SE1250555A1 - Apparatus and method for controlling the unwinding of a wound elongate member - Google Patents

Abstract

SUMMARY The invention relates to a method for controlling unwinding of a pile by means of a drive motor (250; 255) rotatable drum (130) wound up elongate element (140), which drum (130) is supported by means of a waist-steered vehicle (100), comprising the step of determining (p410) the speed of the tribunal vehicle (V). The method comprises the step of controlling (s450) operation of said drive motor (250; 255) on the basis of established values regarding waist angle (a) of said vehicle (100) and said vehicle speed (V) - The invention also relates to a computer program product comprising program code (P) for a computer (200; 210) for implementing a method according to the invention. The invention also relates to a device and a waist vehicle (100) equipped with the device. Figure 2a for publication

Description

10 15 20 25 30 either by or on said drum, depending on a direction of travel of said vehicle.

Today, there are various devices for controlling the on- and unwinding of, respectively said electrical cable, which devices work more or less well. Sagda devices for controlling the winding and unwinding, respectively, may include a hydraulic motor, alternatively an electric motor.

According to an example, a so-called "Spring applied" cable winding is provided. One such cable winding can also be referred to as constant torque winding. This cable winding is arranged in such a way that a substantially constant torque of the cable reel prevails, the cable reel continuously striving after unwinding the power cord. To achieve unwinding of the power cable is required that a propulsion force of the vehicle on which the cable reel is mounted, exceeds the tensile force of the power cord created by said torque at the cable reel. Typically, the torque of the cable winder can be regulated between two distinctly different levels, namely a torque for unwinding the power cable and another torque for winding.

A constant torque winding is especially applicable in applications such as refers to smaller and lighter cable windings and where operation of the vehicle does not include sharp accelerations of the vehicle. A constant torque winding is thus directly unsuitable for use with a mining wheel loader described in above because an electric cable is both long and relatively heavy. It is It is not uncommon for an electric cable for the operation of such a vehicle to be 300-400 meters long and together with the cable reel weighs between 1000 and 2000 kg.

In addition, operation of such vehicles involves frequent accelerations, in both forward and reverse direction. During such operation, the power cable is today the subject of significant stresses, resulting in high cable wear and relative short product life. 10 15 20 25 30 According to another example, a prevailing torque of the cable reel can be controlled in such a way that some compensation of dynamic processes can achieved. These dynamic processes can occur during operation of the vehicle.

According to one example, said prevailing torque can be controlled on the basis of a accelerator position or brake pedal position.

It is today known to control a prevailing torque of the cable winder on a base of vehicle speed. But even with such an existing solution, respectively unwinding in a satisfactory manner and an excessive and Unwanted cable wear is today quite noticeable, especially then the vehicle turns during unwinding and the cable drags against the ground and / or chafes towards the surroundings, such as walls in a mine.

EP 0878044 describes a method and arrangement for controlling winding and unwinding a cable of an electric wheel loader which by means of a hydraulic motor can rotate a drum, where the cable is wound.

Rolling up and unrolling takes place by means of a control arm at said drum.

SUMMARY OF THE INVENTION An object of the present invention is to provide a novel and advantageous method for controlling unwinding of one on one by one drive motor rotatable drum wound elongate element, which drum supported by a articulated vehicle.

Another object of the invention is to provide a new and advantageous device and a new and advantageous computer program for controlling unwinding of a drum on a drum rotatable by a drive motor elongate element, which drum is supported by means of a articulated vehicle. 10 15 20 25 30 A further object of the invention is to provide a method, a device and a computer program for unwinding an elongate member from a drum, where a reduced wear of the element over time is achieved.

Another object of the invention is to provide a user-friendly method for controlling unwinding of one on one by means of a drive motor rotatable drum wound elongate member, which drum is supported by means of a articulated vehicle. provide one cost-effective and reliable procedure for controlling the unwinding of a A further object of the invention is that on an elongate rotatable drum wound by a drive motor, which drum is supported by a articulated vehicle.

These objects are achieved by a method of controlling the unwinding of an on an elongate drum rotatably wound by a drive motor, which drum is supported by means of a articulated vehicle, according to claim 1.

According to one aspect of the invention, there is provided a method of controlling unwinding of a drum on a drum rotatable by a drive motor elongate element, which drum is supported by means of a articulated vehicle, including the steps of: - determining the speed of said vehicle, control the operation of said drive motor on the basis of established values regarding waist angle of said vehicle along with the speed of said vehicle.

In this case, the possibility is provided of controlling said unwinding to stand in harmony with the vehicle's route.

According to one aspect of the invention, there is provided a method of controlling unwinding of a drum on a drum rotatable by a drive motor 10 15 20 25 30 elongate element, which drum is supported by means of a articulated vehicle, including the steps of: - continuously determining values representing the speed of said vehicle; -continuously determine values representing a prevailing waist angle of said vehicle; - continuously control the operation of said drive motor on the basis of said determined values relating to the waist angle of said vehicle together with said vehicle speed.

In this case, a procedure is provided in which cable chafing against the substrate and / or surrounding structures are minimized. The procedure is user-friendly so far that unwinding of the element from the drum takes place in an automated manner, which of course in many ways is convenient for a driver of the vehicle. According to the invention provides an efficient and effective unwinding of the element from the drum at the same time as an unwanted wear of the element minimized.

By continuously determining the first order time derivatives regarding the determined values representing the speed of said vehicle, and on a basis thereby controlling the operation of said drive motor, a careful procedure for unwinding of said elongate elements from the drum is accomplished.

By determining the acceleration of the vehicle, unwinding of the element from the drum is controlled in an advantageous manner during jerky driving of the vehicle.

In this case, undesired wear of the elongate element can occur advantageously reduced or minimized.

According to one aspect of the present invention, control of said drive motor operation include determining the change in said waist angle with time.

By continuously determining the first order time derivatives regarding the determined values representing said waist angle, and on the basis thereof 10 15 20 25 30 control the operation of said drive motor, a careful method of unwinding said elongate elements from the drum are provided. Hereby can undesired wear of the elongate member is advantageously reduced or minimized.

By continuously determining the second order time derivatives regarding the determined values representing said waist angle, and on the basis thereof control the operation of said drive motor, a careful method of unwinding said elongate elements from the drum are provided. Hereby can undesired wear of the elongate element over time is advantageously reduced or minimized.

According to one aspect of the present invention, control of said drive motor operation takes place on the basis of established values regarding accumulated unwinding said elongate member from said drum into one firmly wound state. In this case, a procedure for advantageously is provided for control of unwinding of the elongate element from the drum according to a aspect of the invention, taking into account a prevailing mass of that part of the invention the element wound on the drum. In this case, unwinding of the element take place with continuous control of the drive motor operation on the basis of the drum prevailing mass inertia. In this case, a careful procedure for unwinding said elongate elements from the drum are provided. Thus, can undesired wear of the elongate element over time is advantageously reduced or minimized.

According to one aspect of the present invention, control of said drive motor operation include determining said accumulated unwinding change over time. Said accumulated unwinding change with time is a measure of the rotational speed of the drum.

By continuously determining the first order time derivatives regarding the determined values representing said accumulated unwinding, and 10 15 20 25 30 on the basis thereof control the operation of said drive motor, a careful procedure for unwinding of said elongate elements from the drum is accomplished.

In this case, undesired wear of the elongate element can be advantageous reduced or minimized.

By continuously determining the second order time derivatives regarding the determined values representing said accumulated unwinding, and on the basis thereof control the operation of said drive motor, a careful procedure for unwinding of said elongate elements from the drum is accomplished.

In this case, undesired wear of the elongate element over time can be advantageous reduced or minimized.

According to one aspect of the present invention, control of said drive motor operation takes place on the basis of an established difference between the said waist angle change with time and said accumulated unwinding change over time. In this case, a very accurate advantage is achieved method of unwinding the elongate member from the drum. Values representing said waist angle change with time and said accumulated unwinding change over time can be determined essentially in real time. Said difference between the said waist angle change with time and said accumulated unwinding change over time can also determined substantially in real time, so that control of the operation of said drive motor can achieved without real delays. A procedure is hereby established according to the invention where an operator of the vehicle can drive the vehicle with rather high degree of freedom, without having to worry about unwinding the element from the drum is not handled in a correct and desirable way.

The invention is particularly applicable when driving the vehicle along a path that includes many curves. The innovative procedure allows advantageously adequate control of the drive motor so that a desirable death of the element from the drum is provided. In this case, the vehicle can be driven with 10 15 20 25 30 both jerky driving and frequent cornering while unwinding the element from the drum.

By unwinding the element in a controlled manner according to the present invention from the drum, excessive unwinding of the element is avoided when cornering.

Excessive unwinding when cornering can cause problems at a later time winding, with potential downtime as a result.

By unwinding the element in a controlled manner according to the present invention from the drum, too little unwinding of the element is avoided when cornering.

Too little unwinding when cornering can cause unwanted strain on the element in cases where it is stretched against a wall. This strain can cause excessive tensile stresses of the element resulting in rupture. Hereby can the element is simply torn off or pulled out of either connection by someone End.

The method of the present invention is robust in that they parameters required to calculate how the drive motor is to be controlled can detected in a reliable manner. Said detection and calculation is also time-efficient, which means that there is continuous adequate control of the drive motor can be achieved, without significant delays. The control of the drive motor can thus be performed substantially in real time, which has a beneficial effect the ease of use of an operator of the vehicle.

The procedure is easy to implement in existing waist vehicles that are equipped with a drum for unwinding and unwinding an elongate element.

Software for controlling the unwinding of one on one by means of a drive motor rotatable drum wound elongate member, which drum is supported by means of a articulated vehicle, can be installed in a control unit of the articulated vehicle in the manufacture of the same. A buyer of the waist vehicle can thus get possibility to select the function of the procedure as an option. Alternatively can software including program code to perform the innovative procedure for 10 15 20 25 30 control of unwinding of a drum rotatable on a drive motor wound elongate element, which drum is supported by a waist guide vehicle, is installed in a control unit of the waist vehicle when upgrading at a service station. In this case, the software can be loaded into a memory in the control unit.

Implementation of the innovative procedure is thus cost-effective, in especially since no additional sensors or components are needed installed at the waist vehicle. Required hardware is already available today arranged in thus provides a the waist vehicle. The invention cost-effective solution to the above problems.

Software that includes program code for controlling unwinding of one on one by means of a drive motor rotatable drum wound elongate member, which drum is supported by a articulated vehicle, can be easily updated or replaced. Furthermore, different parts of the software that include program code for control of unwinding of a drum rotatable on a drive motor wound elongate elements are replaced independently. This modular configuration is advantageous from a maintenance perspective.

According to one aspect of the invention, there is provided a device for controlling unwinding of a drum on a drum rotatable by a drive motor elongate element, which drum is supported by means of a articulated vehicle, comprising: means for determining the speed of said vehicle; and means for controlling the operation of said drive motor on the basis of established values regarding the waist angle of said vehicle and the speed of said vehicle.

According to one aspect of the invention, there is provided a device for controlling unwinding of a drum on a drum rotatable by a drive motor elongate element, which drum is supported by means of a articulated vehicle, comprising: means for continuously determining values representing said vehicle speed; 10 15 20 25 30 “IO means for continuously determining values representing a prevailing waist angle of said vehicle; means for continuously controlling the operation of said drive motor on the basis of said determined values regarding waist angle of said vehicle together with said vehicle speed.

The device may comprise: means for determining the change of said waist angle with time; means for controlling the operation of said drive motor on the basis of said waist angles change over time. In this case, the device for unwinding the said elongated elements from the drum are carefully controlled. Hereby can undesired wear of the elongate element over time is advantageously reduced or minimized.

The device may comprise: means for determining values relating to the accumulated unwinding of said elongate elements from said drum in a particular peeled state; means for controlling the operation of said drive motor on the basis of said determined values relating to the accumulated unwinding of said elongate elements.

In this case, the device for unwinding said elongate elements from the drum is carefully controlled. In this case, unwanted wear and tear can occur elongated element is advantageously reduced or minimized over time.

The device may comprise: means for determining said accumulated unwinding change with time; means for controlling the operation of said drive motor on the basis of said accumulated unwinding change over time. In this case, the device for unwinding of said elongate elements from the drum is controlled on one carefully. In this case, undesired wear of the elongate element can occur time is advantageously reduced or minimized. 10 15 20 25 30 11 The device may comprise: means for determining a difference between said determined waist angles change with time and said accumulated unwinding change with time; means for controlling the operation of said drive motor on the basis of said determined skmnad.

The above objects are also achieved with a articulated vehicle comprising a device for controlling unwinding of one on one by means of a drive motor rotatable drum wound elongate element.

The above objects are also achieved with a articulated vehicle comprising a device according to any one of claims 7-12.

Said articulated vehicle may be a work machine including any of a wheel loader, forestry machine or dump truck.

According to one aspect of the invention, there is provided a computer program for control by unwinding a drum wound on a rotary motor by a drive motor elongate element, which drum is supported by means of a articulated vehicle, wherein said computer program comprises program code stored on one, by a computer readable, medium for causing an electronic controller or other computer connected to the electronic control unit to perform the steps according to any of claims 1-6.

According to one aspect of the invention, there is provided a computer program for control by unwinding a drum wound on a rotary motor by a drive motor elongate element, which drum is supported by means of a articulated vehicle, wherein said computer program includes program code for causing an electronic control unit or another computer connected to the electronic control unit to performing the steps according to any one of claims 1-6. 10 15 20 25 30 12 According to one aspect of the invention, there is provided a computer software product comprising a program code stored on a computer readable medium for performing the method steps according to any one of claims 1-6, when said computer programs run on an electronic controller or other computer connected to the electronic control unit. benefits the invention will be apparent to those skilled in the art from the following details, as well Additional objects, and novel features of the present invention via the practice of the invention. While the invention is described below, it will be apparent that the invention is not limited to those specifically described the details. Those who have access to the teachings herein will recognize and incorporations into others additional applications, modifications areas which are within the scope of the invention. SUMMARY DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further purposes and benefits thereof, reference is now made to the following detailed description to be read together with the accompanying drawings there equally reference numerals refer to equal parts in the various figures, and in which: Figure 1 schematically illustrates a articulated vehicle carrying a drum for an elongate member, according to an embodiment of the invention; Figure 2a schematically illustrates a subsystem of the vehicle shown in Figure 1, according to an embodiment of the invention; Figure 2b schematically illustrates a subsystem of the vehicle shown in Figure 1, according to an embodiment of the invention; Figures 3a-3c schematically illustrate different vehicle parameters according to different aspects of the invention; Figure 4a schematically illustrates a flow chart of a method, according to a embodiment of the invention; 10 15 20 25 30 13 Figure 4b schematically illustrates in further detail a flow chart over one method, according to an embodiment of the invention; and illustrates a computer, Figure 5 schematically according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE FIGURES Referring to Figure 1, a articulated vehicle 100 is shown the vehicle 100 includes a first section 110 and a second section 120.

The vehicle 100 carries a drum (see Figures 2a, 2b and 3a-c) from which one elongate member 140 can be unwound during operation of the vehicle 100. It elongate member 140 may also be wound on the drum during operation vehicle 100.

The articulated vehicle 100 may be a wheeled vehicle, such as e.g. one wheel loaders for mining. The articulated vehicle can alternatively be one tracked vehicles, such as e.g. an off-road tracked vehicle.

The articulated vehicle 100 may be a suitable utility vehicle, which is equipped with a drum or winder to enable unwinding and unwinding an elongate member 140.

Here, the term "elongated element" refers to an element that has a large extent in length relative to width.

According to one application, the elongate element may be an electrical cable for power supply of the vehicle, which power cable can be 300-400 meters long and have a cross section of 3-5 centimeters. Such an electrical cable can, according to one example weigh 1000-2000 kg.

The elongate element may have a filled cross section. In this case, it can elongated element for example be rope, rope, wire, rope, wire, wire 10 15 20 25 30 14 or cable. According to one example, said elongate elements are an electric cable for power supply of the vehicle. According to one example, said elongated elements a signal line for data communication. Said signal line may include a fiber optic data link.

Said elongate elements may consist of a suitable metal or metal alloy. Said elongate elements may consist of a suitable one synthetic material, such as e.g. plastic, or a natural material, such as e.g. rubber.

Said elongate element may alternatively be an elongate element such as has a hollow cross-section, such as e.g. a hose or a flexible pipe. According to this For example, the elongate member may be arranged to conduct a fluid.

In this case, the elongate element can be arranged to conduct a liquid or a gas to and / or from said vehicle. Said liquid may be water, water-soluble chemical or fuel in the form of oil, gasoline, or ethanol. Sagda gas can be air or any gas, such as noble gas. Said gas can be a fuel, e.g. methane or ethane.

Said fluid, in the form of a liquid or gas, may be pressurized by suitable means body nos the vehicle or externally from the vehicle. Said pressurizing means can be at least one suitable pumping device.

The elongate member may be suitably insulated. Said insulation may refer to thermal, electrical, or leakage-related insulation.

The elongate element is intended to be wound on a drum or wind, such as e.g. a cable reel. In this case, the elongate element should be flexible in a desirable manner so that a compact winding around the drum can achieved. 10 15 20 25 30 15 Here, the term "link" refers to a communication link that may be one physical wire, such as an opto-electronic communications wire, or a non-physical wiring, such as a wireless connection, such as a radio or microwave link.

It is also possible that two or more elongate elements can be unwound parallel from the drum. The elements may be of substantially identical kind or be different in relation to each other.

Referring to Figure 2a, there is shown a device for controlling unwinding of an elongate member 140 of the waist vehicle 100, according to an embodiment of the invention. According to this exemplary embodiment, said elongate elements 140 and power cable.

The device comprises a first control unit 200 arranged for communication with electric converter 230 via a link 201. Said electric converter 230 may include a DC / AC device. An electric power source 240, such as a battery, is arranged to supply a direct current to the electrical converter 230 via a line 241. The electrical converter 230 is in this case arranged to converting said direct current into an alternating current of suitable frequency and amplitude.

The electric converter 230 is electrically connected to an electric motor 250 via an electrical line 231. The electrical converter 230 is arranged to on a controlled manner supply said AC to the electric motor 250. The first control unit 200 is arranged to control operation of the electric motor 250 by controlling the electric one the converter 230 as desired. The operation of the electric motor 250 is thus controlled of the first control unit 200 by means of the electrical converter 230.

The electric motor 250 is arranged to control operation of the drum 130, on which the electric cable 140 is wound up.

A spreader mechanism 135 (Fig. 3b) may be provided at the drum 130. Said spreading mechanism 135 is arranged to provide one 10 15 20 25 30 16 desirable winding to the extent that the power cable can be wound up in close contact with already wound electrical cable. Said spreader mechanism 135 may be of one mechanical configuration, for example including a ball screw. Sagda spreader mechanism 135 may alternatively include a control device with stored drivers to handle said unwinding and unwinding as desired way.

A first sensor 260 is provided for communication with the first the control unit 200 via a link L260. The first sensor 260 is one speed sensor which is arranged to determine a prevailing speed V of vehicle 100. The speed sensor 260 may be any suitable one speed sensor. The speed sensor 260 is arranged to continuously, or 100.

The speed sensor 260 is arranged to send continuously, or intermittently intermittently, determine a prevailing speed of the vehicle signals En including information on said established prevailing vehicle speed V to the first control unit 200 via the link L260. The first the sensor 260 may be arranged to continuously determine a prevailing one vehicle acceleration A on the basis of said determined vehicle speed V.

According to an alternative embodiment, the first control unit 200 is arranged to determine vehicle acceleration A on the basis of the received signals Sv.

The parameter vehicle speed V is described in further detail with reference to Figure 3a below.

A second sensor 270 is provided for communication with the first the control unit 200 via a link L270. The second sensor 270 is one angular position sensor which is arranged to determine a prevailing one angular position 6 of the drum 130. The angular position sensor 270 may be one any suitable angular position sensor. The angular position sensor 270 is continuously, or fix one 130 in 100 reference angle position Gref. Said reference angle position Letter can correspond arranged to intermittent, prevailing angular position of the drum vehicle relative to one an angular position where the power cable 140 is completely unwound, and where thus 10 15 20 25 30 17 140 is 130.

The angular position sensor 270 is arranged to continuously, or intermittently, no part of the power cord wound up on the drum send signals S6 including information about said determined prevailing angular position 6 to the first control unit 200 via the link L270. The other one the sensor 270 may be arranged to continuously determine a prevailing one angular velocity 6 'of the drum 130 on the basis of said determined angular position 6. The second sensor 270 may be arranged continuously determine a prevailing angular acceleration 6 "of the drum 130 on the basis of said fixed angular position 6. According to an alternative embodiment, the first is 200 determine angular velocity 6 ' angular acceleration 6 ”on the basis of the received signals Sv. Parameters 6 the control unit arranged to and described in further detail with reference to Figure 3b below.

The second sensor 270 may be a sensor as appropriate in an alternative manner can determine the amount of cable wound on the drum 130 in each given time. The second sensor 270 may be a sensor as appropriate can determine values regarding accumulated unwinding of the power cable 140 from the drum 130 in a particular wound state.

The second sensor 270 is thus arranged to suitably determine one mass M of the part of the cable 140 wound on the drum 130.

According to an alternative embodiment, the first control unit 200 is arranged to determining a mass M of the portion of the power cable 140 wound on it the drum 130. The first control unit 200 is arranged to determine said mass M of the portion of the power cable 140 wound on the drum 130 on basis of said fixed angular position 6.

Information on the diameter and mass of the power cable per unit length can be stored in a memory of the first control unit 200. Furthermore, information about the drum 130 mass is stored in a memory of the first control unit 200. It 10 15 20 25 30 18 the first control unit 200 may be arranged to determine a mass M of it part of the cable 140 wound on the drum 130 on the basis of said determined angular position 6 and the diameter D and mass of the electric cable per unit of length (kg / m). This provides a reliable and accurate way to determine the total weight of the drum 130, including the portion of the power cord that is wound on the drum 130.

A third sensor 280 is provided for communication with the first the control unit 200 via a link L280. The third sensor 280 is one determine one 100 reference angle position. The angular position sensor 280 can be any angular position sensor arranged to prevail angular position a of the waist of the vehicle relative to one suitable angular position sensor. The angular position sensor 280 is arranged to continuously, or intermittently, determine a prevailing angular position of the waist 100 reference angle position aref may correspond to an angular position where the vehicle's two in the vehicle relative to a reference angle position aref. Sagda vehicle pieces are presently oriented along a longitudinal axis of the vehicle, and where the vehicle thus does not turn. The angular position sensor 280 is arranged to continuously, or intermittently, send signals S a including information about said determined prevailing angular position a to the first the control unit 200 via the link L280. The third sensor 280 may be provided to continuously determine a prevailing angular velocity a 'of the waist of the vehicle on the basis of said determined angular position a. The third sensor 280 can determine one angular acceleration a 'of the waist of the vehicle 100 on the basis of said be arranged to prevail continuously determined angular position a. According to an alternative embodiment, the first is 200 determine angular acceleration a 'on the basis of the received signals S a. the control unit arranged at angular velocity a 'and Parameter a is described in further detail with reference to Figure 3c below. 10 15 20 25 30 19 A communication unit 290 is signal connected to the first control unit 200 via a link L290. Said communication unit 290 may include a display screen and a control panel. The display screen may include one touch screen. The control panel may include a keypad and / or user interface to enable an operator of the vehicle 100 to interact with the vehicle. In this case, the operator can influence the communication device to view or otherwise feedback information regarding operation or status of the vehicle 100. Said communication unit 290 may be arranged to present information on the status of the 140 for one communication unit 290 may be arranged to indicate to an operator whether respective winding of the cable operator. Sagda any fault condition has occurred during operation of the vehicle, whereby the operator, there it is applicable, can manually control the unwinding and unwinding of the cable 140 by means of actuators 295.

Said actuators 295 are signal connected to the first control unit 200 via a link L295. A driver can control by means of said operating means 295 said motor 250 by means of the electric converter 230 for controlling the motor 250. Said actuator 295 may be realized in the form of a joystick. In this case, an operator of the vehicle 100 can control the unwinding of the power cable 140 from the drum 130 in a semi-automatic manner. In this case, the operator can off the vehicle 100 also controls the winding of the power cable 140 on the drum 130 on one semi-automatic way.

A second control unit 210 is provided for communication with the first the control unit 200 via a link L210. The second control unit 210 may be detachably connected to the first control unit 200. The second control unit 210 may be an external control unit for the vehicle 100. The second control unit 210 may be arranged to perform the innovative process steps according to the invention. The second control unit 210 can be used to overload software for the first control unit 200, in particular software for performing the innovative procedure. The second control unit 210 may alternatively be 10 15 20 25 30 20 arranged for communication with the first control unit 200 via an internal network in the vehicle. The second control unit 210 may be arranged to perform substantially the same functions as the first control unit 200, such as e.g. on the basis of the received signals comprising waist angle a, vehicle speed V and angular position 6.

The first control unit 200 is arranged to continuously determine a setpoint for the engine 250 torque. This setpoint is called Tshould.

Tshould can be determined on the basis of established values for the vehicle speed V and waist angle a. Tshould can be determined based on established values for the angular position of the drum 9.

According to one embodiment, Tshould is defined as follows: Tshould = F1 (V, A) + F2 (a, a ', a ") where F1 is a suitable function depending on the speed V and / or of the vehicle the vehicle's acceleration A, and where F2 is a suitable function that depends on vehicle waist angle α and / or vehicle's waist angle velocity a 'and / or vehicle waist angle acceleration a ”.

According to one embodiment, Tshould is defined as follows: Tshouid = F1 (v, A) + F2 (a, a: 01 ") + F3 (e, e ', e”) where F1 is a suitable function depending on the speed V and / or of the vehicle the vehicle's acceleration A, and where F2 is a suitable function that depends on vehicle waist angle a 'and / or vehicle's waist angle velocity a' and / or the vehicle's waist angle acceleration a ", and where F3 is an appropriate function such as depends on the angular position of the drum Goch / or the angular velocity of the drum 6 ' and / or the angular acceleration of the drum 6 ”. '| 0 15 20 25 30 21 According to one embodiment, Tshould is defined as follows: Tsh0u | d = F4 (a'-6 '), where F4 is a suitable function due to a difference between the vehicle's waist angular velocity a 'and the rotational speed of the drum 62 Said difference a'-6 'can be called DIFF.

Referring to Figure 2b, there is shown a device for controlling unwinding of an elongate member 140 of the waist vehicle 100, according to an embodiment of the invention. According to this embodiment, said elongate elements are 140 a water hose.

According to this embodiment, a hydraulic motor 255 is used instead of one electric motor 250 (as described with reference to Figure 2a above). Hereby is the first control unit 200 signal connected to a hydraulic valve 235. It the first control unit 200 is arranged to control the operation of the hydraulic valve 235, which hydraulic valve is arranged in flow communication with the hydraulic motor 255 in a known manner. The first control unit 200 is in this case arranged to control operation of the hydraulic motor 255 by means of the hydraulic valve 235. By actuating a flow of a fluid in a hydraulic system (not shown) can the first control unit 200 controlling a torque of the motor 255 towards a desired setpoint Tshould, according to one aspect of the invention.

As shown in Figure 2b, the same parts are described as described further detail above with reference to Figure 2a. The difference between the two the embodiments are essentially that the electrical converter 230 has replaced with the hydraulic valve 235, which is part of said hydraulic system, and that the electric motor 250 has been replaced by the hydraulic motor 255. 10 15 20 25 30 22 According to this embodiment, the hose 140 may be arranged to guide one fluid, such as coolant or water for firefighting.

Figure 3a schematically illustrates a first vehicle parameter used according to one aspect of the present invention.

Figure 3a schematically illustrates a articulated vehicle 100 including one 110 and a 130, the spreader mechanism 135, and the elongate member 140 are provided first section second section 120. The drum at the vehicle section 120.

Said first vehicle parameter is the vehicle speed V. Figure 3a illustrates vehicle speed V as a vector. Vehicle speed V is defined by positive sign where the vehicle is propelled in a direction where the power cable 140 is unwound drum 130.

Correspondingly, the vehicle speed V is defined with a negative sign then the vehicle is propelled in a direction where the power cable 140 should be wound on the drum 130.

Figure 3b schematically illustrates a second vehicle parameter used according to one aspect of the present invention.

Said second vehicle parameter is angular position 9 of the drum 130 of vehicle 100. The angular position 6 can be defined on the basis of a reference angle 6ref, which according to an example is an angular position where the elongate element is completely unwound. 6 can be given as multiples N of 2n, where N is one positive integer.

For example, if the elongate member 140 is wound 5 and a half revolution around the drum corresponds to 0 = 5 * 2 n + n = 11 n. 10 15 20 25 30 23 By deriving the angular position with respect to time, one can rotational speed 6 'is determined. Furthermore, a rotational acceleration of the drum is determined by a further derivation of the angular position.

In this case, the rotational acceleration 6 ”can be determined.

Figure 3b schematically illustrates the spreader mechanism 135, by means of which controlled unwinding and piling of the elongate element 140 can achieved.

Figure 3c schematically illustrates a third vehicle parameter used according to one aspect of the present invention.

Figure 3c schematically illustrates a articulated vehicle 100 including one first 110 and a 120. 130, the spreader mechanism 135, and the elongate member 140 are provided section second section Drum at the vehicle section 120.

Said third vehicle parameter is the waist angle α of the vehicle 100, relative to one reference angle aref.

The waist angle a can be defined on the basis of a reference line aref, which according to a example is a line corresponding to the central axis of the vehicle 100 then this is oriented in one direction, i.e. then the two sections 110 and 120 of the vehicle 100 are rectified, such as when driving straight ahead.

By deriving the waist angle α with respect to time, one can angular velocity a 'is determined. Furthermore, an angular acceleration of the waist of the vehicle is determined by a further derivation of the angular velocity a '. In this case, the waist angle acceleration a ”can be determined. 10 15 20 25 30 24 Figure 4a schematically illustrates a flow chart of a method for control of unwinding of one on one by means of a drive motor 250 or 255 rotatable drum 130 wound elongate member 140, which drum 130 is supported by a articulated vehicle 100, according to an embodiment of the invention. The method comprises a first method step s401. The rose s401 includes the steps of: - determining the speed V of said vehicle; and control the operation of said drive motor 250 or 255 on the basis of established values regarding waist angle a of said vehicle 100 together with said vehicle speed V. After step s401, the procedure ends.

Figure 4b schematically illustrates a flow chart of a method for control of unwinding of one on one by means of a drive motor 250 or 255 rotatable drum 130 wound elongate member 140, which drum 130 is supported by a articulated vehicle 100, according to an embodiment of the invention.

The method includes a first method step s410. Procedure step s410 involves the step of continuously, or intermittently, determining a speed V of the vehicle 100. This can be done by means of the speed sensor 260. Step s410 may also include the step of determining a prevailing vehicle acceleration, at basis of said fixed speed 100. After the process step s410 performs a subsequent process step s420.

V of the vehicle The process step s420 involves the step of continuously, or intermittently, determine an angular position 6 of the drum 130 of the vehicle 100. This can performed by the second sensor 270. The step s420 may also include the step of determining a first order time derivative of said angular position 6 of the drum 130 of the vehicle 100. The step s420 may also include the step to determine a second order time derivative of said fixed angular position 6 of the drum 130 of the vehicle 100. The step s420 can also include the step of determining a prevailing weight of the drum 130. The step s420 10 15 20 25 30 25 may include the step of determining a prevailing mass inertia of the drum 130.

After the process step s420, a subsequent process step s430 is performed.

The process step s430 involves the step of continuously, or intermittently, determine a waist angle of the vehicle 100. This can be done by means of the third the sensor 280. The step s430 may also include the step of determining a first the time derivative of the order of said determined waist angle α of the vehicle 100.

Step s430 may also include the step of determining a second order time derivatives of said determined waist angle α of the vehicle 100. After the process step s430 performs a subsequent process step s440.

The method step s440 includes the step of continuously determining one operating parameters for the motor 250 or the motor 255. Said operating parameters are according to an example a setpoint Tshould regarding torque of the engine 250 or 255. Said operating parameter may alternatively be a setpoint RPM regarding engine speed 250 or 255.

Said operating parameters can be determined in a number of different ways. According to one design, said operating parameters can be determined on the basis of the prevailing vehicle speed V and a prevailing waist angle α of the vehicle 100. According to a alternatively design, said operating parameters can be determined on the basis of the vehicle's speeding speed V and a prevailing waist angle a of the vehicle 100 and a prevailing rotational speed 6 'of the drum 130. It should It is pointed out that said operating parameters can alternatively be determined on the basis of the first and / or the second order time derivative relating to the prevailing vehicle speed V and a prevailing waist angle α of the vehicle 100 and a prevailing rotational speed 6 'of the drum 130. According to one example, the motor 250 is controlled or 255 operation on the basis of an established difference (DIFF) between the said waist angle change a'with time and a rotational speed 6 'of drum 130. After s440 one is performed procedure step s450. subsequent procedure 10 15 20 25 30 26 The step step s450 includes the step of continuously controlling said motor 250 or 255 on the basis of said established operating parameters. Control of the motor 250 or 255 can be made on the basis of said determined operating parameters.

In this case, according to one embodiment, the electrical converter 230 can control operation of the motor 250 against a set setpoint Tshould with respect to the motor 250 torque so that a desired rate of depletion of the elongate member 140 is achieved. In this case, a desired rotational speed of 6 'is achieved drum 130.

In this case, according to another embodiment, the valve device 235 can control the operation of motor 255 at a fixed setpoint Tshould with respect to motor 255 torque so that a desired rate of death of the elongate member 140 is achieved. In this case a desired rotational speed of 6 'is achieved. in the drum 130.

After procedure step s450, the procedure is terminated.

Referring to Figure 5, a diagram of an embodiment of one is shown device 500. The control units 200 and 210 described with reference to Figures 2a and 2b may in one embodiment comprise the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550. The non-volatile memory 520 has a first memory portion 530 wherein a computer program, such as an operating system, is stored for control the function of the device 500. Furthermore, the device 500 comprises a bus controller, a serial communication port, an I / O device, an A / D converter, a time unit, date entry unit, transmission unit, event counter and a interrupt controller (not shown). The non-volatile memory 520 also has one second memory part 540. 10 15 20 25 30 27 A computer program P is provided which includes routines for control of unwinding of one on one by means of a drive motor 250 or 255 rotatable drum 130 wound elongate member 140, which drum 130 supported by a articulated vehicle 100, according to the innovative method.

Program P includes routines for determining the waist V speed V.

The program P includes routines for determining the waist angle α of the said vehicle 100. The program P includes routines for controlling the drive motor 250 or 255 operation on the basis of established values regarding waist angle a of said vehicle 100 together with said vehicle speed V. The program P includes routines for determining the change in said waist angle a 'or a' with the time. Program P includes routines for controlling said drive motor 250 or 255 operation on the basis of said waist angle change a 'or a' with the time. The program P includes routines for determining values regarding accumulated unwinding of said elongate member 140 from said drum 130 in a particular wound state. Program P includes routines to control the operation of said drive motor 250 or 255 on the basis of said established values regarding accumulated unwinding of said elongate element 140. The program P comprises routines for determining the said accumulated unwinding change over time. The program P includes routines for controlling the operation of said drive motor 250 or 255 on the basis of said accumulated unwinding change over time. The program P includes routines for determining a difference between said determined waist angles change a 'with time and said accumulated unwinding change 6' with time. The program P includes routines for controlling said drive motors 250 or 255 operation on the basis of said determined difference DIFF.

The program P can be stored in an executable way or in a compressed way in a memory 560 and / or in a read / write memory 550.

When it is described that the data processing unit 510 performs a certain function it should be understood that the data processing unit 510 performs a certain part of 10 15 20 25 30 28 the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550.

The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. the data processing unit 510 via a data bus 514. To the data port 599 can for example links L 201, L210, L260, L270, L280, L290 and L295 are connected (see Figures 2a and 2b).

The read / write memory 550 is arranged to communicate with When data is received on data port 599, it is temporarily stored in the other 540. When the data processing unit 510 is prepared to perform code execution on the memory part received input data has been temporarily stored, is a manner described above. According to one embodiment, signals include received at data port 599 information about waist angle a and vehicle speed V.

According to one embodiment, signals received at the data port 599 include information about waist angle a, vehicle speed V and accumulated unwinding 6 of said elongate member 140 from said drum 130.

The received signals on the data port 599 can be used by the device 500 to control the operation of the drive motor 250 or 255 on the basis of established values regarding waist angle of said vehicle as well as vehicle speed.

Parts of the methods described herein may be performed by the device 500 by means of of the data processing unit 510 running the program stored in the memory 560 or read / write memory 550. When the device 500 is running the program, it is executed procedures described herein.

The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. It is not intended to be exhaustive or restrictive 10 29 the invention to the described variants. Obviously, many will come modifications and variations to be apparent to those skilled in the art. The embodiments was selected and described to best explain the principles of the invention and its practical applications, thus enabling those skilled in the art to understand the invention for different embodiments and with the different modifications as are suitable for the intended use.

The listed components and features listed above may be within the scope of the invention is combined between different embodiments.

Claims (16)

10 15 20 25 30 30 PATENT REQUIREMENTS A method of controlling the unwinding of an elongate member (140) wound on a rotatable drum (130) rotatable by a drive motor (250; 255), the drum (130) being supported by means of a articulated vehicle (100), comprising the step of: determining (S410) the speed (V) of said vehicle, characterized by the step of: - controlling (s450) the operation of said drive motor (250; 255) on the basis of fixed values regarding waist angle (a) of said vehicle (100) and the speed of said vehicle ( V). The method of claim 1, wherein controlling (s450) the operation of said drive motor includes determining (s440) the change (a ') of said waist angle with time. A method according to claim 1 or 2, wherein controlling (s450) the operation of said drive motor comprises determining (s440) the change (a ') of said waist angle with time. A method according to any one of the preceding claims, wherein control (s450) of operation of said drive motor (250; 255) takes place on the basis of established values regarding accumulated unwinding (6) of said elongate element (140) from said drum (130) in a determined peeled state. The method of claim 4, wherein controlling (s450) the operation of said drive motor (250; 255) comprises determining said accumulated unwinding change (6 ') over time. A method according to claims 2 and 5, wherein control (s450) of operation of said drive motor (250; 255) takes place on the basis of a determined difference (DIFF) between the change of said waist angle (a ') with time and said accumulated unwinding change (6 ') with time. Device for controlling unwinding of an elongate drum (130) wound on a rotatable motor (250; 255) by a drive motor (250; 255), which drum (130) is supported by means of a articulated vehicle (100), comprising: - means ( 260; 200; 210; 500) for determining the speed (V) of said vehicle, characterized by: means (200; 210; 230; 500) for controlling the operation of said drive motor (250; 255) on the basis of fixed values relating to waist angle (a) of said vehicle (100) and the speed (V) of said vehicle. Device according to claim 7, comprising: - means (280; 200; 210; 500) for determining the change (a ') of said waist angle with time; and - means (200; 210; 230; 500) for controlling the operation of said drive motor (250; 255) on the basis of the change of said waist angle (a ') with time. Device according to claim 7 or 8, comprising: - means (280; 200; 210; 500) for determining the change (a ') of said waist angle with time; and - means (200; 210; 230; 500) for controlling the operation of said drive motor (250; 255) on the basis of the change of said waist angle (a ') with time. An apparatus according to any one of claims 6-9, comprising: - means (270: 200; 210; 500) for determining values regarding accumulated unwinding of said elongate element (140) from said drum (130) in a determined piled state; and means (200; 210; 230; 235; 500) for controlling the operation of said drive motor (250; 255) on the basis of said determined values regarding accumulated unwinding (9) of said elongate elements (140). 10 15 20 25 30 32 An apparatus according to claim 10, comprising: - means (270; 200; 210; 500) for determining said accumulated unwinding change (6 ') with time; and - means (200; 210; 230; 235; 500) for controlling the operation of said drive motor (250; 255) on the basis of said accumulated unwinding change (6 ') with time. Device according to claims 8 and 11, comprising: - means (280; 200; 210; 500) for determining a difference between said change of the determined waist angle (a ') with time and the change of said accumulated unwinding (6') with time; and means (200; 210; 230; 235; 500) for controlling the operation of said drive motor (250; 255) on the basis of said determined difference. An articulated vehicle (100; 110) comprising a device according to any one of claims 7-12. An articulated vehicle (100; 110) according to claim 13, wherein said articulated vehicle is a work machine including any of a wheel loader, forestry machine or dump truck. A computer program (P) for controlling unwinding of an elongate member (140) wound on a rotatable motor (250; 255) by a drive motor (250; 255), said drum (130) being supported by means of a articulated vehicle (100), wherein said computer program (P) comprises program code stored on a computer readable medium for causing an electronic control unit (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500) to perform the steps of any of claims 1-6. A computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1-6, when said computer program is run on an electronic control unit 33 (200; 500) or another computer (210; 500). ) connected to the electronic control unit (200; 500).