WO2010045602A1 - Motion control of work vehicle - Google Patents
Motion control of work vehicle Download PDFInfo
- Publication number
- WO2010045602A1 WO2010045602A1 PCT/US2009/061072 US2009061072W WO2010045602A1 WO 2010045602 A1 WO2010045602 A1 WO 2010045602A1 US 2009061072 W US2009061072 W US 2009061072W WO 2010045602 A1 WO2010045602 A1 WO 2010045602A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- boom assembly
- flow control
- control valve
- control signal
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Definitions
- Construction vehicles can be used to provide temporary access to relatively inaccessible areas. Many of these vehicles include a boom having multiple joints. The boom can be controlled by controlling the displacements of the joints. However, such control is dependent on an operator's proficiency. [0003] As the boom is extended, vibration becomes a concern. Conventional techniques to reduce or eliminate vibration typically result in systems that are not responsive to their operators.
- An aspect of the present disclosure relates to a method for controlling a boom assembly.
- the method includes providing a boom assembly having an end effortor.
- the boom assembly includes an actuator in fluid communication with a flow control valve.
- a desired coordinate of the end effector of the boom assembly is converted from Cartesian space to actuator space.
- a deflection error of the end effector based on a measured displacement of the actuator is calculated.
- a resultant desired coordinate of the end effector is calculated based on the desired coordinate and the deflection error.
- a control signal for the flow control valve is generated based on the resultant desired coordinate and the measured displacement of the actuator.
- the control signal is shaped to reduce vibration of the boom assembly.
- the shaped control signal is transmitted to the flow control valve.
- the work vehicle includes a boom assembly having an end effector.
- An actuator engaged to the boom assembly.
- the actuator is adapted to position the boom assembly.
- An actuator sensor is adapted to measure the displacement of the actuator.
- a flow control valve is in fluid communication with the actuator.
- a controller is in electrical communication with the flow control valve.
- the controller is adapted to actuate the flow control valve in response to an input signal.
- the controller includes a motion control scheme that includes a coordinate transformation module, a deflection compensation module, an axis control module, and an input shaping module.
- the coordinate transformation module converts a desired coordinate of the end effector of the boom assembly from Cartesian space to actuator space.
- the deflection compensation module calculates a deflection error of the end effector based on measurements from the actuator sensor.
- the axis control module generates a control signal based on the desired coordinate, the deflection error and the measurements from the actuator sensor.
- the input shaping module shapes the control signal transmitted to the flow control valve to reduce
- Another aspect of the present disclosure relates to a method of calibrating the damping ratio and the natural frequency of a boom assembly using a flow control valve.
- the method includes receiving pressure signals from pressure sensors regarding pressure in an actuator. High and low pressure values and times associated with those pressure values are recorded for a first cycle. High and low pressure values and times associated with those pressure values are recorded for a second cycle. Natural frequency and damping ratio are calculated based on the pressure values and times associated with those pressure values for the first and second cycles.
- Another aspect of the present disclosure relates to a method for shaping a control signal for a flexible structure.
- the method includes generating a control signal based on a desired coordinate.
- the control signal is shaped using a time- varying input shaping scheme.
- the time- varying input shaping scheme receives a measurement from a sensor, estimates a natural frequency and damping ratio of the flexible structure based on the measurement of the sensor and shapes the control signal based on the measurement and the estimated natural frequency and the damping ratio.
- FIG. 1 is a side view of a work vehicle having exemplary features of aspects in accordance with the principles of the present disclosure.
- FIG. 2 is a schematic representation of a control system for the work vehicle of FIG. 1.
- FIG. 3 is a schematic representation of a flow control valve suitable for use in the control system of FIG. 2.
- FIG. 4 is a schematic representation of a motion control scheme used by a controller of the control system of FIG. 2.
- FIG. 5 is a schematic representation of deflection of a boom assembly of the work vehicle of FIG. 1.
- FIG. 6 is a schematic representation of a joint-actuator space transformation.
- FIG. 7 is a representation of a method for determining a damping ratio and a natural frequency of the boom assembly.
- FIG. 8 is a representation of a method for calibrating the damping ratio and the natural frequency using the flow control valve.
- FIG. 1 an exemplary work vehicle, generally designated 10, is shown.
- the work vehicle 10 includes multiple joints that are actuated using linear and/or rotary actuators (e.g., cylinders, motors, etc.). These linear and rotary actuators are adapted to extend or retract a boom assembly and to control a work platform disposed on an end of the boom assembly.
- the work vehicle 10 includes a plurality of flow control valves and a plurality of sensors.
- the flow control valves are controlled by an electronic control unit of the work vehicle 10.
- the electronic control unit receives desired inputs from an operator and measured inputs from the plurality of sensors. Using a motion control scheme, the electronic control unit outputs signals to the flow control valves to move the work platform to a desired location.
- the motion control scheme is adapted to reduce vibration in the boom assembly and to maintain good responsiveness to operator input.
- the work vehicle 10 could be one of a variety of work vehicles, such as a crane, a boom lift, a scissor lift, etc.
- the work vehicle 10 will be described herein as being an aerial work platform for ease of description.
- the aerial work platform 10 is adapted to provide access to areas that are generally inaccessible to people at ground level due to height and/or location.
- the aerial work platform 10 includes a base 12 having a plurality of wheels 14.
- the aerial work platform 10 further includes a body 16 that is rotatably mounted to the base 12 so that the body 16 can rotate relative to the base 12.
- the rotation angle of the body 16 is denoted by 0 / .
- a first motor 18 (shown in FIG. 2) rotates the body 16 relative to the base 12.
- the first motor 18 is coupled to a gear reducer.
- a flexible structure 20 is mounted to the body 16 with a revolute joint.
- the flexible structure 20 will be described herein as a boom assembly 20.
- the boom assembly 20 can move upwards and/or downwards.
- the boom assembly 20 includes a base boom 28, an intermediate boom 30 and a tip boom 32.
- the base boom 28 is connected to the body 16 of the aerial work platform 10.
- the intermediate and tip booms 30, 32 are telescopic booms that extend outwardly from the base boom 28 in an axial direction. As shown in FIG.
- the intermediate and tip booms 30, 32 are in a retracted position.
- the length I 3 of the boom assembly 20 can be changed by retracting or extending the intermediate and tip booms 30, 32.
- the length I 3 of the boom assembly 20 is changed via a second cylinder 34 and corresponding mechanical linkage 36.
- a work platform 38 is mounted to an end 40 of the tip boom 32.
- the pitch of the work platform 38 is held parallel to the ground by a master-slave hydraulic system design while a yaw orientation 0j of the work platform 38 is controlled by a second motor 42.
- the control system 50 includes a fluid pump 52, a fluid reservoir 54, a plurality of flow control valves 56, a plurality of actuators 58 and a controller 60.
- the fluid pump 52 is a load- sensing pump.
- the load-sensing pump 52 is in fluid communication with a load sensing valve 150.
- the load-sensing valve 150 is adapted to receive a signal 152 from the controller 60.
- the signal 152 is a pulse width modulation signal.
- the plurality of actuators 58 includes the first and second cylinders
- a first flow control valve 56a is in fluid communication with the first cylinder 22
- a second flow control valve 56b is in fluid communication with the second cylinder 34
- a third flow control valve 56c is in fluid communication with the first motor 18
- a fourth flow control valve 56d is in fluid communication with the second motor 42.
- Each of the flow control valves 56a-56d includes a supply port 62 that is in fluid communication with the fluid pump 52, a tank port 64 that is in fluid communication with the fluid reservoir 54, a first control port 66 and a second control port 68 that are in fluid communication with one of the plurality of actuators 58.
- the control system 50 further includes a plurality of fluid pressure sensors 70.
- a first pressure sensor 70a monitors the fluid pressure from the fluid pump 52 while a second pressure sensor 70b monitors the fluid pressure going to the fluid reservoir 54.
- the first and second pressure sensors 70a, 70b are in communication with the controller 60. In one aspect of the present disclosure, the first and second pressure sensors 70a, 70b are in communication with the controller 60 through the load sensing valve 150. [0030] Each of the fluid control valves 56a-56d is in fluid communication with a third pressure sensor 70c and a fourth pressure sensor 7Od. The third and fourth pressure sensors 70c, 7Od monitor the fluid pressure to and from the corresponding actuator 58 at the first and second control ports 66, 68, respectively. In one aspect of the present disclosure, the third and fourth pressure sensors 70c, 7Od are integrated into the flow control valves 56a-56d.
- the control system 50 further includes a plurality of actuator sensors 72 that monitor the axial or rotational position of the plurality of actuators 58.
- the plurality of actuator sensors 72 is adapted to send signals to the controller 60 regarding the displacement (e.g., position) of the plurality of actuators 58.
- first and second actuator sensors 72a, 72b monitor the displacement of the first and second cylinders 22, 34.
- the first and second actuator sensors 72a, 72b are laser sensors.
- Third and fourth actuator sensors 72c, 72d monitor the rotation of the first and second motors 18, 42.
- the third and fourth actuator sensors 72c, 72d are absolute angle encoders.
- the flow control valve 56 includes at least one pilot stage spool 80 and at least one main stage spool 82.
- the flow control valve 56 includes a first pilot stage spool 80a and a second pilot stage spool 80b and a first main stage spool 82a and a second main stage spool 82b.
- the positions of the first and second pilot stage spools 80a, 80b control the positions of the first and second main stage spools 82a, 82b, respectively, by regulating the fluid pressure that acts on either end of the first and second main stage spools 82a, 82b.
- the positions of the first and second main stage spools 82a, 82b control the fluid flow rate to the corresponding actuator 58.
- the positions of the first and second pilot stage spools 80a, 80b are controlled by first and second actuators 84a, 84b.
- the first and second actuators 84a, 84b are electromagnetic actuators, such as voice coils.
- First and second spool position sensors 86a, 86b measure the positions of the first and second main stage spools 82a, 82b and send a first and second signal 88 a, 88b that corresponds to the positions of the first and second main stage spools 82a, 82b to the controller 60.
- the first and second spool position sensors 86a, 86b are linear variable differential transformers (LVDT).
- the controller 60 is adapted to receive signals from the plurality of actuator sensors 72 regarding the plurality of actuators 58 and the plurality of spool position sensors 86 regarding the position of the main stage spools 82 of the flow control valves 56.
- the controller 60 is adapted to receive an input 90 regarding a desired output from the operator.
- the controller 60 sends signals 92 to the first and second actuators 84a, 84b of the flow control valves 56a-56d for actuation of the plurality of actuators 58.
- the signal 92 are pulse width modulation signals.
- the controller 60 is shown as a single controller. In one aspect of the present disclosure, however, the controller 60 includes a plurality of controllers. In another aspect of the present disclosure, the plurality of controllers 60 is integrated in the plurality of flow control valves 56. [0039]
- the controller 60 includes a motion control scheme 100.
- the motion control scheme 100 is a closed loop coordinated control scheme.
- the motion control scheme 100 includes a trajectory generator, a coordinate transformation module 104, a deflection compensation module 106, an axis control module 108 and an input shaping module 110.
- the trajectory generator generates the desired Cartesian coordinate
- the coordinate transformation module 104 includes a first coordinate transformation module 104a and a second coordinate transformation module 104b.
- the first coordinate transformation module 104a converts coordinates from Cartesian space to joint space.
- the second coordinate transformation module 104b converts coordinates from joint space to actuator space. Table I lists the independent variables in Cartesian space, joint space and actuator space for the plurality of actuators 58.
- the first coordinate transformation module 104a converts the desired
- Cartesian coordinate X d to a desired coordinat n J omt s P ace -
- the forward transformation equation in Cartesian coordinates is given by the following equation:
- X 1 is the position vector [x* , y* , z 1 ,1] in the O 1 -x ⁇ y ⁇ reference frame having an origin at O 1
- T ⁇ 1 is given by the following equation:
- Equation 114 the Denavit-Hartenberg notation is used to describe the kinematic relationship.
- a t is the length of the common normal
- d t is the distance between the origin and the intersection of the common normal to is the angle between the joint axi an with respect to is the angle between and the common normal with respect to ⁇ _ ⁇ .
- the parameters for the work platform 38 are given in Table II.
- Equation 118 b Multiplying both sides of equation 118 b gives the following equation: which represents n the reference frame.
- the left side of equations 118 and 120 yield:
- the deflection compensation module 106 With the desired Cartesian coordinate Xa converted to the desired coordinate ⁇ in joint space, the deflection compensation module 106 accounts for deflection of the boom assembly 20.
- the deflection compensation module 106 receives measurements from the plurality of actuator sensors 72, which monitor the actual axial and/or rotational position of the plurality of actuators 58. Using these measurements, the deflection compensation module 106 calculates a corresponding error correction in joint space.
- deflection of that structure can cause a large error between an ideal end effector coordinate and the actual end effector coordinate.
- This deflection error is a function of the end effector coordinate. For example, for different lifting heights and lengths, the deflection will be different.
- the deflection error in joint space primarily comes from the rotation angle ⁇ 2 of the boom assembly 20, as shown in FIG. 5.
- the deflection errors for the other degrees of freedom are negligibly small. Therefore,
- the deflection of the boom assembly 20 is affected by gravity acting on the boom assembly 20 and the load acting on the work platform 38.
- the deflection of the boom assembly 20 is a function of the length I 3 of the boom assembly 20 and the rotation angle Q 2 of the boom assembly 20. Assuming a uniformly distributed cross section of the boom assembly 20, the deflection can be calculated using the following equation:
- Equation 130 is in joint space while the actual measurements of the actuator sensors 72 are in actuator space. Therefore, an actuator-to-joint space transformation would be needed for this conversion. [0052] Referring now to FIGS. 1, 2, 4, and 6, the second coordinate transformation module 104b will be described.
- the second coordinate transformation module 104b converts the resultant desired coordinate in joint space to actuator space.
- Actuator space refers to the plurality of actuators 58.
- actuator space refers to the first and second cylinders 22, 34 and the first and second motors 18, 42.
- Table I which is provided above, lists the independent variables for Cartesian space, joint space and actuator space. There is direct correspondence between the independent variables joint space and the corresponding independent variables in actuator space. The relationship between /3 and L AB , however, will now be described. [0053] Referring now to FIG. 6, a schematic representation of the boom assembly 20 and the first cylinder 22. The second end 26 of the first cylinder 22 is mounted to the body 16 of the work vehicle 10 at point A while the first end 24 of the first cylinder 22 is mounted to the boom assembly 20 at point B.
- Point A is a fixed point in reference frame ssociated with the body 16 while point B is a fixed point in the reference frame ssociated with the boom assembly 20.
- the resultant desired coordinate ⁇ converted to actuator space the resultant desired coordinate Y d and the actual measurements Y a from the plurality of actuator sensors 72 are received by the axis control module 108.
- the axis control module 108 generates the control signal [/for the flow control valves 56.
- the control signal U is a vector of flow commands q n .
- the flow commands q n correspond to the plurality of actuators 58.
- a velocity feedforward proportional integral (PI) controller is used to generate the flow commands q n .
- An exemplary control signal [generated by the axis control module • m one aspect of the present disclosure, the flow control valves 56 include embedded pressure sensors 70, embedded spool position sensors 88 and an inner control loop. These sensors and inner control loop allow the axis control module 108 to send flow commands q n directly to the flow control valves 56 as opposed to sending spool position commands.
- the input shaping module 110 is adapted to reduce the structural vibration in the boom assembly 20 of the work vehicle 10.
- an input shaping scheme suppresses vibration by generating shaped command inputs.
- the effects of modeling errors can be reduced by increasing the number of impulses in an input shaping scheme.
- the responsiveness of the command input decreases.
- the input shaping scheme is a time- varying input shaping scheme.
- the time- varying input shaping scheme reduces the amount of vibration while maintaining good responsiveness.
- the time- varying input shaping scheme utilizes only two impulses.
- the time- varying input shaping scheme uses measurements from the plurality of actuator sensors 72 to provide a control signal having time- varying parameters.
- the time- varying input shaping scheme first estimates a damping ratio ⁇ (t) and a natural frequency ⁇ n ⁇ i) ofthe boom assembly 20 based on the actual measurements Y a from the plurality of actuator sensors 72.
- the equations for damping ratio and natural frequency are:
- the flow control valve 56 determines the damping ration function and the natural frequency function f ⁇ and f ⁇ , respectively. This determination ofthe damping ration function and the natural frequency function f ⁇ and f ⁇ by the flow control valve 56 will be described in greater detail subsequently. [0062] Next, the amplitudes of the two impulses are given by the following equations:
- the shaped control signal U s is sent to the flow control valves 56 so that fluid can be passed through the flow control valves 56 to the actuators 58 to move the work platform 38.
- the input shape module 110 is potentially advantageous as it reduces or eliminates vibrations in the boom assembly 20 while maintaining responsiveness of the boom assembly 20.
- step 202 the actuators are actuated to a first position.
- the first and second cylinders 22, 34 are moved to positions in which damping ratios and natural frequencies are expected (e.g., full extension of first and second cylinders 22, 34, partial extension of first and second cylinders 22, 34, etc.).
- step 204 the boom assembly 20 is vibrated. In one aspect of the present disclosure, the boom assembly 20 is vibrated by applying a force to the boom assembly 20.
- the boom assembly 20 is vibrated by quickly moving an input device (e.g., joystick, etc.) on the work vehicle that controls the movement of the boom assembly 20. This movement imparts a short pulse of hydraulic fluid to the first and/or second cylinders 22, 34 which causes the boom assembly 20 to vibrate.
- an input device e.g., joystick, etc.
- the damping ratio ⁇ (t) and the natural frequency ⁇ n (t) are calibrated.
- the calibration of the damping ratio and the natural frequency is done by the flow control valve 56.
- FIGS. 1 , 7 and 8 a method 300 of calibrating the damping ratio and the natural frequency using the flow control valve 56 will be described.
- a cycle counter N is set to an initial value, such as 1.
- the flow control valve 56 includes integrated pressure sensors 70
- the flow control valve 56 receives signals from the pressure sensors 70 in step 304.
- the flow control valve 56 records the pressure P H IJ when the pressure signal is at its highest value (peak) 5 and the time t ⁇ ij at which the peak pressure ccurs in step 306.
- the flow control valve 56 also records the pressure when the pressure signal is at its lowest value (trough) and the time at which the pressure ccurs in step 308.
- step 312 the cycle counter N is compared to a predefined value. If the cycle counter N equals the predefined value, the flow control valve 56 records the pressure when the pressure signal is at its highest value (peak) for that given cycle and the tim at which the peak pressure P H IJ occurs for that given cycle in step 314. The flow control valve 56 also records the
- step 318 the natural frequency ⁇ n (t) is calculated.
- the natural frequency ⁇ n (i) can be calculated for small damping systems where the vibration is 20 typically large using the following equation:
- step 320 the damping ratio ⁇ t) is calculated.
- the damping ratio ⁇ (t) is a measure describing how oscillations in the boom assembly 20 decrease after a disturbance.
- the amplitude is given by:
- the actuator 58 is moved to a second position in step 208 and the damping ratio ⁇ if) and the natural frequency co n ⁇ t) are determined for that actuator position using steps 204-206.
- the damping ratio and natural frequency are only calibrated at discrete actuator positions, interpolation can be used to determine the damping ratio and natural frequency for actuator positions other than these discrete actuator positions, hi one aspect of the present disclosure, linear interpolation can be used.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Operation Control Of Excavators (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200980150238.XA CN102245491B (en) | 2008-10-16 | 2009-10-16 | Motion control of work vehicle |
JP2011532300A JP5780963B2 (en) | 2008-10-16 | 2009-10-16 | Work vehicle motion control |
BRPI0914428A BRPI0914428A2 (en) | 2008-10-16 | 2009-10-16 | method for controlling a boom assembly, work vehicle, method for calibrating damping ratio and natural frequency of a boom assembly, and method for conforming a control signal to a flexible structure |
EP09740812.4A EP2349903B1 (en) | 2008-10-16 | 2009-10-16 | Motion control of work vehicle |
CA2741066A CA2741066A1 (en) | 2008-10-16 | 2009-10-16 | Motion control of work vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10595208P | 2008-10-16 | 2008-10-16 | |
US61/105,952 | 2008-10-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010045602A1 true WO2010045602A1 (en) | 2010-04-22 |
Family
ID=41528706
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2009/061072 WO2010045602A1 (en) | 2008-10-16 | 2009-10-16 | Motion control of work vehicle |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP2349903B1 (en) |
JP (1) | JP5780963B2 (en) |
CN (1) | CN102245491B (en) |
BR (1) | BRPI0914428A2 (en) |
CA (1) | CA2741066A1 (en) |
WO (1) | WO2010045602A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012119985A1 (en) * | 2011-03-04 | 2012-09-13 | Schneider Electric Automation Gmbh | Method and control device for the low-vibrational movement of a moveable crane element in a crane system |
IT201800004717A1 (en) * | 2018-04-19 | 2019-10-19 | Articulated arm equipped with a system for the compensation of deformations due to loads |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5919797B2 (en) * | 2011-12-16 | 2016-05-18 | 株式会社島津製作所 | Hydraulic lifter and vehicle |
EP2804992B1 (en) * | 2012-01-20 | 2018-12-12 | Eaton Corporation | Electronic load drop protection for hydraulic fluid system |
CN104495714B (en) * | 2014-12-31 | 2017-02-08 | 中联重科股份有限公司 | Method and device for leveling aerial work platform basket |
BR112019000728B1 (en) * | 2016-07-15 | 2023-03-28 | Fastbrick Ip Pty Ltd | VEHICLE INCORPORATING BRICK LAYING MACHINE |
CN109052261B (en) * | 2018-08-27 | 2020-04-24 | 中联重科股份有限公司 | High-altitude operation equipment leveling system and method and high-altitude operation equipment |
US11009048B1 (en) * | 2020-09-09 | 2021-05-18 | Robert Bosch Gmbh | Boom lift system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008043218A1 (en) * | 2006-09-30 | 2008-04-17 | Sany Heavy Industry Co., Ltd. | Method and apparatus for suppressing vibration of boom of concrete pump vehicle |
US20080163750A1 (en) * | 2007-01-05 | 2008-07-10 | Qinghui Yuan | System and method for controlling actuator position |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE758284A (en) * | 1970-03-26 | 1971-04-01 | Chu Associates | SIGNAL PROCESSING PROCESS AND APPARATUS |
JPH05196004A (en) * | 1992-01-20 | 1993-08-06 | Komatsu Ltd | Automatic cushioning controller for work machine cylinder |
JP3300507B2 (en) * | 1993-11-15 | 2002-07-08 | 日立建機株式会社 | Display for work of construction machinery |
JPH0871963A (en) * | 1994-08-31 | 1996-03-19 | Toshiba Corp | Industrial robot |
KR0168992B1 (en) * | 1995-10-31 | 1999-02-18 | 유상부 | Control method for an excavator |
JPH11343095A (en) * | 1998-06-04 | 1999-12-14 | Kobe Steel Ltd | Boom type working machine |
US6374147B1 (en) * | 1999-03-31 | 2002-04-16 | Caterpillar Inc. | Apparatus and method for providing coordinated control of a work implement |
JP4683686B2 (en) * | 2000-02-28 | 2011-05-18 | 株式会社タダノ | Method and apparatus for calculating deflection angle of boom work vehicle |
JP4744664B2 (en) * | 2000-03-08 | 2011-08-10 | 株式会社タダノ | Control device for working machine with boom |
DE10016137C2 (en) * | 2000-03-31 | 2003-08-21 | Iveco Magirus | Drehleiter |
US7586032B2 (en) * | 2005-10-07 | 2009-09-08 | Outland Research, Llc | Shake responsive portable media player |
JP5245085B2 (en) * | 2007-02-21 | 2013-07-24 | 国立大学法人豊橋技術科学大学 | Vibration suppression control input determination method for time deformation system, conveyance system, and vibration suppression control input calculation program for time deformation system |
-
2009
- 2009-10-16 CN CN200980150238.XA patent/CN102245491B/en active Active
- 2009-10-16 BR BRPI0914428A patent/BRPI0914428A2/en not_active IP Right Cessation
- 2009-10-16 CA CA2741066A patent/CA2741066A1/en not_active Abandoned
- 2009-10-16 WO PCT/US2009/061072 patent/WO2010045602A1/en active Application Filing
- 2009-10-16 EP EP09740812.4A patent/EP2349903B1/en active Active
- 2009-10-16 JP JP2011532300A patent/JP5780963B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008043218A1 (en) * | 2006-09-30 | 2008-04-17 | Sany Heavy Industry Co., Ltd. | Method and apparatus for suppressing vibration of boom of concrete pump vehicle |
EP2067911A1 (en) * | 2006-09-30 | 2009-06-10 | Sany Heavy Industry Co., Ltd. | Method and apparatus for suppressing vibration of boom of concrete pump vehicle |
US20080163750A1 (en) * | 2007-01-05 | 2008-07-10 | Qinghui Yuan | System and method for controlling actuator position |
Non-Patent Citations (4)
Title |
---|
CHANG P H ET AL: "Time-varying input shaping technique applied to vibration reduction of an industrial robot", CONTROL ENGINEERING PRACTICE, PERGAMON PRESS, OXFORD, GB, vol. 13, no. 1, 1 January 2005 (2005-01-01), pages 121 - 130, XP004545303, ISSN: 0967-0661 * |
JON DANIELSON: "Mobile Boom Cranes and Advanced Input Shaping Control", INTERNET CITATION, 31 August 2008 (2008-08-31), XP002566120 * |
JOON-YOUNG PARK ET AL: "Vibration Control of a Telescopic Handler Using Time Delay Control and Commandless Input Shaping Technique", CONTROL ENGINEERING PRACTICE, vol. 12, 31 December 2004 (2004-12-31), pages 769 - 780, XP002566121, ISSN: 0967-0661, [retrieved on 20090129] * |
QINGHUI YUAN ET AL: "Motion Control of an Aerial Work Platform", 2009 AMERICAN CONTROL CONFERENCE, HYATT REGENCY RIVERFRONT, ST. LOUIS, MO, USA, 1 January 2009 (2009-01-01), pages 2873 - 2878, XP002566122, ISBN: 978-1-4244-4524-0 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012119985A1 (en) * | 2011-03-04 | 2012-09-13 | Schneider Electric Automation Gmbh | Method and control device for the low-vibrational movement of a moveable crane element in a crane system |
IT201800004717A1 (en) * | 2018-04-19 | 2019-10-19 | Articulated arm equipped with a system for the compensation of deformations due to loads | |
EP3556710A1 (en) | 2018-04-19 | 2019-10-23 | FASSI GRU S.p.A. | Articulated arm provided with a system for compensating deformations due to loads |
Also Published As
Publication number | Publication date |
---|---|
CN102245491A (en) | 2011-11-16 |
JP2012505807A (en) | 2012-03-08 |
EP2349903B1 (en) | 2019-06-26 |
CN102245491B (en) | 2014-01-29 |
JP5780963B2 (en) | 2015-09-16 |
CA2741066A1 (en) | 2010-04-22 |
EP2349903A1 (en) | 2011-08-03 |
BRPI0914428A2 (en) | 2015-10-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8352129B2 (en) | Motion control of work vehicle | |
WO2010045602A1 (en) | Motion control of work vehicle | |
US9938692B2 (en) | Wheel loader payload measurement system linkage acceleration compensation | |
US7874152B2 (en) | Hydraulic system with compensation for kinematic position changes of machine members | |
US6968264B2 (en) | Method and system for controlling a mechanical arm | |
JP4647325B2 (en) | Construction machine work machine control device, construction machine work machine control method, and program for causing computer to execute the method | |
US5737993A (en) | Method and apparatus for controlling an implement of a work machine | |
US6553278B2 (en) | Method for guiding a boom and a system for guiding a boom | |
US6374153B1 (en) | Apparatus and method for providing coordinated control of a work implement | |
US7930970B2 (en) | Control unit for work machine | |
CN105404150B (en) | The Vibrations of A Flexible Robot Arm Active Control Method of piezoelectric ceramic piece is used under a kind of hard measurement | |
US9630815B2 (en) | Movement system configured for moving a payload | |
US6374147B1 (en) | Apparatus and method for providing coordinated control of a work implement | |
US6257118B1 (en) | Method and apparatus for controlling the actuation of a hydraulic cylinder | |
JP2005280997A (en) | Hydraulic system having cooperative plural-shaft control of machine member | |
US8442730B2 (en) | Construction equipment, method of controlling construction equipment, and program for causing computer to execute the method | |
WO2007054123A1 (en) | Loader | |
JP2011016661A (en) | Crane for operating loading cargo suspended by cable | |
WO1999005368A1 (en) | Method and apparatus for controlling a work implement | |
CN112049426B (en) | Arm support control system and method and working vehicle | |
CN110206092B (en) | Method for limiting flow through sensed kinetic energy | |
US10648154B2 (en) | Method of limiting flow in response to sensed pressure | |
US6356829B1 (en) | Unified control of a work implement | |
US11293168B2 (en) | Method of limiting flow through accelerometer feedback | |
US11389953B2 (en) | Hydraulic delta robot control system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200980150238.X Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09740812 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2741066 Country of ref document: CA Ref document number: 2011532300 Country of ref document: JP Ref document number: 1601/KOLNP/2011 Country of ref document: IN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009740812 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: PI0914428 Country of ref document: BR Kind code of ref document: A2 Effective date: 20110415 |