EP4339379A1 - Outil de travail doté d'une pince mécanique pour parois moulées et procédé de réalisation d'une étape de travail d'un tel outil - Google Patents

Outil de travail doté d'une pince mécanique pour parois moulées et procédé de réalisation d'une étape de travail d'un tel outil Download PDF

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Publication number
EP4339379A1
EP4339379A1 EP23195077.5A EP23195077A EP4339379A1 EP 4339379 A1 EP4339379 A1 EP 4339379A1 EP 23195077 A EP23195077 A EP 23195077A EP 4339379 A1 EP4339379 A1 EP 4339379A1
Authority
EP
European Patent Office
Prior art keywords
diaphragm wall
gripper
control
lifting
closing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23195077.5A
Other languages
German (de)
English (en)
Inventor
Lukas Flatz
Mathias Blank
Tobias Glück
Bernhard Bischof
Andreas Kugi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP4339379A1 publication Critical patent/EP4339379A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/58—Component parts
    • E02F3/60—Buckets, scrapers, or other digging elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2016—Winches
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the present invention relates to a working device according to the preamble of claim 1 and a method for carrying out a work step using such a working device.
  • Diaphragm walls are used in civil engineering, among other things, to secure construction pits.
  • a vertical slot is usually first dug out of the ground along guide walls, which is then concreted with reinforced concrete.
  • the resulting diaphragm wall supports the further foundation of the structure.
  • diaphragm wall grabs To excavate such diaphragm walls, cable excavators with diaphragm wall cutters or, alternatively, special two-shell grabs, so-called diaphragm wall grabs, are typically used.
  • diaphragm wall grabs There are two main types of diaphragm wall grabs: mechanical diaphragm wall grabs and hydraulic diaphragm wall grabs. With the hydraulic diaphragm wall grab, the grab blades are actuated hydraulically, while with the mechanical diaphragm wall grab, the opening and closing of the grab blades is carried out via a cable pull system using a closing cable provided for this purpose.
  • Hydraulic diaphragm wall grabs are becoming increasingly popular and widespread due to their ease of use, e.g. thanks to a hydraulic rotary cylinder on the grab head.
  • hydraulic diaphragm wall grabs also have some disadvantages compared to mechanical diaphragm wall grabs.
  • the hydraulic supply for the grab must be made available on a bulkhead plate of the duty cycle crane, which then, in addition to the steel cables, must be guided to the grab head via hose drums at a depth of up to 50 m. The hose reels required for this are cost-intensive and require maintenance.
  • a mechanical diaphragm wall grab is typically only suspended from the carrier device via two steel cables (hoisting cable and closing cable).
  • the mechanical diaphragm wall grab is underactuated, as the movement of three degrees of freedom (raising/lowering the diaphragm wall grab, rotating the diaphragm wall grab and opening/closing the grab blades) is actuated with only two winches (hoisting cable winch and closing cable winch).
  • Excavating a slot with a mechanical trench wall grab is carried out in cyclic digging processes. To do this, the soil to be removed is first loosened and then transported to a material drop point. In order to achieve the desired digging depth in the minimum number of cycles, the diaphragm wall grab must be filled to the maximum with each cycle. Threading the gripper into the slot is usually the longest work phase.
  • the present invention is based on the object of facilitating the operation of a generic mechanical diaphragm wall grab.
  • the operator should be supported in carrying out the work steps, thereby increasing the ease of use and the efficiency of the work process.
  • a working device in particular a cable excavator, which includes a mechanical diaphragm wall grab with two gripper blades, which is suspended from the working device via a lifting rope and a closing rope.
  • the lifting cable is used to adjust the diaphragm wall gripper, in particular in a substantially vertical direction, while the closing cable is used to actuate, i.e. open or close, the gripper blades.
  • Both ropes can also be used to adjust the diaphragm wall grab and/or to open or close the grab blades.
  • both ropes are wound up or unwound together.
  • the gripper blades can be opened either by unwinding the closing cable or by winding up the lifting cable or a combination thereof.
  • the gripper blades can be closed either by winding up the closing cable or by unwinding the lifting cable or a combination thereof.
  • the closing cable is preferably used to actuate the gripper blades, which is guided in particular via a cable pull mechanism of the diaphragm wall gripper in order to enable a high closing force.
  • the working device further comprises a lifting cable winch on which the lifting cable is mounted so that it can be wound up and unwound, and a closing cable winch on which the closing cable is mounted so that it can be wound up and unwound.
  • the cable winches are operated in particular via appropriate actuators or motors.
  • the working device comprises a measuring device with at least one sensor for detecting a current position, speed and / or acceleration of at least one component of the working device. This can affect the diaphragm wall grab as a whole and/or one or both ropes (or the corresponding winches or actuators).
  • the working device comprises a control unit connected to the measuring device, via which the lifting and closing cable winches can be controlled, and at least one input means connected to the control unit for controlling the diaphragm wall grab.
  • the input means can be, for example, one or more joysticks and/or switches in a driver's cab of the implement.
  • control unit should not be interpreted as meaning that it has to be a single unit or component, but can also refer to a system made up of several individual control units or computers that are communicatively connected to one another. The functions discussed below that are performed by the control unit may therefore be performed by a single unit or distributed across multiple units. However, for the sake of simplicity, only one control unit will be referred to below.
  • control unit is set up to carry out a work step involving the diaphragm wall gripper (e.g. raising/lowering the diaphragm wall gripper, rotating the diaphragm wall gripper, opening/closing the gripper blades or any combination thereof) depending on measurement data from the measuring device and target specifications of the input means to regulate the lifting cable winch and / or the closing cable winch via a cascade control.
  • a work step involving the diaphragm wall gripper (e.g. raising/lowering the diaphragm wall gripper, rotating the diaphragm wall gripper, opening/closing the gripper blades or any combination thereof) depending on measurement data from the measuring device and target specifications of the input means to regulate the lifting cable winch and / or the closing cable winch via a cascade control.
  • cascade control means control with the help of several, ie at least two, nested control loops.
  • an output variable of an external or superimposed controller or control loop serves as a reference variable, ie as the target value of an internal or subordinate one Controller or control circuit.
  • the inner control loops are in particular faster than the outer control loops.
  • the cascade control of the cable winches enables fast, precise and stable control of the movement process. Due to this control structure, an assistance system can be provided, for example by incorporating automatic planning, which may also take physical limitations of the working device or gripper into account, which supports the user in operating the working device and significantly increases the ease of use.
  • the cascade control comprises a subordinate control loop for controlling an angle of rotation, an angular speed of rotation and/or an angular acceleration of the lifting and/or the closing cable winch, as well as a superimposed control loop for controlling a position, speed and/or acceleration of the diaphragm wall grab .
  • the cascade control preferably includes a subordinate control of the rotational angular speeds of the lifting and closing cable winches as well as a superimposed control of the diaphragm wall gripper position, i.e. a superimposed position control.
  • control unit is set up to carry out position control of the diaphragm wall gripper via several partial controls based on only two degrees of freedom of the diaphragm wall gripper.
  • position control is divided into two reduced subsystems or subcontrols, each with only two degrees of freedom of movement. This allows the underactuated
  • the control task for moving the diaphragm wall grab can be divided into two exact, ie not under-actuated, sub-problems.
  • one of the partial regulations relates to a position of the gripper blades and a position, in particular vertical position, of the diaphragm wall gripper.
  • one of the partial regulations relates to an orientation, in particular an angle of rotation, and a position, in particular vertical position, of the diaphragm wall gripper.
  • the position control is divided into the two aforementioned partial controls, since these movement processes (in particular the actuation of the gripper blades and the rotation of the diaphragm wall gripper) are usually not carried out simultaneously, but one after the other.
  • the diaphragm wall gripper is rotated about its vertical axis in a first position control mode for threading into the guide walls.
  • the diaphragm wall gripper is then lowered into the slot and the gripper blades are then opened or closed in a second position control mode.
  • the rotation of the diaphragm wall gripper during opening and closing is particularly neglected. This is justified when opening, as the rotation of the gripper is blocked by the slot anyway. The same applies when emptying the gripper, where turning the gripper has little influence on the process. This means that precise control of the movement processes is only possible with the two cable winches without any impairment.
  • the first mode can therefore enable raising or lowering as well as rotating the closed gripper and is referred to as "rotating”.
  • the second mode can enable lifting or lowering as well as opening or closing of the gripper and is referred to as "grasping”.
  • This division allows the position control to be carried out as a switching trajectory tracking control.
  • the respective trajectory tracking control can, for example, use switching logic depending on the requirement for the gripper opening and the current gripper opening can be selected.
  • the position control can preferably be in the first mode (rotating) by default and follow the corresponding target specifications of the closed gripper. It can be provided that as soon as the operator requests the gripper to be opened, the position control automatically switches to the second mode ("grabbing") and then follows the target specifications that now apply. The rotation of the opened gripper is preferably ignored. Provision can be made to automatically switch back to the first mode (rotation) as soon as the gripper is completely closed again.
  • control unit is set up to regulate a position of the diaphragm wall gripper via the cascade control, the lifting and/or closing cable winches being pre-controlled via a pilot control means which is set up based on target specifications of the input means and a mathematical model To specify and/or change the position, in particular a trajectory, of the diaphragm wall gripper.
  • the pilot control means comprises or represents a trajectory generator and/or trajectory filter. The pilot control means can be set up to process the operator's input via the input means and to generate a target trajectory for the cascade control, in particular for a superimposed position control.
  • At least one control loop of the cascade control comprises a PI controller.
  • at least one controller can be used as a pilot control be designed with an additional PD controller, for example for a superimposed position control.
  • an estimation means connected to the measuring device is provided, which is set up to determine a current position, speed and / or acceleration of the diaphragm wall gripper based on measurement data from the measuring device.
  • the measurement data entering the estimation means can be the angle of rotation of the cable winches and/or a rotational speed of the diaphragm wall grab.
  • the estimation means comprises a Kalman filter, in particular an extended Kalman filter with state restriction.
  • the estimating means represents in particular a state observer or virtual sensor for estimating the exact position or orientation of the diaphragm wall gripper from the recorded measurement data.
  • the estimating means preferably reconstructs a current state of the diaphragm wall gripper from the measurement data, since this state in particular is not directly can be measured.
  • the estimation means can represent a separate unit connected to the control unit or can be part of the control unit (e.g. as a software module).
  • the diaphragm wall grab is not guided on a leader, but rather is suspended, in particular freely suspended, on an arm of the working device via the lifting and closing cables.
  • the movement of the diaphragm wall grab occurs by actuating the lifting and closing cable winches.
  • the diaphragm wall grab is raised, lowered, opened, closed and/or rotated exclusively by actuating the lifting and/or closing cable winches.
  • the lifting rope and the closing rope are each designed as non-twist-free ropes, in particular as stranded steel ropes.
  • the ropes preferably point in opposite directions striking directions.
  • Each rope generates a torsional torque depending on its tension.
  • the two ropes twist in opposite directions due to their opposite direction of lay and attachment to the diaphragm wall grab. This means that, depending on the force distribution between the ropes, the diaphragm wall grab can preferably be rotated within a range of ⁇ 180°.
  • there is a subordinate control of the rotational angular speeds of the lifting and closing cable winches as well as a superimposed regulation of the diaphragm wall gripper position, ie a superimposed position control.
  • the position control of the diaphragm wall gripper takes place on the basis of only two degrees of freedom, which preferably differ from one another for at least two different work steps involving the diaphragm wall gripper.
  • a partial control relates to a position of the gripper blades and a position, in particular vertical position, of the diaphragm wall gripper.
  • a partial control relates to an orientation, in particular an angle of rotation, and a position, in particular vertical position, of the diaphragm wall gripper.
  • a current position of the diaphragm wall gripper is determined or estimated by an estimation means and is provided to the control unit for position control of the diaphragm wall gripper, in particular as an actual value.
  • the working device 10 is shown in a side view, whereby the subsurface and a floor slot created in the subsurface and filled with a supporting liquid can be seen in a schematic sectional view.
  • the working device 10 is a cable excavator 10 with an undercarriage comprising a crawler chassis, an uppercarriage 18 mounted thereon about a vertical axis of rotation and a lattice boom 19 pivotably attached to the uppercarriage 18.
  • a mechanical diaphragm wall grab 20 is suspended on the boom 19 via two steel cables, which are guided to the superstructure 18 via corresponding rollers on a boom head: a hoist cable 13, which can be wound up and unwound on a hoist cable winch 11 attached to the superstructure 18, and a closing cable 14, which is mounted so that it can be wound up and unwound on a closing cable winch 12 which is also attached to the superstructure 18.
  • the diaphragm wall gripper 20 has at the lower end two gripper blades 22 which are pivotally mounted on a gripper frame and which can be opened and closed by actuating the closing cable 14 (or the closing cable winch 12).
  • the gripper blades 22 are articulated on a body 26 via rods (not shown) and are connected to a gripper carriage 27 in an articulated manner.
  • the closing cable 14 is connected via a pulley or a cable pull system 24 (cf. Fig. 2 ) in the gripper in order to achieve a higher closing force, and is attached at one end to a gripper carriage 27 of the diaphragm wall gripper 20.
  • the lifting rope 13 is attached directly (ie without a cable pull system) to the gripper carriage 27.
  • the deflection rollers of the cable pull system 24 are preferably partly connected to the gripper carriage 27 and partly to the body 26.
  • the diaphragm wall grab 20 hangs freely on the boom 19, so that all movements (lifting, lowering, rotating around a vertical axis as well as opening/closing the grab blades 22) only take place by activating the lifting and closing winches 11, 12.
  • the lifting and closing winches 11, 12 are particularly identical in construction.
  • non-twist-free steel strand ropes are used, which have opposite lay directions. No external forces act on the diaphragm wall grab 20 outside the floor slot. However, as soon as the diaphragm wall gripper 20 is immersed in the supporting liquid which is introduced into the bottom slot, the rotation of the diaphragm wall gripper 20 is blocked by the guide walls. In addition, the support fluid creates a buoyancy force and as soon as the gripper shells 22 reach the ground, the entire potential forces are compensated.
  • the boom position of the duty cycle crane 10 is assumed to be fixed for the following discussion.
  • the Figure 2 shows a schematic representation of the components and sizes of the working device according to the invention that are relevant for the cascade control, in particular the generalized coordinates and dimensions for the gripper 20 can be seen.
  • the entire system is divided into three subsystems: drive train, cable system and mechanical gripper 20 (hereinafter the terms “diaphragm wall grab” and “gripper” are used synonymously).
  • the first subsystem includes the two drive trains of the working winches 11, 12 of the cable excavator 10.
  • a linear replacement model comprising a motor, a gearbox and the respective winch drum 11, 12 is used for each drive train.
  • the third subsystem describes the mechanical diaphragm wall grab 20 itself, which is actuated via the lifting and closing cables 13, 14.
  • the diaphragm wall grab 20 is operated by controlling the two winches 11, 12.
  • the closing cable 14 is pulled in. If the gripper 20 is completely closed (a lower stop is preferably provided for this), further retraction of the closing cable 14 causes the entire gripper 20 to lift in the closed state, with the entire load lying on the closing cable winch 12.
  • the gripper 20 or the gripper blades 22 is opened to the maximum, the gripper blades 22 come to an end stop and further unwinding of the closing cable 14 does not lead to any further movement of the gripper 20, but only to a loosening of the closing cable 14.
  • the lower stop must therefore never be left. The same applies analogously to lowering the gripper 20 in the open state.
  • the gripper 20 can be rotated about a vertical axis via the previously described torsional moment of the ropes 13, 14.
  • the gripper 20 When the gripper 20 is opened or closed, the gripper 20 inevitably rotates.
  • the coordinates of the gripper 20 result from the cable lengths of the lifting and closing cables 13, 14 and the angle of rotation ⁇ S of the gripper 20 about the vertical axis.
  • the generalized coordinates are also used according to Fig. 2 introduced.
  • FIG. 3 shows a block diagram of the cascade control according to the invention. Based on Figure 3 The control according to the invention will now be explained below in the context of a concrete exemplary embodiment.
  • target specifications ⁇ H,soll , ⁇ S,soll , ⁇ Z,soll are generated. These values are made available to a trajectory generator or planner 32, which calculates the target values z H,d , z S,d , ⁇ Z,d actually used for the control using a mathematical model and thereby the physical limitations of the gripper system taken into account.
  • the actual values for the control are recorded by sensors of a measuring system and provided to an estimation means 50 acting as a status observer, which then estimates the current position and/or orientation of the diaphragm wall grab as actual values actually included in the control.
  • a subordinate rotational angular speed control takes place via a subordinate control circuit 42, with the motors or drives 15 and 16 of the lifting and closing cable winches 11, 12 serving as actuators.
  • Two PI controllers 34, 36 serve as controllers.
  • the angular velocities ⁇ H and ⁇ s are regulated by the lower-level motors 15, 16 based on the motor torques ⁇ M,H and ⁇ M,s .
  • the position of the diaphragm wall gripper 20 is controlled via a superimposed control circuit 40.
  • the underactuated system is divided into two reduced subsystems enables a superimposed (two degrees of freedom) position control.
  • the motors or drives 15 and 16 of the lifting and closing cable winches 11, 12 serve as actuators.
  • the superimposed control circuit 40 can include a pilot control with at least one additional PD controller.
  • the superimposed position control is designed as a switching position control for the unactuated subsystem.
  • the trajectory planner 32 processes the operator's input and generates the desired trajectory z H,d , z S,d , ⁇ Z , d .
  • the state observer 50 is used to reconstruct the state from the measured variables y T.
  • the measured variables y T of the system are the rotation angles ⁇ H , ⁇ S of the cable winches 11, 12 and the rotation speed ⁇ Z of the gripper.
  • the target speed ⁇ H , ⁇ ⁇ s is specified in the position control for the lower-level speed control.
  • both pilot controls are preferably expanded to include PD controllers.
  • said estimation means 50 can be used in the form of an extended Kalman filter with state restriction.
  • the two pilot controls require trajectories that can be continuously differentiated in two ways in order to determine the manipulated variables (motor speeds). In addition, these trajectories should be limited in their derivatives so that the available manipulated variables can be used optimally. This planning is done using state variable filters.
  • a cascaded controller structure is selected for the trajectory tracking control.
  • a subordinate speed control is designed for both motors, which regulates the requested speed.
  • the superimposed control loop thus receives approximately the speeds ⁇ H , ⁇ s as new input variables.
  • the rope forces are considered in particular as a disturbance. This results in linear system dynamics for the drive train and in particular a PI controller is dimensioned using the frequency characteristic curve method.
  • This division allows the position control to be carried out as a switching trajectory tracking control (TFR).
  • TFR switching trajectory tracking control
  • the basis for the design are the unactuated subsystems of the models. Using switching logic, the respective trajectory sequence control is selected depending on the requirement for the gripper opening and the current gripper opening.
  • the position control is preferably in the first mode by default and thus follows the two target specifications of the closed gripper 20. As soon as the operator requests the gripper 20 to be opened, the position control switches in particular automatically to the "grabbing" mode and thus follows the target specifications that are now valid . The specification of the rotation of the opened gripper is ignored and the rotation of the gripper 20 follows the system dynamics. As soon as the diaphragm wall grab is completely closed again, it preferably automatically switches back to rotating mode.
  • the target trajectory and its time derivatives are used to evaluate the state feedback instead of the actual variables or their estimates.
  • the deviations of the target trajectories with the non-measurable state variables and their time derivatives are required. Since these variables cannot be measured, the already mentioned state observer 50 is used and the estimated states are used for stabilization.
  • the state feedback corresponds to (flatness-based) feedforward controls and the addition of the state control laws results in a two-degrees-of-freedom control.
  • the effect of the slot on the gripper 20 is preferably neglected.
  • blocking the rotation in the slot can result in a permanent control deviation, which has a negative effect on the control.
  • the state feedback can be deactivated by setting the parameters to zero as long as the diaphragm wall gripper 20 is located within the slot. The two degrees of freedom control is thus simplified to a pure (flatness-based) pilot control.
  • a state observer 50 is used for this purpose. This can, for example, be designed as a discrete-time and state-limited extended Kalman filter (EKF) for the complete and the replacement model. Switching between the EKFs takes place in particular based on the estimated states.
  • the EKF can be based on a time-discrete, state-limited algorithm, which preferably includes a prediction and a correction step.
  • Two EKFs are preferably used to implement the observer, which are switched depending on the estimated model state.
  • the rotation of the gripper 20 is preferably blocked via a state restriction in the observer.
  • the switching takes place in particular based on the estimated position or the estimated cable force of the closing cable 14.
  • the last estimated state of the EKF to be switched off can be used as the starting value of the EKF to be switched on.
  • the position control requires, in particular, target trajectories of the gripper coordinates that can be continuously differentiated in three ways. The following describes how the operator specifies the target positions and the subsequent trajectory planning with trapezoidal acceleration profiles.
  • the target position for trajectory planning is specified in particular by three control signals from the operator.
  • the operator preferably specifies the target position with a first control signal.
  • a second control signal preferably specifies gripping directly via a corresponding coordinate.
  • the operator specifies the target angle for the gripper rotation.
  • the three trajectory generators (TG) preferably only differ in their limitations and deliver the triple continuous target trajectories.
  • the target trajectories must be limited in their derivations so that, on the one hand, the manipulated variable limitations of the motors are adhered to and, on the other hand, the closed gripper 20 does not open unintentionally during rotational movements.
  • the conditions for switching the model structure are considered based on the cable forces in the stationary case.
  • the rope forces compensate for the potential forces. This means that the possible force distributions of the ropes lie on the straight line between two extreme points. At a first extreme point, the entire weight of the gripper 20 hangs on the closing cable 14 and this is therefore in the closed stop with maximum torsional moment.
  • the limitations of the rope forces can be converted into limitations of the rotational acceleration. This means that a case distinction can be made At both extreme points mentioned, a minimum (negative) rotational acceleration and a maximum (positive) rotational acceleration are determined for the trajectory planning of the closed gripper. The conversion depends on the current angle of rotation due to the torsional moments and the restoring moment and would have to be determined depending on the planned target course. For the implementation, approximately the average rotation angle between the start and end points is preferably used.
  • the system shown in this exemplary embodiment forms an assistance system which simplifies the operability of the mechanical diaphragm wall grab 20 for the excavator driver.
  • the assistance system supports the excavator driver in operating the cable excavator 10 by controlling the two cable winches 11, 12 depending on the work step based on a model-based control.
  • a trajectory generator 32 takes physical limitations into account and implements the respective work steps (lifting/lowering, rotating, opening/closing).
  • the non-measurable state variables are determined via an observer (virtual sensor) 50.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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  • Control And Safety Of Cranes (AREA)
  • Earth Drilling (AREA)
EP23195077.5A 2022-09-16 2023-09-04 Outil de travail doté d'une pince mécanique pour parois moulées et procédé de réalisation d'une étape de travail d'un tel outil Pending EP4339379A1 (fr)

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DE102022123785.0A DE102022123785A1 (de) 2022-09-16 2022-09-16 Arbeitsgerät mit einem mechanischen Schlitzwandgreifer und Verfahren zum Durchführen eines Arbeitsschritts eines solchen

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EP4339379A1 true EP4339379A1 (fr) 2024-03-20

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EP23195077.5A Pending EP4339379A1 (fr) 2022-09-16 2023-09-04 Outil de travail doté d'une pince mécanique pour parois moulées et procédé de réalisation d'une étape de travail d'un tel outil

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US (1) US20240102262A1 (fr)
EP (1) EP4339379A1 (fr)
DE (1) DE102022123785A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0726414B2 (ja) * 1991-07-31 1995-03-22 株式会社神戸製鋼所 掘削機の掘削速度制御装置
DE19806047A1 (de) * 1997-02-14 1998-09-24 Porr Technobau Ag Verfahren zur Erfassung der Neigung von Grabungen
EP3725955A1 (fr) * 2019-04-18 2020-10-21 BAUER Maschinen GmbH Benne à parois moulées et procédé de fabrication d'une mortaise dans le sol

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT399000B (de) 1992-11-06 1995-02-27 Porr Technobau Aktiengesellsch Erfassung der neigung von grabungen
FR2785946B1 (fr) 1998-11-18 2001-01-26 Spie Fond S Procede et dispositif de localisation de forage, outil et unite de forage et forage
DE19955750B4 (de) 1999-11-11 2004-05-27 Demag Mobile Cranes Gmbh Verfahren zum Druckausgleich in Hydraulikmotoren zum Antrieb der Hub- und Schließseile eines Seilkranes
DE102017120490A1 (de) 2017-09-06 2019-03-07 Liebherr-Components Biberach Gmbh Freifallwinde
EP3854943B1 (fr) 2020-01-23 2022-06-08 ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH Engin de génie civil

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0726414B2 (ja) * 1991-07-31 1995-03-22 株式会社神戸製鋼所 掘削機の掘削速度制御装置
DE19806047A1 (de) * 1997-02-14 1998-09-24 Porr Technobau Ag Verfahren zur Erfassung der Neigung von Grabungen
EP3725955A1 (fr) * 2019-04-18 2020-10-21 BAUER Maschinen GmbH Benne à parois moulées et procédé de fabrication d'une mortaise dans le sol

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DE102022123785A1 (de) 2024-03-21

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