The invention relates to a method (30) of actuating a variable boom loading arrangement (1) comprising a variable length boom (2) that can be extended and retracted using a length actuator (3). A first end of the variable length boom (2) is pivotally attached to the frame and the variable length boom (2) is pivotable relative to the frame by a pivot actuator (5). The second end of the variable-length suspender (2) is used for loading and unloading loads. If the variable boom loading arrangement (1) reaches a predefined tipping moment, an input command given by an operator is modified, producing a modified output command to the actuator (3, 5) in order to avoid tipping of the variable boom loading arrangement (1). The input command is used to calculate an unmodified command direction of the second end of the variable length boom (2) in an external reference frame, in particular in an external Cartesian coordinate reference frame, a modification scheme applied to the input command and generating a modified output command to the actuator depends on the calculated unmodified command direction in the external reference frame.

    本发明涉及一种致动可变吊杆装载布置(1)的方法(30),该可变吊杆装载布置包括可以使用长度致动器(3)延伸和缩回的可变长度吊杆(2)。可变长度吊杆(2)的第一端枢转地附接到框架,并且可变长度吊杆(2)可以通过枢转致动器(5)相对于框架枢转。可变长度吊杆(2)的第二端用于装卸负载。如果可变吊杆装载布置(1)达到预定义的倾翻力矩,则对由操作员给出的输入命令进行修改,产生至致动器(3,5)的经修改的输出命令,以便避免可变吊杆装载布置(1)的倾翻。输入命令用于计算可变长度吊杆(2)的第二端在外部参考系中、特别是在外部笛卡尔坐标参考系中的未修改的命令方向,其中,应用于输入命令并产生至致动器的经修改的输出命令的修改方案取决于计算出的在外部参考系中的未修改的命令方向。


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    Title :

    Improved telescopic loader


    Additional title:

    改进的伸缩式装载机


    Contributors:

    Publication date :

    2024-03-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 / E02F Baggern , DREDGING



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