and receiving module of the mobile control module and that a processor of the mobile control module calculates graphic data from this information for a display that can be displayed for a user via a display unit.
  • the transmission of the information characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device to a transmitting and receiving module of the mobile control module can be carried out wirelessly and/or wired.
  • a mobile control or a mobile control module can be understood as an independent (possibly portable) operating unit with which a user can move essentially freely in a certain environment around a crane or a hydraulic lifting device.
  • data or information can be exchanged between such a mobile control module and the crane or the hydraulic lifting device (especially with its control).
  • processors with high computing power can be used without their electrical power consumption having to be taken into account.
  • the sensor data can come, for example, from pressure sensors, rotary encoders, strain gauges, distance measuring devices or switches, which are each arranged on parts of the lifting device, such as hydraulic cylinders, swivel or articulated joints, frame parts or push arms.
  • the information characteristic of the utilization of the lifting device can be transmitted to the mobile control module in a suitable operating mode of the control.
  • graphic data can be calculated for a display in the mobile control module by a suitable processor.
  • This calculation can, for example, include scaling, a selection and/or compilation of symbols or graphics stored in the control module, or an integration of calculated graphic data into stored background graphics. In this way it can be achieved that the display essentially takes place in real time.
  • the display unit can have, for example, a liquid crystal display.
  • the representation of the calculated graphic data which provides information about the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can be displayed on the mobile control module in a manner that is easy for a user to understand make possible.
  • a wired transmission of the information can take place, for example, if a user is within a certain radius of the control arranged or to be arranged on a hydraulic lifting device. In the case of particularly safety-relevant control processes, this may also be a requirement for the permissibility of the control commands issued by the user via the mobile control module.
  • the lifting device can be a crane, for example a loading crane that can be arranged on a vehicle, or even an aerial work platform.
  • the mobile control module has activation options for activating the calculation and/or the representation, which can be operated by a user. This allows the calculation and/or the display to be activated, for example by a user, at a desired time or for a desired period of time. In the remaining time, the processing power required for calculation and/or display - and the associated energy expenditure - can be saved. It is also conceivable that, by setting the mobile control module made by a user, the calculation and/or the display is activated automatically when a certain value of the utilization of a lifting device with a control according to the invention is approached or when a lifting load limit is approached.
  • the mobile control module has an energy storage and the calculation and/or the display can only take place at a minimum charge level of the energy storage. This can prevent the mobile control module from becoming inoperable due to a further, accelerated discharge due to the calculation and/or the representation - and the possibly associated increased energy expenditure - for example when the charge level of the energy storage device is already low.
  • the energy storage device can also be charged.
  • the characteristic information is transmitted incrementally.
  • the transmission can take place in certain angular increments for, for example, a polar angle of a part carrying a payload, for example a crane arm, a lifting device with a control according to the invention.
  • the characteristic information each contains a value for a lifting load or utilization limit per 5° of 360°.
  • the characteristic information can, for example, each contain a value for a lifting load or utilization limit per 1° of 360°, so transmission can take place in finer increments in certain situations take place.
  • the incremental transmission of the characteristic information for the current lifting load situation only includes the changes to the previous lifting load situation, which can reduce the amount of data to be transmitted.
  • control has a further mode in which it transmits the characteristic information depending on the rate of change of the sensor data. This can ensure that the information processed in the mobile control module and also the graphic data displayed correspond to the current status of the lifting device.
  • a change in sensor data of the lifting device can, for example, trigger a transmission of the characteristic information to the mobile control module. If there are no changes in sensor data from the lifting device, transmission of the characteristic information to the mobile control module can, for example, be suspended.
  • the characteristic information is transmitted at a reduced data rate. For example, when a part of the lifting device carrying a payload moves slowly, the characteristic information can be transmitted less often per second. If the lifting load situation of the lifting device changes more quickly, the characteristic information can be transmitted at an increased data rate. This means that the characteristic information can be displayed essentially in real time with an optimized data transmission rate.
  • the characteristic information is transmitted when there is a change - preferably only when there is a change - in the support situation of the lifting device and/or the position of the center of gravity of the lifting device.
  • a change in the center of gravity can occur, for example, by changing the extension or position of a boom of the lifting device or by changing the position of a part of the lifting device, for example an output winch rope with a certain dead weight.
  • the support situation can change, for example, by changing a support device of the lifting device that is supported on the floor, such as telescopic support legs.
  • the graphic data displayed on the mobile control module always correspond to the actual lifting load situation of the hydraulic lifting device. If the transmission only takes place when the support situation of the lifting device and/or the position of the center of gravity of the lifting device changes, the electrical power consumption of the control or the mobile control module can be optimized.
  • the change in the support situation of the lifting device and/or the position of the center of gravity takes place by changing the size or position of a payload lifted by the lifting device and/or by changing the size or position of a ballast weight that can be arranged on the lifting device.
  • a change in the support situation and/or the center of gravity position can also include picking up or removing a load on or from, for example, a loading area or a loading space of the lifting device with a control according to the invention or of a vehicle on which such a lifting device is arranged. This can advantageously result in a more even load on the lifting device and an optimized utilization of the lifting potential.
  • a more efficient use and loading of the lifting device can also be achieved by changing the outsourcing, position or size of a ballast weight that can be arranged on the lifting device.
  • the display includes a display of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates.
  • a display of the current utilization of the lifting device in a coordinate system with Cartesian coordinates or polar coordinates.
  • the representation includes a display of the current utilization of the lifting device in the form of a point on a line or another geometric shape in a coordinate system, the point, the line or the other geometric shape corresponding to the current utilization of the lifting device Coloring or grayscale.
  • the display can show the absolute possible range of a load lifted by, for example, an arm of the lifting device before a certain load limit is reached. This can be done, for example, in the form of a point or any other graphic symbol in a Cartesian coordinate system, in which a rotatable column of the lifting device lies at the origin of the coordinate system.
  • the representation of the current utilization in the form of a line is suitable, for example, for a representation in polar coordinates, in which the length of the line or the radius can correspond to the current absolute outsourcing or the current relative, for example percentage, utilization.
  • the polar angle can represent the angular position of an arm carrying a payload relative to a predefined axis, for example the longitudinal axis of the vehicle in the case of a vehicle crane.
  • the point, line or other geometric shape can also be colored, for example according to the color of a traffic light system, or with a gray level depending on the current utilization of the lifting device.
  • the representation includes information about the current overload and/or switch-off values for the lifting device, preferably in the form of a polygon.
  • the information about the current overload and/or shutdown values can, for example, reflect the maximum possible absolute range in terms of stability or utilization. It is also conceivable that the information about the current overload and/or shutdown values provides information about the increase in utilization in one direction.
  • the representation can be carried out in a coordinate system using a polygon, which can be obtained, for example, by interpolation between support points with calculated limit values, whereby the current lifting load situation can be represented and assessed particularly well.
  • the wireless transmission of the characteristic information used for the display takes place via a separate parallel second transmission channel.
  • the transmission channel is encrypted. This can prevent or make it more difficult to intercept or influence the transmission of the characteristic information.
  • the encryption requirements can differ from those of the transmission channel for the control commands.
  • Protection is also sought after for a hydraulic lifting device, in particular a loading crane for a vehicle - particularly preferably an articulated boom crane - or aerial work platform, with an arrangement as described above.
  • the crane control 1 receives sensor data regarding the crane geometry, the support situation and, if necessary, the lifting load via signal inputs 6, 7. In a processor 8, the crane control 1 calculates information from this data and stored crane-specific data that is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation.
  • the controller 1 has a memory 30 in which data specific to the lifting device can be stored. This can include information about the equipment, functions and limits of operating parameters of the lifting device. The calculation of the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the lifting device - possibly given the current lifting load situation - can advantageously be carried out taking into account the data stored in the memory 30.
  • the information which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane - possibly given the current lifting load situation - is transmitted via a wireless connection 10 or a cable connection 11 to a transmitting and Receiving module 5 of the mobile control module 2 transmitted.
  • a combination of transmission with a wireless connection 10 and a cable connection 11 is also conceivable.
  • the wireless connection 10 can send and receive data over multiple channels and in multiple frequency bands, even in parallel.
  • the mobile control module 2 has a memory 31 in which the transmitted information and also calculated graphic data can be stored for display.
  • the mobile control module 2 has an energy storage device 29, for example in the form of a rechargeable battery.
  • the control 1 can be supplied with energy via a unit of the lifting device, not shown.
  • FIG. 2 an embodiment of a lifting device arranged on a vehicle 12 and a controller 1 arranged thereon is shown.
  • the vehicle 12 has a loading area 13 for receiving or transporting a payload or a ballast weight 32.
  • a lifting device in the form of a crane 14 is connected to the vehicle 12 via the crane base 15.
  • a crane column 16 which can be rotated about a vertical axis is mounted on the crane base 15.
  • a lifting arm 17 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 22 is arranged on the crane column 16.
  • On the lifting arm 17 there is in turn a crane arm extension 18 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 23 and has at least one telescopic crane push arm 19.
  • a crane arm extension 18 which can be pivoted about a horizontal axis by means of a hydraulic cylinder 23 and has at least one telescopic crane push arm 19.
  • an attachment arm 20 which can also be pivoted about a horizontal axis by means of a hydraulic cylinder 24, can be arranged on the crane arm extension 18.
  • the attachment arm 20 can have at least one telescopic crane push arm 21.
  • a support device in the form of the booms 26, 27, which can have extendable, telescopic support legs, is provided.
  • Fig. 3 shows a schematic representation of an exemplary embodiment of a lifting device and an arrangement according to the invention consisting of a controller 1 and a mobile control module 2.
  • the lifting device in the form of a crane 14 has, in addition to the previously mentioned components, various sensors for detecting the current position of the crane 14.
  • switches S3, S4 are provided for detecting the support status of the boom 26 on the ground.
  • such a sensor system can be provided for the boom 27, not shown here, which can be arranged on a frame part of the vehicle 12. It is also conceivable that the extended position of the arms 26, 27 is detected via a distance measuring device, not shown here.
  • a rotary encoder DG1 is provided to detect the angle of rotation of the crane column 16 relative to the crane base 15. The angle of rotation of the crane column 16 about a vertical axis detected by the rotary encoder DG1 would correspond to the polar angle in a polar representation.
  • a further rotary encoder DG2 is provided to detect the bending angle in a vertical plane between the crane column 16 and the lifting arm 17. The one for crane utilization
  • a pressure sensor DS1 is provided for the characteristic hydraulic pressure in the hydraulic cylinder 22 of the lifting arm 17.
  • a rotary encoder DG3 is provided to detect the bending angle between the lifting arm 17 and the crane arm extension 18 in a vertical plane.
  • a pressure sensor DS2 is provided to detect the hydraulic pressure in the hydraulic cylinder 23 of the crane arm extension 18.
  • a switch S1 is provided to detect the retracted state of a crane push arm 19 of the crane arm extension 18. Furthermore, a rotary encoder DG4 is provided to detect the bending angle between the crane arm extension 18 and the attachment arm 20 in a vertical plane. A pressure sensor DS3 is provided to detect the hydraulic pressure of the hydraulic cylinder 24 of the attachment arm 20. A switch S2 is provided to detect the retracted state of a crane push arm 21 of the attachment arm 20. In principle, it should not be ruled out that the thrust position of the individual crane push arms is detected via a thrust position sensor with, for example, a distance measuring device.
  • the sensor data are supplied to the controller 1 via signal inputs, of which, for example, the signal inputs 6, 7 of the switches S1, S2 which detect the retracted position of the crane arm extension 18 and the attachment arm 20 are designated.
  • information is then calculated from these sensor data and from data stored in a memory 30, in this example specific to the crane 14, which is characteristic of the current lifting load situation and/or the permissibility of work processes on the crane 14.
  • This information can then be transmitted via a transmitting and receiving module 4 of the controller 1 via a wireless connection 10 and/or a wired connection 11 to a transmitting and receiving module 5 of a mobile control module 2.
  • graphic data can be calculated for a display in the mobile control module 2 and displayed for a user via a display unit 3.
  • the display can optionally be activated via an activation option 28 that can be activated by a user, for example in the form of a switch or a button.
  • various operating elements 25 are provided on the mobile control module 2.
  • a schematic representation of graphic data calculated from the transmitted information is shown on a display unit 3.
  • the display unit 3 can be formed, for example, by a graphics-capable liquid crystal display 33, which is attached or attachable in or on the mobile control module 2.
  • the representation on the representation unit 3 includes a schematic representation embedded in a coordinate system 36 as in Figure 2 vehicle 12 shown with a lifting device in a top view, the rotatably mounted crane column 16 advantageously being located at the origin of the coordinate system 36.
  • the representation can take place in a Cartesian coordinate system with coordinate axes designated X and Y or in a coordinate system with polar coordinates.
  • the current utilization of the lifting device is displayed in the form of a point P entered in the coordinate system 36.
  • the polyline K represents the nominal maximum permissible utilization of the lifting device. As shown, the lifting device is currently close to a maximum permissible utilization, which is easy and intuitive for a user due to the proximity of the point P to the utilization limit represented by the polygon K is recognizable.
  • the display on the display unit 3 can also include a menu bar 35, via which settings, information or alternative functions can be accessed, and a title bar 34 with, for example, a status display 37, which provides information about the charge status of the energy storage device 29 or also the type and quality of the data connection can give, include.
  • the coordinate lines can also have a label 38 with information about the current scaling of the representation.
  • Fig. 4b a schematic representation of graphic data calculated from characteristic information and displayed via a display unit 3 is shown, the current utilization of the lifting device being displayed in the form of a line in a coordinate system with polar coordinates.
  • the polar angle of the line L essentially corresponds to the angle of rotation of the crane column 16 relative to the crane base 15 detected with the rotary encoder DG1
  • the in Fig. 4b Vehicle 12 shown schematically in plan view is oriented along its imaginary longitudinal axis in the coordinate system 36.
  • the nominally permissible utilization limit is shown in the coordinate system 36 by the polynomial train K.
  • the illustrated utilization of the lifting device in the form of the line L is represented by the length of the line L, whereby, as shown, the utilization of the lifting device exceeds the nominally permissible utilization limit. This makes it easy for a user to see that the lifting device is in an impermissible utilization range.
  • FIG. 4c Another version of a graphical representation of the utilization of the lifting device is shown.
  • the representation again takes place with a line L entered in a coordinate system 36, the polar angle of the line L again corresponding to the angle of rotation of the lifting device.
  • the utilization of the lifting device is shown by a gray level corresponding to the current utilization. A larger load can be displayed with a darker gray level.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP16794921.3A 2015-10-16 2016-10-14 Anordnung aus einer steuerung und einem mobilen steuerungsmodul Active EP3362399B2 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL16794921.3T PL3362399T5 (pl) 2015-10-16 2016-10-14 Układ urządzenia sterującego i mobilnego modułu sterowania

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT3032015 2015-10-16
PCT/AT2016/060077 WO2017063014A1 (de) 2015-10-16 2016-10-14 Anordnung aus einer steuerung und einem mobilen steuerungsmodul

Publications (3)

Publication Number Publication Date
EP3362399A1 EP3362399A1 (de) 2018-08-22
EP3362399B1 EP3362399B1 (de) 2019-08-21
EP3362399B2 true EP3362399B2 (de) 2024-02-14

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ID=58516872

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EP16794921.3A Active EP3362399B2 (de) 2015-10-16 2016-10-14 Anordnung aus einer steuerung und einem mobilen steuerungsmodul

Country Status (11)

Country Link
US (1) US10961087B2 (pt)
EP (1) EP3362399B2 (pt)
JP (1) JP7003043B2 (pt)
CN (1) CN108290722B (pt)
BR (1) BR112018007406B8 (pt)
DE (1) DE202016008565U1 (pt)
DK (1) DK3362399T4 (pt)
ES (1) ES2758128T3 (pt)
PL (1) PL3362399T5 (pt)
SG (1) SG11201803124YA (pt)
WO (1) WO2017063014A1 (pt)

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JP6620798B2 (ja) * 2017-08-08 2019-12-18 株式会社タダノ 過負荷防止装置
JP7029724B2 (ja) * 2017-12-29 2022-03-04 ユニパルス株式会社 荷役助力装置
DE102018110462A1 (de) * 2018-05-02 2019-11-07 Voith Patent Gmbh Überwachungssystem für ein Kuppel- und/oder Dämpfungselement eines Fahrzeugs, insbesondere Schienenfahrzeugs
AT16885U1 (de) * 2019-03-28 2020-11-15 Palfinger Ag Kran mit Kransteuerung
CN111170156A (zh) * 2019-12-31 2020-05-19 博睿斯重工股份有限公司 一种洁净环境下的在线监测系统及监测方法
US11524879B2 (en) * 2021-04-19 2022-12-13 Oshkosh Corporation Remote control system for a crane
US20230399205A1 (en) * 2022-06-12 2023-12-14 Xingjian JING Disturbance Employment-Based Sliding Mode Control (DESMC) Method For 4-DOF Tower Crane Systems
CN115676634B (zh) * 2022-12-29 2023-03-07 博鼎精工智能科技(山东)有限公司 一种工程机械用液压控制系统

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CN108290722A (zh) 2018-07-17
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JP2018530493A (ja) 2018-10-18
WO2017063014A1 (de) 2017-04-20
CN108290722B (zh) 2021-07-09
ES2758128T3 (es) 2020-05-04
BR112018007406B1 (pt) 2023-01-24
BR112018007406A2 (pt) 2018-10-23
JP7003043B2 (ja) 2022-01-20
SG11201803124YA (en) 2018-05-30
BR112018007406B8 (pt) 2023-04-04
US20180229979A1 (en) 2018-08-16
DK3362399T4 (da) 2024-04-15
EP3362399A1 (de) 2018-08-22
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DK3362399T3 (da) 2019-11-18
DE202016008565U1 (de) 2018-06-26

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