FI20001682A - F÷rfarande f÷r styrning av bom och styrsystem f÷r bom - Google Patents

F÷rfarande f÷r styrning av bom och styrsystem f÷r bom Download PDF

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Publication number
FI20001682A
FI20001682A FI20001682A FI20001682A FI20001682A FI 20001682 A FI20001682 A FI 20001682A FI 20001682 A FI20001682 A FI 20001682A FI 20001682 A FI20001682 A FI 20001682A FI 20001682 A FI20001682 A FI 20001682A
Authority
FI
Finland
Prior art keywords
boom control
still
control system
boom
control
Prior art date
Application number
FI20001682A
Other languages
English (en)
Finnish (fi)
Other versions
FI20001682A0 (sv
FI109349B (sv
Inventor
Heikki Handroos
Janne Kovanen
Original Assignee
Timberjack Oy
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 Timberjack Oy filed Critical Timberjack Oy
Priority to FI20001682A priority Critical patent/FI109349B/sv
Publication of FI20001682A0 publication Critical patent/FI20001682A0/sv
Priority to EP01660138A priority patent/EP1174384B8/en
Priority to DE60113777T priority patent/DE60113777T2/de
Priority to US09/908,385 priority patent/US6553278B2/en
Publication of FI20001682A publication Critical patent/FI20001682A/sv
Application granted granted Critical
Publication of FI109349B publication Critical patent/FI109349B/sv

Links

Classifications

    • 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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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)
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41166—Adaptive filter frequency as function of oscillation, rigidity, inertia load
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45046—Crane

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
FI20001682A 2000-07-18 2000-07-18 Förfarande för styrning av bom och styrsystem för bom FI109349B (sv)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FI20001682A FI109349B (sv) 2000-07-18 2000-07-18 Förfarande för styrning av bom och styrsystem för bom
EP01660138A EP1174384B8 (en) 2000-07-18 2001-07-11 A method and system for guiding a boom
DE60113777T DE60113777T2 (de) 2000-07-18 2001-07-11 Verfahren und System zum Steuern eines Auslegers
US09/908,385 US6553278B2 (en) 2000-07-18 2001-07-18 Method for guiding a boom and a system for guiding a boom

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20001682 2000-07-18
FI20001682A FI109349B (sv) 2000-07-18 2000-07-18 Förfarande för styrning av bom och styrsystem för bom

Publications (3)

Publication Number Publication Date
FI20001682A0 FI20001682A0 (sv) 2000-07-18
FI20001682A true FI20001682A (sv) 2002-01-19
FI109349B FI109349B (sv) 2002-07-15

Family

ID=8558793

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20001682A FI109349B (sv) 2000-07-18 2000-07-18 Förfarande för styrning av bom och styrsystem för bom

Country Status (4)

Country Link
US (1) US6553278B2 (sv)
EP (1) EP1174384B8 (sv)
DE (1) DE60113777T2 (sv)
FI (1) FI109349B (sv)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9913437B2 (en) 2015-04-10 2018-03-13 Deere & Company Velocity-based control of end effector
US10480541B2 (en) 2017-07-06 2019-11-19 Deere & Company Intelligent boom control with rapid system cycling
US10844572B2 (en) 2018-04-25 2020-11-24 Deere & Company Method of controlling movement of an intelligent boom

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US7133689B2 (en) 2002-09-12 2006-11-07 Interdigital Technology Corporation Method and system for adjusting downlink outer loop power to control target SIR
US6994223B1 (en) * 2002-10-29 2006-02-07 Auto Crane Company Diagnostic readout for operation of a crane
US7426423B2 (en) * 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance
US8005598B2 (en) * 2003-08-05 2011-08-23 Sintokogio, Ltd. Crane and controller thereof
JP4647325B2 (ja) * 2004-02-10 2011-03-09 株式会社小松製作所 建設機械の作業機の制御装置、建設機械の作業機の制御方法、及びこの方法をコンピュータに実行させるプログラム
KR100559296B1 (ko) 2004-03-22 2006-03-15 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 유압실린더의 진동 제어방법
US7385946B2 (en) 2004-06-03 2008-06-10 Nokia Corporation Service based bearer control and traffic flow template operation with mobile IP
US7386377B2 (en) * 2005-04-07 2008-06-10 Sorensen David I Vehicle and equipment monitoring apparatus
FI122885B (sv) * 2005-05-30 2012-08-31 John Deere Forestry Oy System för mätning av effektivitet hos en skogsmaskin
US7278262B2 (en) * 2005-06-03 2007-10-09 Board Of Control Of Michigan Technological University Control system for suppression of boom or arm oscillation
US7489098B2 (en) 2005-10-05 2009-02-10 Oshkosh Corporation System for monitoring load and angle for mobile lift device
US20080038106A1 (en) * 2005-10-05 2008-02-14 Oshkosh Truck Corporation Mobile lift device
US7296404B2 (en) * 2005-12-12 2007-11-20 Husco International Inc. Apparatus for controlling deceleration of hydraulically powered equipment
US8200398B2 (en) * 2007-02-21 2012-06-12 Deere & Company Automated control of boom and attachment for work vehicle
US8036797B2 (en) * 2007-03-20 2011-10-11 Deere & Company Method and system for controlling a vehicle for loading or digging material
TWI444939B (zh) * 2008-01-10 2014-07-11 Univ Nat Taiwan 工程吊車之模擬系統及其方法
ITTO20090100A1 (it) * 2009-02-11 2010-08-12 Merlo Project S R L Con Unico Soci O Veicolo comprendente un braccio di sollevamento e relativo metodo di controllo dei sovraccarichi dinamici
US8272521B1 (en) * 2009-10-05 2012-09-25 Auto Crane Company Crane moment load and load delivery system control and method
NO337712B1 (no) * 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
US8666574B2 (en) * 2011-04-21 2014-03-04 Deere & Company In-vehicle estimation of electric traction motor performance
US10647560B1 (en) * 2011-05-05 2020-05-12 Enovation Controls, Llc Boom lift cartesian control systems and methods
ITTO20120350A1 (it) * 2012-04-20 2013-10-21 Cormach Srl Metodo e sistema per il controllo di una gru, in particolare di una gru su autocarro articolata telescopica.
CN103318765B (zh) * 2013-06-21 2015-01-07 林汉丁 吊重摆角、吊重载荷或吊重姿态的监测方法与装置及起重机
JP7293795B2 (ja) * 2019-03-27 2023-06-20 株式会社タダノ クレーンの制御方法およびクレーン
EP3725727A1 (en) * 2019-04-18 2020-10-21 Deere & Company Control system for a crane of a working machine, method and working machine
CN110103256A (zh) * 2019-06-06 2019-08-09 广东科佩克机器人有限公司 一种可自保护的工业机器人及方法
DE102019121628B3 (de) * 2019-08-12 2020-08-20 Franka Emika Gmbh Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last
EP4310045A1 (en) * 2022-07-19 2024-01-24 Volvo Construction Equipment AB Operator assist system, working machine and method for annihilation or amplifying oscillation

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US4395904A (en) * 1979-05-18 1983-08-02 Ivanov Gely M Device for damping oscillations
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
FI862627A0 (fi) * 1986-06-19 1986-06-19 Fiskars Ab Oy System foer reglerande av en krans hastighet.
US4804896A (en) * 1987-09-30 1989-02-14 University Of Lowell Vibratory interference sensor
US4808063A (en) * 1987-11-03 1989-02-28 Westinghouse Electric Corp. Robot system employing force/position control
JPH01304511A (ja) * 1988-06-02 1989-12-08 Seiko Instr Inc サーボ制御装置
US5117992A (en) * 1991-01-28 1992-06-02 Virginia International Terminals, Inc. System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway
US5617515A (en) * 1994-07-11 1997-04-01 Dynetics, Inc. Method and apparatus for controlling and programming a robot or other moveable object
US5598090A (en) * 1995-07-31 1997-01-28 Caterpillar Inc. Inductive joystick apparatus
US5960969A (en) * 1996-01-26 1999-10-05 Habisohn; Chris Xavier Method for damping load oscillations on a crane
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6371214B1 (en) * 1999-06-11 2002-04-16 Caterpillar Inc. Methods for automating work machine functions

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9913437B2 (en) 2015-04-10 2018-03-13 Deere & Company Velocity-based control of end effector
US10480541B2 (en) 2017-07-06 2019-11-19 Deere & Company Intelligent boom control with rapid system cycling
US10844572B2 (en) 2018-04-25 2020-11-24 Deere & Company Method of controlling movement of an intelligent boom

Also Published As

Publication number Publication date
EP1174384B8 (en) 2005-12-07
EP1174384B1 (en) 2005-10-05
DE60113777T2 (de) 2006-06-14
FI20001682A0 (sv) 2000-07-18
US20020008075A1 (en) 2002-01-24
US6553278B2 (en) 2003-04-22
EP1174384A1 (en) 2002-01-23
FI109349B (sv) 2002-07-15
DE60113777D1 (de) 2006-02-16

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Owner name: JOHN DEERE FORESTRY OY

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