WO2018001494A1

WO2018001494A1 - Excavator, crane, watercraft, as well as control device and method for the stabilisation thereof

Info

Publication number: WO2018001494A1
Application number: PCT/EP2016/065399
Authority: WO
Inventors: Michael Bernhard Buhl; Robert Eidenberger; Julian D. JAEGER; Daniel W. Robertson
Original assignee: Siemens Aktiengesellschaft; Siemens Industry, Inc.
Priority date: 2016-06-30
Filing date: 2016-06-30
Publication date: 2018-01-04

Abstract

The invention relates to an excavator (B) or crane comprising a body (R) and an outrigger (AL) attached thereon, a drive system (M) for exerting a user-controlled torque (DMU) and a torque (DMS) superimposed on same from the body (R) of the excavator (B) or the crane to the outrigger (AL). The excavator (B) or crane is also provided with a movement sensor (SE) for measuring a movement (V) of the body (R) of the excavator (B) or the crane, as well as with a control device (CTL) according to the invention. Said control device (CTL) is configured for detecting a sensor signal (SES) of the movement sensor (SE), for determining a movement (V) of the body (R) of the excavator (B) or the crane based on the sensor signal (SES), and for controlling the drive system (M) depending on the determined movement (V), in such a way that the superimposed torque (DMS) counteracts the determined movement (V) of the body (R) of the excavator (B) or crane. In a watercraft according to the invention, a propeller of the watercraft takes over the stabilisation function of the outrigger.

Description

description

Excavator, crane, watercraft and control device and method for stabilizing them

In excavators are caused by the dredging or scouring operation, by unloading the blade and other operating ^¬ sometimes considerable vibrations and fluctuations. Such vibrations and fluctuations in particular affect a hull of the excavator and are often perceived by an operator in the trunk as unpleasant or disturbing. In addition, the vibrations and variations usually lead to additional wear and often affect the accuracy of control movements.

Accordingly, considerable fluctuations can also be generated in cranes by moving large loads. Likewise, in the case of vessels, considerable fluctuations are occasionally caused by the swell.

It is an object of the present invention, an excavator, a crane and a watercraft with a hull and a stabilization control device and a method for Rumpfsta- bilisierung of the excavator, crane or vessel suits ^¬ ben.

This object is achieved by an excavator or crane with the features of claim 1, by a watercraft with the features of claim 9, by a control ^{¬ device} with the features of claim 10, by a method having the features of claim 11, by a a computer program product having the features of patent applica ^¬ entitlement 12 as well as by a computer readable storage medium having the features of patent claim 13.

According to the invention, an excavator or crane with a hull and a boom attached to it, a drive system for Exerting a user-controlled torque and a superimposed torque from the fuselage to the boom on. The excavator or crane further has a motion sensor for measuring movement of the fuselage and a control device. The latter is inventively set up ^¬ to detect a sensor signal of Bewegungssen ^¬ sor to determine a movement of the fuselage based on the sensor signal and for controlling the drive system depending on the determined movement such that the superimposed torque counteracts the determined movement of the fuselage.

The invention is based on the observation that the boom of an excavator or crane forms a sufficient balancing mass in many cases. If this is moved, arises in the

Usually a torque acting on the hull. Thus, by properly controlling movement of the boom, the hull can often be effectively stabilized. A consequent compensatory movement of the cantilever can be neglected in many cases.

The invention can be advantageously applied to Wasserfahrzeu ^¬ ge, especially ships or submarines. Here at ^¬ takes effect in the context of the invention, a pro- peller a stabilizing function of the boom.

Furthermore, a control device according to the invention and a method according to the invention for stabilizing an excavator, crane or watercraft are provided. In addition, a computer program ^product and a computer-readable storage medium are provided for carrying out the method according to the invention.

A significant advantage of the invention is the fact that often an existing drive system of the excavator, crane or watercraft can be used for efficient hull stabilization and / or vibration damping. This can cause torso vibrations that are often considered by the user uncomfortable and which may affect the accuracy of control movements, and wear and fatigue are effectively reduced in many cases. Advantageous embodiments and further developments of the invention are specified in the dependent claims.

According to an advantageous embodiment of the invention, the control device may be configured to determine a speed of the fuselage by means of the motion sensor and to control the drive system as a function of the determined speed in such a way that the superimposed torque counteracts the ascertained speed of the fuselage. By means of such a speed-dependent counteracting action, an active dissipative damping can be ^effected in a simple manner, which leads to an effective decay of vibrations.

Advantageously, the control means may thereto eingerich- tet be to control the drive system in such a way that the superimposed torque is proportional to the determined Geschwin ^¬ speed. As a result, an active dissipative damping of torso vibrations can be implemented in a simple manner.

Furthermore, the motion sensor may include an acceleration sensor. The control device can then be set up to determine a time profile of an acceleration of the fuselage on the basis of the sensor signal and, depending on the determined time profile, the speed of the fuselage

Fuselage to determine. The speed can in this case in particular ^¬ sondere be calculated by integrating the acceleration over time. Further, the controller may be adapted to control the drive system depending on a measured acceleration of the hull such that a caused by the Überla ^¬ siege torque acceleration of the trunk of the overall counteracts measured acceleration. In this way, accelerations and vibration forces on the hull can be at least partially compensated. In addition, can cause a sol ^¬ che acceleration-dependent counteracting a Verrin- delay of vibration frequencies.

According to an advantageous development of the invention, the motion sensor may comprise a speed sensor for measuring a speed of the fuselage and / or a position sensor for measuring a position or an orientation of the fuselage. The control device can then be set up to determine the movement of the hull as a function of the measured speed, position and / or orientation of the hull. A speed sensor allows a direct measurement of fuselage speed without prior time integration. A position or Orientierungsmes ^{¬ solution} additionally allows a spatially absolute stabilization of the excavator, crane or watercraft. Preferably, the motion sensor may be disposed on the fuselage and configured to measure rotational movement about an axis of rotation of the superimposed torque.

According to an advantageous embodiment of the invention, the control device may comprise a frequency filter for extracting predetermined frequency components of the sensor signal. The control device can then be set up to determine the movement in a frequency-specific manner on the basis of the filtered sensor signal. Hereby, specific predetermined frequency components of the fuselage movement can be determined and the torso vibrations can be attenuated in a frequency-specific manner. In particular, vibra ^¬ tion frequencies leading to the user particularly unpleasant or leading to increased wear can be actively damped in this way.

The specified in the dependent claims, related to an excavator or a crane embodiments and further developments of the invention can also be in an inventive watercraft can be implemented individually or in combination.

An embodiment of the invention will be explained in more detail with reference to the drawing. In each case, in a schematic representation:

1 shows an excavator with a control device according to the invention for stabilizing the excavator and

2 shows the control device according to the invention in more detail.

Figure 1 shows a schematic representation of an excavator B with a control device according to the invention CTL for stabilizing the excavator B. A hull R of the excavator B is rotatably mounted on a chassis FW of the excavator B. The excavator B further has a about a axis A rotatably mounted boom AL, on which an excavator bucket S is arranged. The arm AL can be pivoted by exerting a torque DM about the mechanically coupled to the hull R axis A, ie rotated. In particular, the hull R comprises a driver's cab (not shown) with a control console SK for manually controlling the excavator B by an excavator operator or other user. In particular, the control console SK is for inputting a user input UC for moving the boom AL. The user input UC can be entered, for example, by moving a joystick, pressing a pedal or using other input means of the control console SK. Depending on the user input UC is in particular ^¬ sondere the exerted on the boom AL torque DM be true ^¬.

In the hull R, a motor M, in particular an electric motor as a drive system of the excavator B is further arranged. The ^motor M exerts the torque DM on the boom AL for moving the boom AL about the axis A. The torque DM can directly or indirectly, for example, be exercised by means of a hydraulic on the boom AL.

The drive system M is controlled by the control device CTL connected to the drive system M. In addition, the control ^device CTL is coupled to the control console SK as well as to one or more motion sensors SE.

The motion sensor SE is for measuring a movement of the trunk R and may be e.g. as an acceleration sensor for

be oriented forms ^¬ translational and / or rotational accelerations. The motion sensor SE is preferably mounted on the fuselage R to such an distance from the axis A, that in particular ^¬ sondere a rotational movement of the hull about the axis A can be measured accordingly obtain reasonable accuracy. Optionally, a second motion sensor in a predetermined distance to the axis A and to the motion sensor SE can be attached to the hull, to the basis of the signals of the two motion sensors to be able to out-count translational Be ^¬ movements of the fuselage R and as specific fish to detect a rotary movement about the axis A. Alternatively or additionally, a speed sensor and / or a position sensor can also be provided as motion sensor. One or more of the motion sensors SE can also be arranged outside or separate from the trunk R.

The motion sensor SE transmits a sensor signal SES to the control device CTL. In the present embodiment, the sensor signal SES is a gemes ^¬ sene from the motion sensor SE acceleration of the motion sensor SE, ie, at an acceleration of the trunk R.

Depending on the received user input UC and the received sensor signal SES, the control device CTL activates the motor M. For this purpose, a motor control command MC, in particular a torque ^command , is transmitted from the control ^device CTL to the motor M, which causes the motor M to exert the torque DM on the arm AL. The engine control command MC is executed by the controller CTL depending on the user input UC and the sensor signal SES generated.

The above-described components CTL, SK, SE, M, A and AL of the excavator B can also in a crane or a

Watercraft, such as a ship or a submarine for Stabi ^¬ lisierungszwecken be implemented and act together in an analogous manner. In a watercraft, instead of the boom AL, a drive propeller is driven accordingly.

FIG. 2 shows a more detailed schematic representation of the control device CTL according to the invention. Unless otherwise indicated, in FIG. 1 and in FIG. 2 like reference numerals designate like entities.

The control device CTL one hand serves to konvent ionel ^¬ len control of the driving system M, and the other hand on it ^¬ invention modern way for damping vibrations of the fuselage, as well as for stabilization of the excavator B, a crane or water serfahrzeugs. The control device CTL has one or more processors PROC for executing all method steps of the control device CTL as well as one or more memories MEM for the memory of all data to be processed by the control device CTL.

Furthermore, the control device CTL has a user interface IN for reading in user inputs UC and a sensor interface INS for detecting sensor signals SES. Moreover, the control device CTL has a motor control MS particular for generating motor control commands MC, in particular torque commands, and outputting the motor control commands MC at a drive ^¬ system M of the excavator B, a crane or a water ride ^¬ zeugs.

Furthermore, the control device CTL has a damping module DMP coupled to the user interface IN and the motor control MS for stabilizing the excavator, crane or craft, and for damping the RumpfVibrati ^¬ ones.

Moreover, the control device CTL has a with the sensor interface INS and the damping module DMP gekop ^¬ peltes evaluation module AM for evaluating the sensor signals SES and for determining trunk movements on the basis of sensor signals SES, which are transmitted for this purpose by the sensor interface INS to the evaluation module AM. In PRESENT embodiment of a rotational or angular velocity V is determined to a rotation of the hull about the axis R A based on the transmitted Sen ^¬ sorsignale SES.

The analysis module AM includes a frequency filter FF with a predetermined passband of, for example 1 to 10 Hz. By means of the frequency filter FF are the sensor signals SES gefil ^¬ tert so that preferably the in the passband befindli ^¬ chen frequency ranges as filtered sensor signal FSEs wei ^¬ possible to pass. By filtering the sensor signals SES those frequency ranges of the Rumpfbe ^¬ accelerations can be extracted for subsequent vibration damping preferably, which are perceived by a user as special troublefree ^¬ rend or uncomfortable or cause increased wear.

The evaluation module AM also has a coupled with the frequency filter FF ^¬ integration module INT for integration of the filtered sensor signal FSEs over time. For the purpose ^¬ sem the filtered sensor signal FSEs is transmitted to the integration module INT that performs the time integration of the filtered sensor signal FSEs. The integration ^module INT can be implemented in particular by means of a so-called I-element with integrative transfer behavior. Insofar as the sensor signals SES and FSES represent accelerations, a speed results as a result of the integration over time. In the present example this is the execution ^¬ rotational or angular velocity V, which then exceeds the integration module INT to damping module DMP is averaged. Alternatively, the integration of the sensor signals SES can also take place before their filtering.

By means of the damping module DMP, depending on the transmitted user input UC and the transmitted rotational or angular velocity V, a torque DM to be exerted on the Ausle ^¬ ger AL by the motor M is determined on the axis A.

The torque DM according to the invention comprises two Drehmomentkom- components, namely, a signal derived from the user input UC user controlled torque DMU and a signal derived from the rotational or angular velocity V ^¬, the benutzerge ^¬ controlled torque DMU to be superimposed torque DMS. The user-controlled torque DMU is the torque given by the user input UC on the boom AL. The superimposed torque DMS is determined in such a way depending on the rotational or angular velocity V that the superimposed ^¬ te torque DMS of the rotational or angular velocity V dev ^¬ counteracts. The user-controlled torque DMU is thus modified by superimposing the torque DMS on the final torque DM to be exerted.

In the present embodiment, the superimposed torque DMS is determined according to DMS = k * V with a predetermined positive constant k. The application of the additional torque DMS on the arm AL causes a counter force or a counter torque from the arm AL on the hull R back. This counter-torque counteracts positive k of the hull rotation determined by means of the sensor SE. To this extent, the additional counter-torque is geschwindigkeitsabhän ^¬ gig, the effect of the dissipative attenuation, which leads to a rapid decay of hull vibration arises. On the basis of the constant k, the damping can be specified within wide limits.

Preferably, the torque can be superimposed DMS also depen ^¬ gig of a measured acceleration a fuselage and / or a measured body position or torso orientation calculated r become according to DMS = k * V + k2 * a + k3 * r with given constants k2> 0 and k3. By the acceleration-dependent member vibrations of the trunk can be reduced in their amplitude and / or frequency. The position-dependent member also allows a position stabilization of the trunk.

The identified superimposed torque DMS is the user-controlled torque ^¬ DMU preferably additively superimposed, ie DM = DMU (UC) + DMS (V). The sum to be exerted on the boom AL torque DM is transmitted from the damping module DMP to Mo ^¬ gate control MS and there converted into a torque DM adjusting motor control command MC (DM), which is output to the motor M. By the motor control command MC (DM), the motor M is caused to apply the modified torque DM to the boom AL.

By modifying the torque DM to be exerted in proportion to the determined rotational or angular velocity V, a dynamic effect analogous to a passive damping of the fuselage can be achieved. This allows effective damping of the torso R and a stabilization ^¬ tion of the hull R under the inventive use of an existing drive system M. Additional complex passive damping measures for the hull R are therefore often no longer required.

Claims

claims

1. Excavator (B) or crane with

a) a hull (R),

b) a boom (AL) attached to the hull (R),

c) a drive system (M) for applying a user-controlled torque (DMU) and a superimposed torque (DMS) from the fuselage (R) to the boom (AL), d) a motion sensor (SE) for measuring a movement (V) of the hull (R), as well

e) set up a control device (CTL)

for detecting a sensor signal (SES) of the Bewegungssen ^¬ sors (SE),

for determining a movement (V) of the fuselage (R) on the basis of the sensor signal (SES), and

for controlling the drive system (M) as a function of the determined movement (V) in such a way that the superimposed torque ^¬ (DMS) counteracts the determined movement (V) of the fuselage (R).

2. Excavator or crane according to claim 1, characterized in that the control device (CTL) is adapted to

- Using the motion sensor (SE) to determine a speed (V) of the fuselage (R), and

- Actuate the drive system (M) depending on the determined speed (V) such that the superimposed torque (DMS) of the determined speed (V) of the fuselage (R) counteracts.

3. Excavator or crane according to claim 2, characterized in that the control device (CTL) is adapted to the drive system (M) to control such that the superimposed torque (DMS) proportional to the determined Geschwin speed (V).

4. excavator or crane according to claim 2 or 3, characterized that the motion sensor (SE) comprises an acceleration sensor, and

that the control means (CTL) adapted to ^¬ hand of the sensor signal (SES) a time course of acceleration of the body (R) to be determined and depending on the determined time profile of the velocity (V) of the fuselage (R) to be determined.

5. Excavator or crane according to one of the preceding claims, characterized

that the motion sensor (SE) comprises an acceleration sensor, and

in that the control device (CTL) is set up to control the drive system (M) in dependence on a measured acceleration of the fuselage (R) such that an acceleration of the fuselage (R) caused by the superimposed torque (DMS) counteracts the measured acceleration ,

6. Excavator or crane according to one of the preceding claims, characterized

that the motion sensor (SE) comprises a speed sensor for measuring a speed (V) of the fuselage (R) and / or a position sensor for measuring a position or orientation of the fuselage (R), and

that the control device (CTL) is adapted to the

Determining movement of the trunk depending on the measured speed, position and / or orientation of the fuselage.

7. Excavator or crane according to one of the preceding claims, characterized in that

the motion sensor (SE) is arranged on the fuselage (R) and is adapted to measure a rotational movement about an axis of rotation (A) of the superimposed torque (DMS).

8. excavator or crane according to one of the preceding claims, characterized in that the control device (CTL) comprises a frequency filter (FF) for extracting predetermined frequency components of the sensor signal (SES), and

in that the control device (CTL) is set up to determine the movement (V) frequency-specifically on the basis of the filtered sensor signal (SES).

9. Watercraft with

a) a hull,

b) a propeller,

c) a drive system for exerting a torque driving the vessel and a superimposed torque from the fuselage to the propeller,

d) a motion sensor for measuring a movement of the trunk, as well

e) set up a control device

for detecting a sensor signal of the motion sensor,

- To determine a movement of the fuselage based on the sensor signal, and

- For controlling the drive system depending on the determined ^¬ th movement such that the superimposed torque counteracts the determined movement of the hull.

10. Control device (CTL) for stabilizing an excavator (B) or crane according to one of claims 1 to 8 or one

Watercraft according to claim 9, set up

for detecting the sensor signal (SES) of the motion sensor (SE),

- For determining a movement (V) of the fuselage (R) based on the sensor signal (SES), and

- For controlling the drive system (M) depending on the determined movement (V) such that the superimposed torque (DMS) of the determined movement (V) of the fuselage (R) counteracts.

11. A method for stabilizing an excavator (B) or crane according to any one of claims 1 to 8 or a watercraft according to claim 9, wherein the sensor signal (SES) of the motion sensor (SE) is detected,

- Based on the sensor signal (SES) a movement (V) of the Rump ^¬ fes (R) is determined, and

- The drive system (M) depending on the determined movement (V) is controlled such that the superimposed torque ^¬ (DMS) of the determined movement (V) of the fuselage (R) counteracts.

12. Computerprogramprodukt for a controller after

Claim 10, arranged for carrying out a method according to claim 11.

13. Computer-readable storage medium with a computer program product according to claim 12.