FI20075691A - Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi - Google Patents

Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi Download PDF

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Publication number
FI20075691A
FI20075691A FI20075691A FI20075691A FI20075691A FI 20075691 A FI20075691 A FI 20075691A FI 20075691 A FI20075691 A FI 20075691A FI 20075691 A FI20075691 A FI 20075691A FI 20075691 A FI20075691 A FI 20075691A
Authority
FI
Finland
Prior art keywords
hardware
controlling
computer program
hydraulic boom
boom
Prior art date
Application number
FI20075691A
Other languages
English (en)
Swedish (sv)
Other versions
FI123361B (fi
FI20075691A0 (fi
Inventor
Jussi Puura
Original Assignee
Sandvik Mining & Constr 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 Sandvik Mining & Constr Oy filed Critical Sandvik Mining & Constr Oy
Publication of FI20075691A0 publication Critical patent/FI20075691A0/fi
Priority to FI20075691A priority Critical patent/FI123361B/fi
Priority to AU2008306801A priority patent/AU2008306801B2/en
Priority to CN2008801159408A priority patent/CN101855602B/zh
Priority to EP08805463.0A priority patent/EP2210154A4/en
Priority to US12/681,012 priority patent/US8452454B2/en
Priority to JP2010527481A priority patent/JP5255643B2/ja
Priority to PCT/FI2008/050541 priority patent/WO2009043969A1/en
Priority to RU2010117394/11A priority patent/RU2448895C2/ru
Priority to CA2701234A priority patent/CA2701234A1/en
Publication of FI20075691A publication Critical patent/FI20075691A/fi
Priority to ZA2010/02456A priority patent/ZA201002456B/en
Application granted granted Critical
Publication of FI123361B publication Critical patent/FI123361B/fi

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Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39206—Joint space position control
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40124—During manipulator motion, sensor feedback to adapt model in memory

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Feedback Control In General (AREA)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
FI20075691A 2007-10-01 2007-10-01 Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi FI123361B (fi)

Priority Applications (10)

Application Number Priority Date Filing Date Title
FI20075691A FI123361B (fi) 2007-10-01 2007-10-01 Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi
US12/681,012 US8452454B2 (en) 2007-10-01 2008-09-29 Method, apparatus and computer program for adjusting hydraulically operated boom
CN2008801159408A CN101855602B (zh) 2007-10-01 2008-09-29 用于调整液压操作悬臂的方法、设备
EP08805463.0A EP2210154A4 (en) 2007-10-01 2008-09-29 METHOD, DEVICE AND COMPUTER PROGRAM FOR ADJUSTING A HYDRAULICALLY ACTUATED EXTRACTOR
AU2008306801A AU2008306801B2 (en) 2007-10-01 2008-09-29 Method, apparatus and computer program for adjusting hydraulically operated boom
JP2010527481A JP5255643B2 (ja) 2007-10-01 2008-09-29 液圧作動ブームの調整方法、装置およびコンピュータプログラム
PCT/FI2008/050541 WO2009043969A1 (en) 2007-10-01 2008-09-29 Method, apparatus and computer program for adjusting hydraulically operated boom
RU2010117394/11A RU2448895C2 (ru) 2007-10-01 2008-09-29 Способ, устройство и компьютерная программа для регулировки работы гидравлической стрелы
CA2701234A CA2701234A1 (en) 2007-10-01 2008-09-29 Method, apparatus and computer program for adjusting hydraulically operated boom
ZA2010/02456A ZA201002456B (en) 2007-10-01 2010-04-08 Method,apparatus and computer program for adjusting hydraulically operated boom

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20075691A FI123361B (fi) 2007-10-01 2007-10-01 Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi
FI20075691 2007-10-01

Publications (3)

Publication Number Publication Date
FI20075691A0 FI20075691A0 (fi) 2007-10-01
FI20075691A true FI20075691A (fi) 2009-04-02
FI123361B FI123361B (fi) 2013-03-15

Family

ID=38656838

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20075691A FI123361B (fi) 2007-10-01 2007-10-01 Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi

Country Status (10)

Country Link
US (1) US8452454B2 (fi)
EP (1) EP2210154A4 (fi)
JP (1) JP5255643B2 (fi)
CN (1) CN101855602B (fi)
AU (1) AU2008306801B2 (fi)
CA (1) CA2701234A1 (fi)
FI (1) FI123361B (fi)
RU (1) RU2448895C2 (fi)
WO (1) WO2009043969A1 (fi)
ZA (1) ZA201002456B (fi)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2384844B1 (es) * 2009-05-26 2013-07-04 Young & Franklin, Inc Sistema de accionamiento basado en actuador para colector solar.
PT2725184T (pt) * 2012-10-24 2019-06-12 Sandvik Mining & Construction Oy Aparelho de perfuração de rocha e método para controlar a orientação da viga de alimentação
FI20135085L (fi) 2013-01-29 2014-07-30 John Deere Forestry Oy Menetelmä ja järjestelmä työkoneen puomiston ohjaamiseksi kärkiohjauksella
JP6284302B2 (ja) * 2013-04-02 2018-02-28 株式会社タダノ ブームの伸縮パターン選択装置
CN104727804A (zh) * 2014-11-27 2015-06-24 三一重型装备有限公司 一种凿岩台车及其钻臂定位控制方法和装置
DE102016015388B4 (de) * 2016-12-22 2024-09-12 Liebherr-Werk Ehingen Gmbh Verfahren zur assistierten Ausführung von Kranbewegungen eines Krans sowie Kran
US10583556B2 (en) * 2017-06-30 2020-03-10 Disney Enterprises, Inc. Motion stabilization on a motorized monopod jib
US11697917B2 (en) * 2019-07-26 2023-07-11 Deere & Company Anticipatory modification of machine settings based on predicted operational state transition

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JPH0740204B2 (ja) * 1985-03-30 1995-05-01 株式会社東芝 多自由度非線形機械システムの制御装置
US4805086A (en) * 1987-04-24 1989-02-14 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
JPH0776453B2 (ja) * 1987-05-29 1995-08-16 日立建機株式会社 作業機の軌跡制御装置
JP2662271B2 (ja) * 1988-11-28 1997-10-08 日立建機株式会社 作業機の軌跡制御装置
US4999553A (en) * 1989-12-28 1991-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for configuration control of redundant robots
JPH05277976A (ja) * 1992-03-31 1993-10-26 Nippon Telegr & Teleph Corp <Ntt> 動力学モデルパラメータ同定装置
JP2983783B2 (ja) * 1992-12-28 1999-11-29 日立建機株式会社 作業機の定速軌跡制御装置
EP0605050A3 (en) 1992-12-28 1997-02-26 Koninkl Philips Electronics Nv Control of machine movement based on an adaptive kinematic model.
JPH07261844A (ja) * 1994-03-23 1995-10-13 Matsushita Electric Ind Co Ltd モータ制御装置
AU4889796A (en) * 1995-03-31 1996-10-16 Toyo Kohan Co. Ltd. Handling method and robot used for the same
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US5953977A (en) * 1997-12-19 1999-09-21 Carnegie Mellon University Simulation modeling of non-linear hydraulic actuator response
FI107182B (fi) * 1998-12-09 2001-06-15 Tamrock Oy Menetelmä asemointivirheiden korjaamiseksi kallionporauksessa ja kallionporauslaitteisto
US6473679B1 (en) * 1999-12-10 2002-10-29 Caterpillar Inc. Angular velocity control and associated method for a boom of a machine
JP2002218676A (ja) * 2001-01-16 2002-08-02 Yaskawa Electric Corp モータ駆動装置
US7457698B2 (en) * 2001-08-31 2008-11-25 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada, Reno Coordinated joint motion control system
DE10240180A1 (de) * 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
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
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US8386133B2 (en) * 2007-02-21 2013-02-26 Deere & Company Automated control of boom and attachment for work vehicle
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JP5424982B2 (ja) * 2010-05-20 2014-02-26 カヤバ工業株式会社 ハイブリッド作業機械

Also Published As

Publication number Publication date
CN101855602B (zh) 2013-01-02
RU2010117394A (ru) 2011-11-10
US8452454B2 (en) 2013-05-28
WO2009043969A1 (en) 2009-04-09
FI123361B (fi) 2013-03-15
FI20075691A0 (fi) 2007-10-01
AU2008306801B2 (en) 2011-12-22
ZA201002456B (en) 2011-02-23
CA2701234A1 (en) 2009-04-09
EP2210154A4 (en) 2013-05-01
EP2210154A1 (en) 2010-07-28
JP2011505029A (ja) 2011-02-17
JP5255643B2 (ja) 2013-08-07
US20100280668A1 (en) 2010-11-04
CN101855602A (zh) 2010-10-06
AU2008306801A1 (en) 2009-04-09
RU2448895C2 (ru) 2012-04-27

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