EP3978420B1 - Method for damping mast torsional vibration in an industrial truck and industrial truck - Google Patents

Method for damping mast torsional vibration in an industrial truck and industrial truck Download PDF

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Publication number
EP3978420B1
EP3978420B1 EP21196263.4A EP21196263A EP3978420B1 EP 3978420 B1 EP3978420 B1 EP 3978420B1 EP 21196263 A EP21196263 A EP 21196263A EP 3978420 B1 EP3978420 B1 EP 3978420B1
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EP
European Patent Office
Prior art keywords
mast
load
torsion value
industrial truck
control device
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EP21196263.4A
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German (de)
French (fr)
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EP3978420C0 (en
EP3978420A1 (en
Inventor
Yves-Jocelyn Francois
Björn Bullermann
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Linde Material Handling GmbH
STILL GmbH
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Linde Material Handling GmbH
STILL GmbH
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Priority claimed from DE102020127348.7A external-priority patent/DE102020127348A1/en
Application filed by Linde Material Handling GmbH, STILL GmbH filed Critical Linde Material Handling GmbH
Publication of EP3978420A1 publication Critical patent/EP3978420A1/en
Application granted granted Critical
Publication of EP3978420B1 publication Critical patent/EP3978420B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/08—Masts; Guides; Chains
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/148—Whole unit including fork support moves sideways

Definitions

  • the invention relates to a method for damping lifting mast torsional vibrations in an industrial truck, in particular a reach truck, with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, the center of gravity of a picked up load being laterally displaceable by means of a side shift device, which by means of a Control device is controlled.
  • the invention further relates to an industrial truck for carrying out the method.
  • Industrial trucks include, for example, forklifts, especially counterbalanced forklifts, and reach trucks.
  • Such industrial trucks are equipped with a load handling device for stacking and storing transported goods.
  • the load handling device usually includes a lifting mast with at least one mast profile.
  • the lifting mast can also be provided with a tilting device so that the mast profiles can be tilted towards the vertical.
  • a load carriage in particular a fork carrier, on which forks are typically mounted, can be moved vertically on the mast profiles, for example by means of a lifting cylinder device of a working hydraulic system, and thus raised and lowered.
  • a load can be picked up on the forks, for example via a pallet.
  • a side shift device is often also provided, with which the center of gravity of the load picked up can be moved laterally.
  • the load carriage can be moved laterally relative to the mast profiles of the lifting mast using a side thrust cylinder.
  • reach trucks When picking up or placing heavy loads at high lifting heights, the problem of vibrations in the lifting mast generally occurs. While this behavior is not particularly noticeable with counterbalanced forklifts, it is with Reach trucks tend to be superficial and disruptive. Compared to counterbalanced forklifts, reach trucks usually have much higher mast profiles and hardly any components that can absorb and dissipate the vibration energy. For example, reach trucks usually do not have rubber tires and have a mast connection without rubber buffering.
  • a pilot-controlled model-based control of the side shift device is known, based on the essential variables of lifting height and load weight, which is designed to minimize the torsional vibrations of the lifting mast after the end of the operation of the side shift device.
  • a pre-control filter is used for this purpose, the transfer function of which is based on the inverse function of the transfer function of the controlled system and strives for the best possible compensation in an open circle of the poles and zeros of the controlled system.
  • torsional vibrations of the lifting mast around the vertical axis may not be as noticeable as pitching vibrations of the lifting mast to the front and back, but torsional vibrations of the lifting mast around the vertical axis are virtually undamped when they occur and therefore require a lot of time to decay.
  • the DE 10 2008 020 595 A1 and the DE 10 2008 020 592 A1 each disclose a method for vibration damping of torsional vibrations of a lifting mast of an industrial truck.
  • a side thrust cylinder can be controlled accordingly, with a sensor being disclosed for detecting the torsional vibrations of the lifting mast, which detects the pressure fluctuations of the side thrust cylinder or the pressure curve in the side thrust cylinder or the force acting on the articulation point of the cylinder.
  • the EP 3 670 428 A1 discloses a method for determining the load of an industrial truck, with which the load mass and the center of gravity of the load are determined based on the elastic deformations of the mast profile recorded by a sensor.
  • the US 2014/216853 A1 discloses a control system with which torsional vibrations of the entire industrial truck can be reduced about a vertical axis Z.
  • the present invention is based on the object of designing a method of the type mentioned at the outset and an industrial truck for carrying out the method in such a way that lifting mast torsional vibrations can be reliably dampened in all operating situations.
  • a closed control loop is therefore provided which enables a targeted, active counter-reaction when lifting mast torsional vibrations around the vertical axis are detected.
  • elastic deformations are measured in both main mast profiles of the lifting mast.
  • the lifting mast usually comprises two mast profiles that are aligned parallel and laterally spaced apart. In this case, the elastic deformations are measured in both mast profiles.
  • a difference in the elastic deformations in the various mast profiles can be used to conclude that the lifting mast is torsioning around the vertical axis. For example, a torsion value can be calculated from the difference in the bending moments of the mast profiles recorded by the sensors.
  • a lateral torsion offset is used as the torsion value.
  • the resulting lateral torsion offset is used.
  • the control device expediently specifies a side push speed setpoint for a side push speed.
  • the torsion value is returned to the side thrust speed setpoint in a closed control loop proportionally with an inverted sign. If a lateral torsional offset is used as the torsion value, the side shift device can be actively counteracted even at a small offset, whereby torsional vibrations of the lifting mast can be effectively dampened from the start.
  • strain sensors are preferably used as sensors, with at least one strain sensor being provided on each mast profile.
  • Strain gauges so-called strain gauges, are expediently used as strain sensors.
  • the use of strain gauges is in itself a proven method for measuring stress and strain. Strain gauges are used in a wide variety of applications to indirectly determine forces via strain measurement.
  • a particularly advantageous embodiment of the invention provides that the torsion value is determined from the difference between signals from the strain sensors on the different mast profiles.
  • the measurement is preferably carried out continuously, so that the current torsion value can be determined at any time.
  • a high-pass filter is advantageously used to form the torsion value.
  • a predetermined amplification factor is preferably used.
  • the resulting amplifications refer to the current considered working point in particular for a given lifting mast, a given lifting height and a given load center.
  • the invention also relates to an industrial truck, in particular a reach truck, for carrying out the method with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, and a side shift device, which is operatively connected to a control device, for laterally shifting the center of gravity of a picked up load.
  • a load handling device comprising a lifting mast with at least two mast profiles for picking up a load
  • a side shift device which is operatively connected to a control device, for laterally shifting the center of gravity of a picked up load.
  • the task is solved by providing a sensor system which is designed to determine elastic deformations of the mast profiles of the lifting mast and to form a torsion value of the lifting mast from the difference in the elastic deformations of the different mast profiles of the lifting mast, and a closed one Control circuit is provided, which includes a feedback of the torsion value of the lifting mast to the control device, and the control device is set up to adapt the control of the side shift device to the torsion value of the lifting mast for active damping of the lifting mast torsional vibrations.
  • the sensor system expediently includes strain sensors, with at least one strain sensor being arranged on each mast profile.
  • the strain sensors are preferably designed as strain gauges.
  • FIG. 1 a signal flow diagram for modeling the sideshift function of a sideshift device of an industrial truck is shown.
  • a side shift speed setpoint for a side shift speed y' of the (desired shift speed) of the side shift device (Plant) P is specified by a control device (controller) C.
  • the sideshift setpoint is converted into a setpoint for a cylinder speed y' cyl for a sideshift cylinder.
  • the resulting lateral torsion offset ⁇ y (elastic deflection) and the first and second derivatives y' and y" of the lateral position of the load center in space are used.
  • ⁇ y elastic deflection
  • y' and y the first and second derivatives y' and y" of the lateral position of the load center in space are used.
  • the resulting amplifications relate to the currently considered working point, especially for a given lifting mast, a given lifting height and a given load center.
  • the controlled system can be simplified as a typical second-order mass spring system, the damping of which depends on the torsional speed ⁇ y' directly via the gain with the gain factor k dp (passive damping).
  • the problem here is that the gain k dp is very low and causes a very weak damping of the system (extremely weak).
  • the Figure 2 shows the signal flow diagram for modeling the sideshift function from the Figure 1 with the active vibration damping according to the invention.
  • Hydraulic systems such as forklift hydrostats that work with hydraulic oil, are often dampened by leakage effects.
  • the damping effect is created by a certain proportionality between the quantity that creates force, for example high oil pressure, and a (parasitic) reduction in the speed requirement, for example oil flow.
  • the torsion of the lifting mast due to the torsional vibration is detected as a torsional offset ⁇ y (elastic deflection) by means of a sensor system S from the difference in the signals from two strain sensors, one of which is attached to a mast profile of the lifting mast is.
  • the value of the torsional offset ⁇ y (elastic deflection) is proportionally returned with an inverted sign to the side thrust speed setpoint for the side thrust speed y' of the (desired shift speed).
  • An active amplification factor k da active damping

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Dämpfung von Hubmast-Torsionsschwingungen bei einem Flurförderzeug, insbesondere einem Schubmaststapler, mit einer einen Hubmast mit mindestens zwei Mastprofilen umfassenden Lasthandhabungsvorrichtung zur Aufnahme einer Last, wobei der Lastschwerpunkt einer aufgenommenen Last mittels einer Seitenschiebereinrichtung lateral verschiebbar ist, welche mittels einer Steuerungseinrichtung gesteuert wird.The invention relates to a method for damping lifting mast torsional vibrations in an industrial truck, in particular a reach truck, with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, the center of gravity of a picked up load being laterally displaceable by means of a side shift device, which by means of a Control device is controlled.

Ferner betrifft die Erfindung ein Flurförderzeug zur Durchführung des Verfahrens.The invention further relates to an industrial truck for carrying out the method.

Zu den Flurförderzeugen gehören beispielsweise Gabelstapler, insbesondere Gegengewichtsgabelstapler, und Schubmaststapler. Derartige Flurförderzeuge sind mit einer Lasthandhabungsvorrichtung zum Stapeln und Einlagern von Transportgütern ausgestattet. Die Lasthandhabungsvorrichtung umfasst üblicherweise einen Hubmast mit mindestens einem Mastprofil. In der Regel sind zwei parallel zueinander angeordnete und seitlich voneinander beabstandete Mastprofile mit vertikaler Ausrichtung vorgesehen. Der Hubmast kann auch mit einer Neigeeinrichtung versehen sein, so dass die Mastprofile gegen die Vertikale neigbar sind. An den Mastprofilen kann ein Lastschlitten, insbesondere Gabelträger, an dem typischerweise Gabelzinken montiert sind, z.B. mittels einer Hubzylindereinrichtung einer Arbeitshydraulik vertikal verschoben und somit angehoben und abgesenkt werden. Auf den Gabelzinken kann eine Last beispielsweise über eine Palette aufgenommen werden. Häufig ist auch eine Seitenschiebereinrichtung vorgesehen, mit der der Lastschwerpunkt der aufgenommenen Last seitlich versetzt werden kann. Hierzu kann beispielsweise der Lastschlitten gegenüber den Mastprofilen des Hubmastes mittels eines Seitenschubzylinders seitlich verschoben werden.Industrial trucks include, for example, forklifts, especially counterbalanced forklifts, and reach trucks. Such industrial trucks are equipped with a load handling device for stacking and storing transported goods. The load handling device usually includes a lifting mast with at least one mast profile. As a rule, two mast profiles arranged parallel to one another and laterally spaced apart from one another with a vertical orientation are provided. The lifting mast can also be provided with a tilting device so that the mast profiles can be tilted towards the vertical. A load carriage, in particular a fork carrier, on which forks are typically mounted, can be moved vertically on the mast profiles, for example by means of a lifting cylinder device of a working hydraulic system, and thus raised and lowered. A load can be picked up on the forks, for example via a pallet. A side shift device is often also provided, with which the center of gravity of the load picked up can be moved laterally. For this purpose, for example, the load carriage can be moved laterally relative to the mast profiles of the lifting mast using a side thrust cylinder.

Beim Aufnehmen oder Abstellen von schweren Lasten in großer Hubhöhe tritt prinzipiell das Problem von Schwingungen des Hubmastes auf. Während dieses Verhalten bei Gegengewichtsgabelstaplern wenig auffällig ist, ist es bei Schubmaststaplern eher vordergründig und störend. Schubmaststapler haben im Vergleich zu Gegengewichtsgabelstaplern in der Regel viel höhere Mastprofile und kaum Komponenten, welche die Schwingungsenergie aufnehmen und dissipieren können. Schubmaststapler weisen üblicherweise beispielsweise keine Gummireifen und eine Mastanbindung ohne Gummipufferung auf.When picking up or placing heavy loads at high lifting heights, the problem of vibrations in the lifting mast generally occurs. While this behavior is not particularly noticeable with counterbalanced forklifts, it is with Reach trucks tend to be superficial and disruptive. Compared to counterbalanced forklifts, reach trucks usually have much higher mast profiles and hardly any components that can absorb and dissipate the vibration energy. For example, reach trucks usually do not have rubber tires and have a mast connection without rubber buffering.

Aus diesem Grund wurden für Schubmaststapler Assistenzsysteme entwickelt, welche gelegentliche Mastschwingungen aktiv dämpfen.For this reason, assistance systems were developed for reach trucks that actively dampen occasional mast vibrations.

Diese Systeme sind allerdings ausschließlich für die Tilgung von Nickschwingungen des Hubmastes nach Vorne und Hinten konzipiert, die vorwiegend durch das Fahren der Last in das Regal oder aus dem Regal oder das Schieben des Hubmastes in Längsrichtung des Flurförderzeugs entstehen, aber nicht für die Tilgung von Hubmast-Torsionsschwingungen um die vertikale Achse, die vorwiegend durch die Betätigung der Seitenschiebereinrichtung angeregt werden. Zur Tilgung der Nickschwingungen des Hubmastes erfolgt die Schwingungsdämpfung durch aktiven Eingriff auf die Mastschub-Funktion - sprich in Längsrichtung. Eine solche Eingriffsmöglichkeit ist für die Dämpfung von Torsionsschwingungen des Hubmastes ungeeignet.However, these systems are designed exclusively for the cancellation of pitching vibrations of the lifting mast to the front and back, which are primarily caused by the load being driven into or out of the rack or by pushing the lifting mast in the longitudinal direction of the industrial truck, but not for the cancellation of the lifting mast -Torsional vibrations around the vertical axis, which are primarily stimulated by the operation of the sideshift device. To cancel out the pitching vibrations of the lifting mast, the vibration dampening occurs through active intervention on the mast thrust function - i.e. in the longitudinal direction. Such an intervention option is unsuitable for damping torsional vibrations of the lifting mast.

Systeme mit aktiver Dämpfung der Hubmast-Torsionsschwingungen in geschlossenem Kreis sind bisher nicht bekannt. Bekannt ist eine vorgesteuerte modellbasierte Ansteuerung der Seitenschiebereinrichtung, basierend auf den wesentlichen Größen Hubhöhe und Lastgewicht, welche für eine Minimierung der Torsions-Schwingungen des Hubmastes nach Ende der Betätigung der Seitenschiebereinrichtung ausgelegt ist. Typischerweise wird dafür ein Vorsteuerungsfilter eingesetzt, dessen Übertragungsfunktion sich nach der Umkehrfunktion der Übertragungsfunktion der Regelstrecke richtet, und eine bestmögliche Kompensation in offenem Kreis der Pole- und Nullstellen der Regelstrecke anstrebt.Systems with active damping of the lifting mast torsional vibrations in a closed circuit are not yet known. A pilot-controlled model-based control of the side shift device is known, based on the essential variables of lifting height and load weight, which is designed to minimize the torsional vibrations of the lifting mast after the end of the operation of the side shift device. Typically, a pre-control filter is used for this purpose, the transfer function of which is based on the inverse function of the transfer function of the controlled system and strives for the best possible compensation in an open circle of the poles and zeros of the controlled system.

Die Nachteile einer solchen vorgesteuerten aktiven Dämpfung der Hubmast-Torsionsschwingungen bestehen in einer schlechten Performance bei geringen Abweichungen zwischen Modell und Realität sowie darin, dass keine Dämpfung von unvorhersehbaren Anregungen möglich ist. Diese können beispielsweise durch Lösen einer Torsions-Vorspannung beim Aufnehmen der Last im Regal sowie durch Kontakt mit dem Regal oder mit anderen Paletten während der Betätigung auftreten.The disadvantages of such a pre-controlled active damping of the lifting mast torsional vibrations are poor performance with small deviations between model and reality and the fact that no damping of unpredictable stimuli is possible. These can occur, for example, by releasing a torsional preload when the load is picked up in the shelf, as well as by contact with the shelf or with other pallets during operation.

Bei Flurförderzeugen mögen Torsionsschwingungen des Hubmastes um die vertikale Achse zwar nicht so vordergründig sein wie Nickschwingungen des Hubmastes nach Vorne und hinten, aber Torsionsschwingungen des Hubmastes um die vertikale Achse sind, wenn sie auftreten, quasi ungedämpft und benötigen daher sehr viel Zeit zum Abklingen.In industrial trucks, torsional vibrations of the lifting mast around the vertical axis may not be as noticeable as pitching vibrations of the lifting mast to the front and back, but torsional vibrations of the lifting mast around the vertical axis are virtually undamped when they occur and therefore require a lot of time to decay.

Die DE 10 2008 020 595 A1 und die DE 10 2008 020 592 A1 offenbaren jeweils ein Verfahren zur Schwingungsdämpfung von Torsionsschwingungen eines Hubmastes eines Flurförderzeugs. Zur aktiven Dämpfung der Torsionsschwingungen des Hubmastes kann ein Seitenschubzylinder entsprechend angesteuert werden, wobei zur Erfassung der Torsionsschwingungen des Hubmastes ein Sensor offenbart ist, der die Druckschwankungen des Seitenschubzylinders bzw. den Druckverlauf im Seitenschubzylinder bzw. die auf den Anlenkungspunkt des Zylinders wirkende Kraft erfasst.The DE 10 2008 020 595 A1 and the DE 10 2008 020 592 A1 each disclose a method for vibration damping of torsional vibrations of a lifting mast of an industrial truck. To actively dampen the torsional vibrations of the lifting mast, a side thrust cylinder can be controlled accordingly, with a sensor being disclosed for detecting the torsional vibrations of the lifting mast, which detects the pressure fluctuations of the side thrust cylinder or the pressure curve in the side thrust cylinder or the force acting on the articulation point of the cylinder.

Die EP 3 670 428 A1 offenbart ein Verfahren zur Lastbestimmung eines Flurförderzeugs, mit dem die Lastmasse und der Lastschwerpunt der Last anhand der mittels einer Sensorik erfassten elastischen Verformungen des Mastporfils bestimmt werden.The EP 3 670 428 A1 discloses a method for determining the load of an industrial truck, with which the load mass and the center of gravity of the load are determined based on the elastic deformations of the mast profile recorded by a sensor.

Die US 2014/216853 A1 offenbart ein Steuerungssystem, mit dem Torsionsschwingungen des gesamten Flurförderzeugs um eine Hochachse Z verringert werden können.The US 2014/216853 A1 discloses a control system with which torsional vibrations of the entire industrial truck can be reduced about a vertical axis Z.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren der eingangs genannten Art sowie ein Flurförderzeug zur Durchführung des Verfahrens so auszugestalten, dass Hubmast-Torsionsschwingungen in allen Betriebssituationen zuverlässig gedämpft werden können.The present invention is based on the object of designing a method of the type mentioned at the outset and an industrial truck for carrying out the method in such a way that lifting mast torsional vibrations can be reliably dampened in all operating situations.

Diese Aufgabe wird verfahrensseitig erfindungsgemäß dadurch gelöst, dass mittels einer Sensorik elastische Verformungen der Mastprofile des Hubmastes ermittelt werden, wobei aus dem Unterschied der elastischen Verformungen der verschiedenen Mastprofile des Hubmastes ein Torsionswert des Hubmastes gebildet wird, der in einem geschlossenen Regelkreis zur Steuerungseinrichtung zurückgeführt und zur aktiven Dämpfung der Hubmast-Torsionsschwingungen durch angepasste Ansteuerung der Seitenschiebereinrichtung verwendet wird.This object is achieved in terms of the method according to the invention in that elastic deformations of the mast profiles of the lifting mast are determined using a sensor system, a torsion value of the lifting mast being formed from the difference in the elastic deformations of the different mast profiles of the lifting mast, which is fed back to the control device in a closed control loop and to Active damping of the lifting mast torsional vibrations through adapted control of the sideshift device is used.

Es ist also ein geschlossener Regelkreis vorgesehen, der beim Erkennen von Hubmast-Torsionsschwingungen um die vertikale Achse eine gezielte, aktive Gegenreaktion ermöglicht. Hierzu werden elastische Verformungen in beiden Haupt-Mastprofilen des Hubmastes gemessen. Üblicherweise umfasst der Hubmast zwei, parallel ausgerichtete und seitlich voneinander beabstandete Mastprofile. In diesem Fall werden in beiden Mastprofilen jeweils die elastischen Verformungen gemessen. Aus einem Unterschied der elastischen Verformungen in den verschiedenen Mastprofilen kann auf eine Torsion des Hubmastes um die vertikale Achse geschlossen werden. Beispielsweise kann aus der Differenz der mittels der Sensorik erfassten Biegemomente der Mastprofile ein Torsionswert gebildet werden.A closed control loop is therefore provided which enables a targeted, active counter-reaction when lifting mast torsional vibrations around the vertical axis are detected. To do this, elastic deformations are measured in both main mast profiles of the lifting mast. The lifting mast usually comprises two mast profiles that are aligned parallel and laterally spaced apart. In this case, the elastic deformations are measured in both mast profiles. A difference in the elastic deformations in the various mast profiles can be used to conclude that the lifting mast is torsioning around the vertical axis. For example, a torsion value can be calculated from the difference in the bending moments of the mast profiles recorded by the sensors.

Gemäß einer besonders bevorzugten Ausgestaltung der Erfindung wird als Torsionswert ein lateraler Torsionsversatz verwendet. Dabei wird anstelle eines Torsionswinkels und seiner ersten und zweiten Ableitung der daraus resultierende laterale Torsionsversatz benutzt.According to a particularly preferred embodiment of the invention, a lateral torsion offset is used as the torsion value. Instead of a torsion angle and its first and second derivatives, the resulting lateral torsion offset is used.

Zweckmäßigerweise gibt die Steuerungseinrichtung einen Seitenschubgeschwindigkeits-Sollwert für eine Seitenschub-Geschwindigkeit vor.The control device expediently specifies a side push speed setpoint for a side push speed.

Dabei ist in einer besonders vorteilhaften Ausführungsform der Erfindung vorgesehen, dass der Torsionswert in einem geschlossenen Regelkreis proportional mit invertiertem Vorzeichen auf den Seitenschubgeschwindigkeits-Sollwert zurückgeführt wird. Wird als Torsionswert ein lateraler Torsionsversatz verwendet, so kann somit bereits bei einem geringen Versatz mit der Seitenschiebereinrichtung aktiv gegengesteuert werden, wodurch Torsionsschwingungen des Hubmastes von Anfang an effektiv gedämpft werden können.In a particularly advantageous embodiment of the invention, it is provided that the torsion value is returned to the side thrust speed setpoint in a closed control loop proportionally with an inverted sign. If a lateral torsional offset is used as the torsion value, the side shift device can be actively counteracted even at a small offset, whereby torsional vibrations of the lifting mast can be effectively dampened from the start.

Zum Erkennen der elastischen Verformungen der Mastprofile werden als Sensorik vorzugsweise Dehnungssensoren verwendet, wobei an jedem Mastprofil mindestens ein Dehnungssensor vorgesehen ist.To detect the elastic deformations of the mast profiles, strain sensors are preferably used as sensors, with at least one strain sensor being provided on each mast profile.

Dabei werden als Dehnungssensoren zweckmäßigerweise Dehnungsmessstreifen, sogenannte Dehnmessstreifen, verwendet. Die Verwendung von Dehnungsmessstreifen ist an sich eine bewährte Methode zur Spannungs- und Dehnungsmessung. Dehnungsmessstreifen kommen in den verschiedensten Anwendungsfällen zum Einsatz, um über die Dehnungsmessung indirekt Kräfte zu ermitteln.Strain gauges, so-called strain gauges, are expediently used as strain sensors. The use of strain gauges is in itself a proven method for measuring stress and strain. Strain gauges are used in a wide variety of applications to indirectly determine forces via strain measurement.

Eine besonders vorteilhafte Ausgestaltung der Erfindung sieht vor, dass der Torsionswert aus der Differenz von Signalen der Dehnungssensoren an den verschiedenen Mastprofilen ermittelt wird.A particularly advantageous embodiment of the invention provides that the torsion value is determined from the difference between signals from the strain sensors on the different mast profiles.

Dabei erfolgt die Messung bevorzugt kontinuierlich, so dass zu jedem Zeitpunkt der aktuelle Torsionswert bestimmt werden kann.The measurement is preferably carried out continuously, so that the current torsion value can be determined at any time.

Mit Vorteil wird zur Bildung des Torsionswerts ein Hochpassfilter verwendet.A high-pass filter is advantageously used to form the torsion value.

Bei der Rückführung des Torsionswerts im geschlossenen Regelkreis zur Steuerungseinrichtung wird bevorzugt ein vorgegebener Verstärkungsfaktor angewendet. Dabei beziehen sich die resultierenden Verstärkungen auf den momentan betrachteten Arbeitspunkt insbesondere bei einem gegebenen Hubmast, einer gegebenen Hubhöhe und einem gegebenen Lastschwerpunkt.When returning the torsion value in a closed control loop to the control device, a predetermined amplification factor is preferably used. The resulting amplifications refer to the current considered working point in particular for a given lifting mast, a given lifting height and a given load center.

Die Erfindung betrifft außerdem ein Flurförderzeug, insbesondere einen Schubmaststapler, zur Durchführung des Verfahrens mit einer einen Hubmast mit mindestens zwei Mastprofilen umfassenden Lasthandhabungsvorrichtung zur Aufnahme einer Last, und einer, mit einer Steuerungseinrichtung in Wirkverbindung stehenden, Seitenschiebereinrichtung zum lateralen Verschieben des Lastschwerpunkts einer aufgenommenen Last.The invention also relates to an industrial truck, in particular a reach truck, for carrying out the method with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, and a side shift device, which is operatively connected to a control device, for laterally shifting the center of gravity of a picked up load.

Beim Flurförderzeug wird die gestellte Aufgabe dadurch gelöst, dass eine Sensorik vorgesehen ist, die dazu ausgebildet ist, elastische Verformungen der Mastprofile des Hubmastes zu ermitteln und aus dem Unterschied der elastischen Verformungen der verschiedenen Mastprofile des Hubmastes einen Torsionswert des Hubmastes zu bilden, und ein geschlossener Regelkreis vorgesehen ist, der eine Rückführung des Torsionswertes des Hubmastes zur Steuerungseinrichtung umfasst, und die Steuerungseinrichtung dazu eingerichtet ist, zur aktiven Dämpfung der Hubmast-Torsionsschwingungen die Ansteuerung der Seitenschiebereinrichtung an den Torsionswert des Hubmastes anzupassen.In the industrial truck, the task is solved by providing a sensor system which is designed to determine elastic deformations of the mast profiles of the lifting mast and to form a torsion value of the lifting mast from the difference in the elastic deformations of the different mast profiles of the lifting mast, and a closed one Control circuit is provided, which includes a feedback of the torsion value of the lifting mast to the control device, and the control device is set up to adapt the control of the side shift device to the torsion value of the lifting mast for active damping of the lifting mast torsional vibrations.

Dabei umfasst die Sensorik zweckmäßigerweise Dehnungssensoren, wobei an jedem Mastprofil mindestens ein Dehnungssensor angeordnet ist.The sensor system expediently includes strain sensors, with at least one strain sensor being arranged on each mast profile.

Die Dehnungssensoren sind bevorzugt als Dehnungsmessstreifen ausgebildet.The strain sensors are preferably designed as strain gauges.

Zu den Vorteilen der erfindungsgemäßen aktiven Dämpfung von Hubmast-Torsionsschwingungen gehören folgende Punkte:

  • Eine bessere und einfachere Bedienung beim Abnehmen und Absetzen der Last in großer Hubhöhe. Die Folgen sind
    1. a) eine Entlastung der Bedienperson und
    2. b) eine höhere Umschlagsleistung des Flurförderzeugs.
  • Mehr Sicherheit, weil schwingende Lasten in großer Hubhöhe über eine längere Zeit ein gewisses Gefährdungspotential implizieren.
  • Eine Entlastung von Komponenten, beispielsweise der Mastrollen und der Mastprofile, da die Belastungen durch die Hubmasttorsion viel schneller abklingen.
The advantages of the active damping of lifting mast torsional vibrations according to the invention include the following points:
  • Better and easier operation when removing and setting down the load at high lifting heights. The consequences are
    1. a) relief for the operator and
    2. b) a higher handling capacity of the industrial truck.
  • More safety because swinging loads at high lifting heights pose a certain risk over a longer period of time.
  • Relieving the load on components, such as the mast rollers and the mast profiles, as the loads caused by the mast torsion decay much more quickly.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigen

Figur 1
ein Signal-Flussdiagramm zur Modellierung der Seitenschub-Funktion und
Figur 2
ein Signal-Flussdiagramm zur Modellierung der Seitenschub-Funktion mit der erfindungsgemäßen, aktiven Schwingungsdämpfung.
Further advantages and details of the invention are explained in more detail using the exemplary embodiments shown in the schematic figures. Show here
Figure 1
a signal flow diagram for modeling the sideshift function and
Figure 2
a signal flow diagram for modeling the side thrust function with the active vibration damping according to the invention.

In der Figur 1 ist ein Signal-Flussdiagramm zur Modellierung der Seitenschub-Funktion einer Seitenschiebereinrichtung eines Flurförderzugs dargestellt. Von einer Steuerungseinrichtung (Controller) C wird ein Seitenschubgeschwindigkeits-Sollwert für eine Seitenschub-Geschwindigkeit y'des (desired shift speed) der Seitenschiebereinrichtung (Plant) P vorgegeben. In einem Aktuator Ader Seitenschiebereinrichtung wird der Seitenschub-Sollwert in einen Sollwert für eine Zylindergeschwindigkeit y'cyl für einen Seitenschubzylinder umgesetzt. Aus der Torsionsgeschwindigkeit öy' und dem lateralen Torsionsversatz δy (elastic deflection) des Hubmastes ergeben sich bei einem statischen Verstärkungsfaktor kst und der Masse m die zweite Ableitung y" und die erste Ableitung y' der lateralen Position des Lastschwerpunkts einer aufgenommenen Last im Raum und somit die resultierende Seitenschub-Geschwindigkeit y' (resulting shift speed).In the Figure 1 a signal flow diagram for modeling the sideshift function of a sideshift device of an industrial truck is shown. A side shift speed setpoint for a side shift speed y' of the (desired shift speed) of the side shift device (Plant) P is specified by a control device (controller) C. In an actuator or sideshift device, the sideshift setpoint is converted into a setpoint for a cylinder speed y' cyl for a sideshift cylinder. From the torsional speed öy' and the lateral torsional offset δy (elastic deflection) of the lifting mast, with a static amplification factor k st and the mass m, the second derivative y" and the first derivative y' of the lateral position of the center of gravity of a picked up load in space and thus the resulting side shift speed y' (resulting shift speed).

Dabei werden anstelle des Torsionswinkels und seiner ersten und zweiten Ableitungen der daraus resultierende laterale Torsionsversatz δy (elastic deflection) und die ersten und zweiten Ableitungen y' und y" der lateralen Position des Lastschwerpunkts im Raum benutzt. Es besteht ein quasi-linearer Zusammenhang zwischen Winkel kleiner Amplitude und lateralem Versatz. Die resultierenden Verstärkungen beziehen sich auf den momentan betrachteten Arbeitspunkt insbesondere bei einem gegebenen Hubmast, einer gegebenen Hubhöhe und einem gegebenen Lastschwerpunkt.Instead of the torsion angle and its first and second derivatives, the resulting lateral torsion offset δy (elastic deflection) and the first and second derivatives y' and y" of the lateral position of the load center in space are used. There is a quasi-linear relationship between angles small amplitude and lateral offset. The resulting amplifications relate to the currently considered working point, especially for a given lifting mast, a given lifting height and a given load center.

Die Regelstrecke kann als typisches Massenfedersystem zweiter Ordnung vereinfacht werden, dessen Dämpfung von der Torsionsgeschwindigkeit δy' direkt über die Verstärkung mit dem Verstärkungsfaktor kdp (passive damping) abhängig ist. Das Problem ist hier, dass die Verstärkung kdp sehr niedrig ist und eine sehr schwache Dämpfung des Systems bewirkt (extremly weak).The controlled system can be simplified as a typical second-order mass spring system, the damping of which depends on the torsional speed δy' directly via the gain with the gain factor k dp (passive damping). The problem here is that the gain k dp is very low and causes a very weak damping of the system (extremely weak).

Die Figur 2 zeigt das Signal-Flussdiagramm zur Modellierung der Seitenschub-Funktion aus der Figur 1 mit der erfindungsgemäßen aktiven Schwingungsdämpfung.The Figure 2 shows the signal flow diagram for modeling the sideshift function from the Figure 1 with the active vibration damping according to the invention.

Dabei geht die Erfindung von folgender Überlegung aus:
Häufig werden hydraulische Systeme, wie zum Beispiel mit Hydrauliköl arbeitende Hydrostate von Gabelstaplern, durch Leckage-Effekte gedämpft. Die Dämpfung bringende Wirkung entsteht durch eine gewisse Proportionalität zwischen der Kraft aufbauenden Größe, zum Beispiel einem Öl-Hochdruck, und einer (parasitären) Reduzierung der Geschwindigkeits-Anforderung, zum Beispiel einem Öl-Durchfluss.The invention is based on the following consideration:
Hydraulic systems, such as forklift hydrostats that work with hydraulic oil, are often dampened by leakage effects. The damping effect is created by a certain proportionality between the quantity that creates force, for example high oil pressure, and a (parasitic) reduction in the speed requirement, for example oil flow.

Würde nun der Seitenschubzylinder unter der Torsions-Belastung ebenfalls durch Leckage-Effekte in der Verstellung nachgeben, dann würde eine dämpfende Wirkung entstehen. Da dieser parasitäre stabilisierende Effekt vom Seitenschieber selbst nicht gegeben ist, liegt der Erfindung der Gedanke zu Grunde, ihn elektronisch nachzubilden.If the side thrust cylinder were to give way under the torsional load due to leakage effects in the adjustment, then a damping effect would occur. Since this parasitic stabilizing effect does not exist from the sideshift itself, the invention is based on the idea of replicating it electronically.

Hierzu ist gemäß dem vorliegenden Ausführungsbeispiel der Erfindung vorgesehen, dass die Torsion des Hubmastes aufgrund der Torsionsschwingung als Torsionsversatz δy (elastic deflection) mittels einer Sensorik S aus der Differenz der Signale von zwei Dehnungssensoren erfasst wird, von denen jeweils einer an einem Mastprofil des Hubmastes angebracht ist. Der Wert des Torsionversatzes δy (elastic deflection) wird proportional mit invertiertem Vorzeichen auf den Seitenschubgeschwindigkeits-Sollwert für die Seitenschub-Geschwindigkeit y'des (desired shift speed) zurückgeführt. Dabei wird ein aktiver Verstärkungsfaktor kda (active damping) angewendet.For this purpose, according to the present exemplary embodiment of the invention, it is provided that the torsion of the lifting mast due to the torsional vibration is detected as a torsional offset δy (elastic deflection) by means of a sensor system S from the difference in the signals from two strain sensors, one of which is attached to a mast profile of the lifting mast is. The value of the torsional offset δy (elastic deflection) is proportionally returned with an inverted sign to the side thrust speed setpoint for the side thrust speed y' of the (desired shift speed). An active amplification factor k da (active damping) is used.

Claims (12)

  1. Method for damping lift mast torsional vibrations in an industrial truck, in particular a reach truck, having a load handling apparatus, which comprises a lift mast having at least two mast profiles, for receiving a load, wherein the load centre of a received load can be shifted laterally by means of a lateral shift device (P) which is controlled by means of a control device (C), wherein elastic deformations of the mast profiles are determined by means of a sensor system (S), wherein a torsion value is formed from the difference in the elastic deformations of the various mast profiles, said torsion value being fed back to the control device (C) in a closed control loop and being used to actively damp the lift mast torsional vibrations by way of adjusted actuation of the lateral shift device (P).
  2. Method according to Claim 1, characterized in that a lateral torsion offset (5y) is used as the torsion value.
  3. Method according to Claim 1 or 2 characterized in that the control device (C) specifies a lateral shift speed setpoint value for a lateral shift speed (y'des).
  4. Method according to Claim 3, characterized in that the torsion value is fed back in a closed control loop proportionally to the inverted sign of the lateral shift speed setpoint value for the lateral shift speed (y'des).
  5. Method according to one of Claims 1 to 4, characterized in that strain sensors are used as the sensor system (S), wherein at least one strain sensor is provided for each mast profile.
  6. Method according to Claim 5, characterized in that strain gauges are used as strain sensors.
  7. Method according to Claim 5 or 6, characterized in that the torsion value is ascertained from the difference in signals of the strain sensors on the various mast profiles.
  8. Method according to one of Claims 1 to 7, characterized in that a high-pass filter is used to form the torsion value.
  9. Method according to one of Claims 1 to 8, characterized in that a predetermined gain (kda) is applied during feedback of the torsion value in the closed control loop to the control device (C).
  10. Industrial truck, in particular reach truck, configured to carry out a method according to one of Claims 1 to 9, having a load handling apparatus, which comprises a lift mast having at least two mast profiles, for receiving a load, and a lateral shift device (P), which is operatively connected to a control device (C), for laterally shifting the load centre of a received load, wherein provision is made of a sensor system (S) which is designed to determine elastic deformations of the mast profiles and to form a torsion value from the difference in the elastic deformations of the various mast profiles, and provision is made of a closed control loop which comprises feedback of the torsion value to the control device (C), and the control device (C) is configured to adjust the actuation of the lateral shift device (P) to the torsion value in order to actively damp the lift mast torsional vibrations.
  11. Industrial truck according to Claim 10, characterized in that the sensor system (S) comprises strain sensors, wherein at least one strain sensor is arranged for each mast profile.
  12. Industrial truck according to Claim 11, characterized in that the strain sensors are designed as strain gauges.
EP21196263.4A 2020-09-30 2021-09-13 Method for damping mast torsional vibration in an industrial truck and industrial truck Active EP3978420B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020125529 2020-09-30
DE102020127348.7A DE102020127348A1 (en) 2020-09-30 2020-10-16 Method for damping lifting mast torsional vibrations in an industrial truck and industrial truck

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EP3978420A1 EP3978420A1 (en) 2022-04-06
EP3978420B1 true EP3978420B1 (en) 2024-03-27
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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4093091A (en) * 1976-06-30 1978-06-06 Towmotor Corporation Load moment sensing system for lift trucks
DE10054789A1 (en) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Industrial truck with a mast and an additional movement device for a load handler
DE102008020595B4 (en) * 2008-04-24 2022-02-10 Linde Material Handling Gmbh Procedure for vibration damping in industrial trucks
DE102008020592B4 (en) * 2008-04-24 2022-02-10 Linde Material Handling Gmbh Procedure for vibration damping in industrial trucks
US9302893B2 (en) * 2013-02-07 2016-04-05 The Raymond Corporation Vibration control systems and methods for industrial lift trucks
DE102015102368A1 (en) * 2015-02-19 2016-08-25 Schwing Gmbh Position control mast top
DE102016124506A1 (en) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Truck with a control unit for controlling the movement of a load and a corresponding method
DE102018133095A1 (en) * 2018-12-20 2020-06-25 Still Gmbh Method for determining the load on an industrial truck and industrial truck

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