SE536501C2 - Apparatus and method for controlling the unwinding of a wound elongate member - Google Patents

Abstract

SUMMARY The invention relates to a method for controlling the 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 (s410) 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

15 20 25 30 536 501 either by or on said drum, depending on a direction of travel of said vehicle.

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

According to an example, a so-called "Spring applied" cable winding is provided. Such a cable winding can also be referred to as a constant torque winding. This cable winder is arranged in such a way that a substantially constant torque of the cable winder prevails, the cable winder continuously striving to wind on the electric cable. In order to effect unwinding of the electric cable, it is required that a propulsive force of the vehicle on which the cable reel is mounted exceeds the tensile force in the electric cable created by said torque of the cable reel. Typically, the torque of the cable winder can be regulated between two distinctly different levels, namely one torque for unwinding the power cable and another torque for winding.

A constant torque winding is primarily applicable to applications that refer to smaller and lighter cable windings and where operation of the vehicle does not involve strong accelerations of the vehicle. A constant torque winding is thus directly unsuitable for use with a wheel loader for mining operation described as above, since an electric cable is both long and relatively heavy. 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 weigh between 1000 and 2000 kg.

In addition, operation of such vehicles involves frequent accelerations, in both the forward and reverse directions. During such operation, the electric cable today becomes subject to significant stresses, which results in high cable wear and relatively short product life. 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 be 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 throttle control position or brake pedal position.

It is today known to control a prevailing torque of the cable reel on the basis of the vehicle's speed. But even with such an existing solution, on- and unwinding is not handled satisfactorily and an excessive and unwanted cable wear is today quite noticeable, especially when the vehicle turns during unwinding and the cable drags against the ground and / or rubs against the surroundings, such as walls in a mine.

EP 0878044 describes a method and arrangement for controlling the winding and unwinding of 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 new and advantageous method for controlling unwinding of an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of 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 an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle. A further object of the invention is to provide a method, an apparatus and a computer program for unwinding an elongate element from a drum, where a reduced wear of the element over time is achieved.

A further object of the invention is to provide a user-friendly method for controlling unwinding of an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle. A further object of the invention is to have an elongate element wound on a drum rotatable by means of a drive motor, which drum is supported by means of a articulated vehicle.

These objects are achieved with a method for controlling unwinding of an elongate element wound on a drum rotatable 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 an elongate member wound on a drum rotatable by a drive motor, the drum being supported by a articulated vehicle, comprising the steps of: - determining said vehicle speed, - controlling said drive motor operation on the basis of determined values relating to the waist angle of said vehicle and the speed of said vehicle.

In this case, it is possible to control said unwinding to be in harmony with the vehicle's route.

According to one aspect of the invention there is provided a method of controlling unwinding of an elongate drum wound on a rotatable motor by a drive motor, which drum is supported by means of a articulated vehicle, comprising the steps of: - continuously determining values representing said vehicle speed; - continuously determining values representing a prevailing waist angle of said vehicle; - continuously control the operation of said drive motor on the basis of said determined values regarding waist angle of said vehicle as well as the speed of said vehicle.

In this case, a method is provided in which cable chafing against substrates and / or surrounding structures is minimized. The method is user-friendly insofar as unwinding of the element from the drum takes place in an automated manner, which is of course in many ways convenient for a driver of the vehicle. According to the invention, an efficient and expedient unwinding of the element from the drum is achieved at the same time as an undesired wear of the element is minimized.

By continuously determining the first order time derivatives with respect to the determined values representing the speed of said vehicle, and on the basis thereof controlling the operation of said drive motor, an accurate method for unwinding said elongate elements from the drum can be achieved.

By determining the acceleration of the vehicle, unwinding of the element from the drum can be controlled in an advantageous manner in the event of jerky driving of the vehicle.

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

According to one aspect of the present invention, controlling the operation of said drive motor may involve determining the change of said waist angle with time.

By continuously determining the first order time derivatives with respect to the determined values representing said waist angle, and on the basis thereof controlling the operation of said drive motor, an accurate method of unwinding said elongate elements from the drum can be achieved. In this case, undesired wear of the elongate element can advantageously be reduced or minimized.

By continuously determining the second order time derivatives with respect to the determined values representing said waist angle, and on the basis thereof controlling the operation of said drive motor, an accurate method of unwinding said elongated elements from the drum can be achieved. In this case, undesired wear of the elongate element can advantageously be reduced or minimized over time.

According to one aspect of the present invention, control of the operation of said drive motor may be based on established values regarding accumulated unwinding of said elongate elements from said drum in a particular wound condition. In this case, a method for controlling unwinding of the elongate element from the drum according to an aspect of the invention is advantageously provided, which takes into account a prevailing mass of the part of the element which is wound on the drum. In this case, unwinding of the element can take place with continuous control of the operation of the drive motor on the basis of the prevailing mass inertia of the drum. In this case, an accurate method for unwinding said elongate elements from the drum can be provided. Thus, undesired wear of the elongate element over time can be advantageously reduced or minimized.

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

By continuously determining the first order time derivatives with respect to the determined values representing said accumulated unwinding, and on the basis thereof controlling the operation of said drive motor, an accurate method of unwinding said elongate elements from the drum can be achieved.

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

By continuously determining the second order time derivatives with respect to the determined values representing said accumulated unwinding, and on the basis thereof controlling the operation of said drive motor, an accurate method for unwinding said elongate elements from the drum can be achieved.

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

According to one aspect of the present invention, control of the operation of said drive motor may take place on the basis of a determined difference between the change of said waist angle with time and the change of said accumulated unwinding over time. In this case, a very accurate method is advantageously provided for unwinding the elongate element from the drum. Values representing the change of said waist angle with time and the change of said accumulated unwinding over time can be determined substantially in real time. Said difference between the change of said waist angle with time and the change of said accumulated unwinding with time can also be determined substantially in real time, so that control of said drive motor operation can be achieved without real delays. Hereby a method according to the invention is provided where an operator of the vehicle can drive the vehicle with a fairly high degree of freedom, without having to worry that unwinding of the element from the drum is not handled in a correct and desirable manner.

The invention is particularly applicable when driving the vehicle along a path which involves many curves. The innovative method advantageously allows adequate control of the drive motor so that a desirable deflection of the element from the drum is achieved. In this case, the vehicle can be driven with both jerky driving and frequent cornering while unwinding the element from the drum.

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

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

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

Excessive unwinding when cornering can cause unwanted stress on the element in cases where it is stretched against a wall. This stress can cause excessive tensile stresses of the element with consequent rupture. In this case, the element can simply be torn off or pulled out of either connection at any end.

The method of the present invention is robust in that the parameters required to calculate how the drive motor is to be controlled can be detected in a reliable manner. Said detection and calculation is also time efficient, which means that a 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 advantageously affects the user-friendliness of an operator of the vehicle.

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

Software for controlling the unwinding of an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle, can be installed in a control unit of a waist vehicle in the manufacture thereof. A buyer of the waist vehicle can thus have the opportunity to choose the function of the procedure as an option. Alternatively, software comprising program code for performing the innovative method of controlling unwinding of an elongate member wound on a drum rotatable by a drive motor, which drum is supported by a articulated vehicle, may be installed in a control unit of the waist vehicle at upgrade 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, especially since no additional sensors or components need to be installed in the waist vehicle. Required hardware is already present today providing cost effective solution to the above problems. arranged in the waist vehicle. The invention thus a Software which comprises program code for controlling unwinding of an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle, can be easily updated or replaced. Furthermore, different parts of the software which comprise program code for controlling unwinding of an elongate element wound on a drum rotatable by a drive motor can be replaced independently of each other. This modular configuration is advantageous from a maintenance perspective.

According to one aspect of the invention, there is provided an apparatus for controlling unwinding of an elongate member wound on a drum rotatable by a drive motor, 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 determined values regarding waist angle of said vehicle as well as speed of said vehicle.

According to one aspect of the invention, there is provided an apparatus for controlling unwinding of an elongate member wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle, comprising: - means for continuously determining values representing said vehicle speed; 536 501 - 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 as well as the speed of said vehicle.

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 the change of said waist angle with time. In this case, the device for unwinding said elongate elements from the drum can be controlled in an accurate manner. In this case, undesired wear of the elongate element over time can be advantageously reduced or minimized.

The device may comprise: - means for determining values regarding accumulated unwinding of said elongate elements from said drum in a determined piled-wound state; means for controlling the operation of said drive motor on the basis of said determined values regarding accumulated unwinding of said elongate elements.

In this case, the device for unwinding said elongate elements from the drum can be controlled in an accurate manner. In this case, undesired wear of the elongate element over time can be advantageously reduced or minimized.

The device may comprise: - means for determining the change of said accumulated unwinding over 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 said elongate elements from the drum can be controlled in an accurate manner. In this case, undesired wear of the elongate element over time can be advantageously reduced or minimized. The device may comprise: - means for determining a difference between said determined waist angle 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 scheme.

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

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 controlling unwinding of an elongate member wound on a drum rotatable by a drive motor, said drum being supported by a articulated vehicle, said computer program comprising program code stored on a computer readable medium for cause an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any one of claims 1-6.

According to one aspect of the invention, there is provided a computer program for controlling unwinding of an elongate element wound on a drum rotatable by a drive motor, which drum is supported by means of a articulated vehicle, said computer program comprising program code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any one of claims 1-6. According to one aspect of the invention, there is provided 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 or another computer connected to the electronic control unit. Advantages of the invention will become apparent to those skilled in the art from the following details, as well as additional objects, and novel features of the present invention through the practice of the invention. While the invention is described below, it should be understood that the invention is not limited to the specific details described. Those skilled in the art having access to the teachings herein will recognize and incorporate within other further 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 objects and advantages thereof, reference is now made to the following detailed description which is to be read in conjunction with the accompanying drawings where like reference numerals refer to like parts in the various figures, and in which: 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 an embodiment of the invention; Figure 4b in further detail schematically illustrates a flow chart of a method, according to an embodiment of the invention; and illustrating 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 exemplary 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 an elongate member 140 can be unwound during operation of the vehicle 100. The elongate member 140 may also be unwound on the drum during operation of the vehicle 100.

The articulated vehicle 100 may be a wheeled vehicle, such as e.g. a wheel loader for mining. The articulated vehicle may alternatively be a tracked vehicle, 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 winding to enable unwinding and unwinding of an elongate member 140.

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

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

The elongate element may have a filled cross section. In this case, the elongate element can be, for example, rope, rope, wire, rope, wire, cable 13 10 15 20 25 30 536 501 or cable. According to one example, said elongate elements are an electric cable for supplying power to the vehicle. According to one example, said elongate elements are 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 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 having a hollow cross-section, such as e.g. a hose or a flexible pipe. According to this example, the elongate member may be arranged to conduct a fluid.

In this case, the elongate element can be arranged to lead 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. Said gas can be air or an arbitrary gas, for example noble gas. Said gas may be a fuel, e.g. methane or ethane.

Said fluid, in the form of a liquid or gas, may be pressurized by suitable means of the vehicle or externally from the vehicle. Said pressurizing means may 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 able to be wound up on a drum or winding, 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 be achieved. 14 10 15 20 25 30 536 501 Here, the term "link" refers to a communication link which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example 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 an apparatus for controlling unwinding of an elongate member 140 of the waist vehicle 100, in accordance with an embodiment of the invention. According to this exemplary embodiment, said elongate member 140 is an electrical cable.

The device comprises a first control unit 200 arranged for communication with electrical converter 230 via a link 201. Said electrical converter 230 may comprise a DC / AC unit. An electric power source 240, such as a battery, is arranged to supply a direct current to the electric converter 230 via a line 241. The electric converter 230 is in this case arranged to convert 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 electric line 231. The electric converter 230 is arranged to supply said alternating current to the electric motor 250 in a controlled manner. The first control unit 200 is arranged to control operation of the electric motor 250 by controlling the electrical converter 230 as desired. In this case, operation of the electric motor 250 is thus controlled by the first control unit 200 by means of the electric converter 230.

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

A spreader mechanism 135 (Fig. 3b) may be provided at the drum 130. Said spreader mechanism 135 is arranged to provide a desired winding so far that the power cable can be wound in close contact with already wound winding cable. Said spreader mechanism 135 may be of a mechanical configuration, for example including a ball screw. Said spreading mechanism 135 may alternatively include a control device with stored drivers for handling said unwinding and unwinding in the desired manner.

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

The speed sensor 260 is arranged to continuously, or intermittently, send intermittently, prevailing of the vehicle signals Sv including information about said determined prevailing vehicle speed V to the first control unit 200 via the link L260. The first sensor 260 may be arranged to continuously determine a prevailing 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 vehicle speed V parameter is described in further detail with reference to Figure 3a below.

A second sensor 270 is provided for communication with the first control unit 200 via a link L270. The second sensor 270 is a fixed angular position 6 of the drum 130. The angular position sensor 270 may be an angular position sensor arranged to provide any suitable angular position sensor. The angular position sensor 270 is continuously, or intermittently, determining a 130 of 100 reference angle position Href. Said reference angular position Bref may correspond to arranged that the prevailing angular position of the drum vehicle relative to an angular position where the electric cable 140 is completely unwound, and where thus the electric cable 140 is 130.

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

The second sensor 270 may be a sensor that can suitably determine the amount of cable wound on the drum 130 at any given time. The second sensor 270 may be a sensor that can suitably 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 a mass M of the part of the cable 140 which is wound on the drum 130.

According to an alternative embodiment, the first control unit 200 is arranged to determine a mass M of the part of the electric cable 140 which is wound on the drum 130. The first control unit 200 is arranged to determine said mass M of the part of the electric cable 140 which is wound on the drum. 130 on the basis of said determined 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 on the mass of the drum 130 can be stored in a memory of the first control unit 200. The first control unit 200 can be arranged to determine a mass M of the part of the cable 140 which is 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 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 cable wound on the drum 130.

A third sensor 280 is provided for communication with the first control unit 200 via a link L280. The third sensor 280 is a determine a 100 reference angle position. The angular position sensor 280 may be any angular position sensor arranged to provide the prevailing angular position a of the waist of the vehicle relative to a suitable angular position sensor. The angular position sensor 280 is arranged to continuously, or intermittently, determine a prevailing angular position of the waist 100 relative to a reference angular position aref may correspond to an angular position where the two of the vehicle's reference angle position aref. Said 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 control unit 200 via the link L280. The third sensor 280 may be arranged to continuously determine a prevailing angular velocity a 'of the waist of the vehicle based on said determined angular position a. The third sensor 280 may determine an angular acceleration a' of the waist of the vehicle 100 on the basis of said being arranged to continuously prevailing determined angular position a. According to an alternative embodiment, the first 200 determined angular acceleration a 'on the basis of the received signals S a. the control unit is arranged that angular velocity a' and Parameter a are described in further detail with reference to Figure 3c below. 18 10 15 20 25 30 536 501 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 a 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 unit to display or otherwise feedback information regarding operation or status of the vehicle 100. Said communication unit 290 may be arranged to present status information regarding the cable 140 for a communication unit 290 may be arranged to indicate to an operator whether respective winding by operator. Said fault condition has occurred during operation of the vehicle, whereby the operator, where applicable, can manually control the unwinding and unwinding of the cable 140 by means of operating means 295.

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

A second control unit 210 is arranged for communication with the first control unit 200 via a link L210. The second control unit 210 may be releasably connected to the first control unit 200. The second control unit 210 may be a control unit external to the vehicle 100. The second control unit 210 may be arranged to perform the innovative method steps according to the invention. The second control unit 210 can be used to upload software to the first control unit 200, in particular software for performing the innovative method. The second control unit 210 may alternatively be 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 similar functions as the first control unit 200, such as e.g. on the basis of the received signals including waist angle a, vehicle speed V and angular position 6.

The first control unit 200 is arranged to continuously determine a setpoint for the torque of the motor 250. 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 on the basis of established values for the angular position 9 of the drum.

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 vehicle speed V and / or the vehicle acceleration A, and where F2 is a suitable function depending on the vehicle's waist angle α and / or the vehicle's waist angle velocity a 'and / or the vehicle's waist angle acceleration a ".

According to one embodiment, Tshould is defined as follows: Tshould = F1 (v, A) + F2 (a, a, w) + F3 (e, e ', ø ") where F1 is a suitable function depending on the speed of the vehicle V and / or the acceleration A of the vehicle, and where F2 is a suitable function depending on the waist angle α of the vehicle and / or the waist angular velocity a 'of the vehicle and / or the waist angle acceleration a "of the vehicle, and where F3 is a suitable function depending on the angular position of the drum 0 'and / or the angular acceleration of the drum 6 ”. 20 10 15 20 25 30 536 501 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 waist angular velocity a' of the vehicle and the rotational speed 6 'of the drum . 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, in accordance with an embodiment of the invention. According to this embodiment, said elongate element 140 is a water hose.

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

As shown in Figure 2b, the same parts are described as described in further detail above with reference to Figure 2a. The difference between the two embodiments is essentially that the electric converter 230 has been replaced with the hydraulic valve 235, which is included in said hydraulic system, and that the electric motor 250 has been replaced with the hydraulic motor 255. 21 10 15 20 25 30 536 501 According to this embodiment, the hose can 140 may be arranged to conduct a fluid, for example coolant or water for firefighting.

Figure 3a schematically illustrates a first vehicle parameter used in accordance with one aspect of the present invention.

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

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

Correspondingly, the vehicle speed V is defined by a negative sign when 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 in accordance with one aspect of the present invention.

Said second vehicle parameter is angular position 6 of the drum 130 of the 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 21 :, where N is a positive integer.

For example, if the elongate member 140 is wound 5 and a half turns around the drum, it corresponds to 6 = 5 * 2 1: + n = 11 n. 22 10 15 20 25 30 536 501 By deriving the angular position 6 6 'is determined. Furthermore, a rotational acceleration of the drum can be determined by further derivating 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 be effected.

Figure 30 schematically illustrates a third vehicle parameter used in accordance with one aspect of the present invention.

Figure 3c schematically illustrates a articulated vehicle 100 including a first 110 and a 120. 130, the spreader mechanism 135, and the elongate member 140 are arranged section second section of the drum of the vehicle section 120.

Said third vehicle parameter is waist angle a of vehicle 100, relative to a reference angle aref.

The waist angle α can be defined from a reference line aref, which according to an example is a line corresponding to the central axis of the vehicle 100 when it is oriented in one direction, i.e. when the two sections 110 and 120 of the vehicle 100 are aligned, such as, for example, when driving straight ahead.

By deriving the waist angle α with respect to time, an angular velocity α 'can be determined. Furthermore, an angular acceleration of the waist of the vehicle can be determined by further deriving the angular velocity a '. In this case, the waist angle acceleration a ”can be determined. Figure 4a schematically illustrates a flow chart of a method for controlling unwinding of an elongate drum 140 wound on a rotatable motor 250 or 255, 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. Step s401 includes the steps of: - determining the speed V of said vehicle; and - controlling the operation of said drive motor 250 or 255 on the basis of determined values relating to the waist angle α of said vehicle 100 and the speed V of said vehicle. After step s401, the process is terminated.

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

The method includes a first method step s410. The method step s410 includes the step of continuously, or intermittently, determining a speed V of the vehicle 100. This may be done by means of the speed sensor 260. The step s410 may also include the step of determining a prevailing vehicle acceleration, at 100. Based on said determined speed V of the vehicle, s410 a subsequent procedure step s420 is performed.

The method step s420 includes the step of continuously, or intermittently, determining an angular position 6 of the drum 130 of the vehicle 100. This may be 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 of determining a second order time derivative of said determined angular position 6 of the drum 130 of the vehicle 100. The step s420 may also include the step of determining a prevailing weight of the drum 130. The step s420 24 10 15 20 25 30 536 501 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 method step s430 includes the step of continuously, or intermittently, determining a waist angle of the vehicle 100. This may be done by the third sensor 280. The step s430 may also include the step of determining a first order time derivative of said determined waist angle α of the vehicle 100.

The step s430 may also include the step of determining a second order time derivative of said determined waist angle α of the vehicle 100. After the method step s430, a subsequent method step s440 is performed.

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

Said operating parameters can be determined in a number of different ways. According to one embodiment, said operating parameter can be determined on the basis of the vehicle's speeding speed V and a saving waist angle α of the vehicle 100. According to an alternative embodiment, said operating parameter may be determined based on the vehicle's speeding speed V and a saving waist angle α of the vehicle 100 and a saving rotational speed. 6 'of the drum 130. It should be noted that said operating parameters may alternatively be determined on the basis of first and / or second order time derivative of the vehicle's accelerating speed V and a prevailing waist angle α of the vehicle 100 and a saving rotational speed 6' of the drum 130. For example, the operation of the motor 250 or 255 is controlled on the basis of a determined difference (DIFF) between the change of said waist angle a'with time and a rotational speed 6 'of the drum 130. After s440, a method step s450 is performed. the process step subsequent 25 10 15 20 25 30 536 501 The method step s450 comprises the step of continuously controlling said motor 250 or 255 on the basis of said determined operating parameters. Control of the motor 250 or 255 can take place on the basis of said established operating parameters.

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

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

After the procedure step s450, the procedure is terminated.

Referring to Figure 5, there is shown a diagram of an embodiment of a device 500. The controllers 200 and 210 described with reference to Figures 2a and 2b may in one embodiment include 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 in which a computer program, such as an operating system, is stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an A / D converter, a time unit, date input unit, transfer unit, event counter and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540. A computer program P is provided which includes routines for controlling unwinding of an elongate member wound on a drum 250 or 255 rotatable by a drive motor 250 or 255. 140, which drum 130 is 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 comprises routines for determining the waist angle a of said vehicle 100. The program P comprises routines for controlling the operation of the drive motor 250 or 255 on the basis of established values regarding waist angle a of said vehicle 100 and the said vehicle speed V. The program P comprises routines for determine the change in said a 'or a' of the waist angle over time. The program P comprises routines for controlling the operation of said drive motor 250 or 255 on the basis of said waist angle change a 'or a' with time. Program P includes routines for determining values regarding accumulated unwinding of said elongate member 140 from said drum 130 in a particular piled state. The program P comprises routines for controlling the operation of said drive motor 250 or 255 on the basis of said determined values regarding accumulated unwinding of said elongate elements 140. The program P comprises routines for determining the change of said accumulated unwinding 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. Program P includes routines for determining a difference between said determined waist angle change a 'with time and said accumulated unwinding change 6' with time. The program P includes routines for controlling the operation of said drive motor 250 or 255 on the basis of said determined difference DIFF.

The program P can be stored in an executable manner or in a compressed manner 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 is to be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in 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 intended 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, e.g. the 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 the data port 599, it is temporarily stored in the second memory part 540. When the received input data has been temporarily stored, the data processing unit 510 is prepared to perform code execution in a manner described above. According to one embodiment, signals received at the data port 599 include 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 α, 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 the data processing unit 510 running the program stored in the memory 560 or the read / write memory 550. When the device 500 runs the program, the methods described herein are executed.

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 to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments were selected and described to best explain the principles of the invention and its practical applications, thereby enabling those skilled in the art to understand the invention for various embodiments and with the various modifications appropriate to the intended use.

The stated components and features stated above can within the scope of the invention be combined between different embodiments. 29

Claims (16)

536 501 PATENT REQUIREMENTS A method of controlling the winding of an elongate member (140) wound on a rotatable motor (250; 255) by a drive motor (250; 255), the drum (130) being supported by a articulated vehicle (100), comprising the step of : - determining (s410) the speed (V) of said vehicle, characterized by the step of: - controlling (s450) operation of said drive motor (250; 255) on the basis of fixed values relating to waist angle (a) of said vehicle (100) and said vehicle speed (V) - The method of claim 1, wherein controlling (s450) the operation of said drive motor includes determining (s440) the speed (a ') of said waist angle. A method according to claim 1 or 2, wherein controlling (s450) the operation of said drive motor comprises determining (s440) the acceleration (a ") of said waist angle. 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 determined values regarding accumulation of induction (0) of said elongate element (140) from said drum (130) in a firmly wound state. The method of claim 4, wherein controlling (s450) the operation of said drive motor (250; 255) comprises determining said accumulated unwinding change (9 ') 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 (D1FF) between said waist angle velocity (a ') and said accumulated unwinding change (l9') with time. An apparatus for controlling the winding of an elongate member (140) wound on a rotatable drum (250; 255) by a drive motor (250; 255), the drum (130) being supported by means of a articulated vehicle (100), comprising: - means (260; 200; 210; 500) for determining the speed (V) of said vehicle, 536 501 characterized by: - means (200; 210; 230; 500) for controlling the operation of said drive motor (250; 255) on a basis of determined values relating to the 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 speed (a ') of said waist angle; and - means (200; 210; 230; 500) for controlling the operation of said drive motor (250; 255) on the basis of said waist angle velocity (a '). Device according to claim 7 or 8, comprising: - means (280; 200; 210; 500) for determining the acceleration of said waist angle (a "); and - means (200; 210; 230; 500) for controlling said drive motor (250; 255) operation on the basis of said acceleration angle (a '). 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 elements (140) from said drum (130) in a determined wound 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). The apparatus of claim 10, comprising: - means (270; 200; 210; 500) for determining said accumulated unwinding change (9 ') over 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 (9 ') with time. Apparatus according to claims 8 and 11, comprising: means (280; 200; 210; 500) for determining a difference between the velocity (a ') of said determined waist angle and the change (6') of said accumulated unwinding over 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 the unwinding of an elongate drum (130) wound on a rotatable motor (250; 255) by a drive motor (250; 255), the 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 (200; 500) or another computer (210; 500) connected to the electronic control unit (200; 500). 32