A method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in horizontal and vertical directions, a gyroscope attached to the top of the telescopic boom and a control arrangement for controlling movement of the aerial apparatus on the basis of signal values gained from the sensors and the gyroscope, the method including the following steps: obtaining raw signals from the sensors and the gyroscope, calculating reference signals from the raw signals, reconstructing a first oscillation mode and a second oscillation mode from the reference signals and additional model parameters related to construction of the aerial apparatus, calculating a compensation angular velocity value from the reconstructed oscillation modes, and adding the calculated compensation angular velocity value to a feedforward angular velocity value to result in a drive control signal.
Method for controlling an aerial apparatus, and aerial apparatus with controller implementing this method
2017-07-04
Patent
Elektronische Ressource
Englisch
IPC: | B66C Krane , CRANES / A62C FIRE-FIGHTING , Feuerbekämpfung / 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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / E06C LADDERS , Leitern |
Europäisches Patentamt | 2022
|Europäisches Patentamt | 2016
|Europäisches Patentamt | 2017
|