Large manipulator with vibration damper

A large manipulator for concrete pumps comprising:

• a distributor boom which comprises an articulated boom which is mounted on a boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of joints for pivoting the boom arms with respect to the boom pedestal or an adjacent one of the boom arms, and
• said large manipulator comprising a control apparatus which controls movement of the articulated boom with the aid of drive unit actuating elements for a plurality of drive units respectively associated with the plurality of joints, the control apparatus comprising:
• a vertical speed determining device for determining the vertical speed v∥ of a boom arm location on at least one boom arm,
• an angle determining device for determining the articulating angles εi of the joints,
• wherein the control apparatus controls the movement of the articulated boom by providing control signals SWi for the actuating elements of the drive units, which positioning control variables are a function of a vertical speed v∥ of a boom arm location determined by the vertical speed determining device, and on the articulating angles εi of the joints determined by the angle determining device, and on control signals S for adjusting the distributor boom generated by a boom operator controller that can be operated by a boom operator, and
• a controller assembly having a controller which is coupled to the vertical speed determining device and to the angle determining device and which is configured to run a distributor boom vertical damping routine and calculates the actual forces Fi or actual torques Mi generated by the drive units,
• wherein the boom operator controller supplies the controller assembly with a control signal S which is converted, in the controller assembly, into target posture values PSi in the form of target values of the articulating angles εi of the articulated joints of the distributor boom,
• wherein the determined actual forces Fi or actual torques Mi generated by the drive units, the determined vertical speed v∥ of the boom arm location, and the determined articulating angles εi of the plurality of joints are continuously supplied to the distributor boom vertical damping routine,
• wherein the distributor boom vertical damping routine:
• determines, based on the supplied actual forces Fi or actual torques Mi, and the supplied articulating angles εi of the joints, as well as known physical variables of the distributor boom, a vertical force F∥ acting on the boom arm location,
• converts the vertical force F∥ acting on the boom arm location (64) into a vertical target speed v∥Target for the boom arm location,
• determines a vertical comparison value Δv∥ between the vertical target speed v∥Target of the boom arm location and the vertical speed v∥ determined for the boom arm location,
• the vertical comparison value Δv∥ being converted, by means of an inverse transformation based on the supplied articulating angles εi of the joints and based on known physical variables of the distributor boom into an inverse transformation angular velocity {dot over (ε)}i Inv of the plurality of joints, and
• the inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints then being integrated, in an angular velocity calculation stage designed as an integration stage, over a constant time interval, to form target values of the articulating angles of the joints, defining the target posture values PSi, the controller assembly being configured to include a distributor boom control routine which receives target posture values PIi, from an input routine, in the form of actual values of the articulating angles εi of the joints determined by the angle determining device, and which determines regulated positioning control variables SDi for the actuating elements of the drive units, based on the actual posture values PIi and the target posture values PSi, using a control loop, the positioning control variables being converted, in an output routine, into the control signals SWi for the actuating elements of the drive units.

A large manipulator for concrete pumps, comprising:

• a boom pedestal arranged on a frame, the boom pedestal being rotatable relative to the frame about a vertical axis,
• a distributor boom which comprises an articulated boom which is mounted on the boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent one of the plurality of boom arms, and
• a control apparatus which controls the movement of the articulated boom about the vertical axis with the aid of an actuating element of a drive unit associated with the boom pedestal,
• a horizontal speed determining device for determining a horizontal speed v⊥ of a boom arm location in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame, and an angle of rotation determining device for determining the angle of rotation ε18 of the boom pedestal about the vertical axis,
• wherein the control apparatus controls the movement of the articulated boom by providing positioning control variables SD90 for the at least one actuating element of the drive unit associated with the boom pedestal, the positioning control variables being a function of the horizontal speed v⊥ of the boom arm location determined by the horizontal speed determining device and control signals S for adjusting the distributor boom that are generated by the angle of rotation determining device and a boom operator controller that can be operated by a boom operator, and
• a controller assembly having a controller which is coupled to the horizontal speed determining device and to an angle determining device which determines the articulating angles εi of the articulated joints and wherein the controller assembly controls actuating elements for a plurality of articulated joint drive units respectively associated with the plurality of articulated joints and which is configured to run a distributor boom damping routine which determines:
• (i) a damping force FD⊥ based on the horizontal speed of the boom arm location determined by the horizontal speed determining device;
• and
• (ii) damping control variables DSi for the drive unit associated with the boom pedestal for damping the articulated boom, wherein the damping control variables DSi are a function of said damping force FD⊥, the articulating angles εi determined by the angle determining device, and known physical variables of the distributor boom, and wherein the damping control variables are used in determining the positioning control variables SD90 for controlling the at least one actuating element of the drive unit associated with the boom pedestal,
• wherein the distributor boom damping routine determines a target damping force FD⊥ or a target damping torque MD⊥=v⊥ D⊥ based on the horizontal speed v⊥ of the boom arm location in the plane perpendicular to the axis of rotation of the boom pedestal, and
• the controller assembly determines an actual force Fi generated by the drive unit or an actual torque Mi generated by the drive unit,
• wherein the distributor boom damping routine includes a control stage that determines the damping control variables DSi for the drive unit for damping the distributor boom, based on a comparison between the actual force Fi generated by the drive unit and the target component damping force FDi to be generated, or based on a comparison of the actual torque Mi generated by the drive unit and the target component damping torque MDi to be generated,
• wherein the controller assembly is configured to run a distributor boom target posture value routine which converts the control signals S of the boom operator controller into target posture values PSi in the form of target values of the angle of rotation ε18 of the boom pedestal about the vertical axis,
• wherein the controller assembly is configured to run a distributor boom control routine which determines the positioning control variables SD90 for the actuating element of the drive unit based on actual posture values PIi in the form of actual values, supplied to the controller assembly, of the angle of rotation ε18 of the boom pedestal about the vertical axis and the target posture values PSi, and
• wherein the controller assembly is configured to run a superimposition routine for superimposing the damping control variables DS90 and the positioning control variables SD90 to form control signals SW90 for the actuating element of the drive unit.

A large manipulator for concrete pumps, comprising:

• a boom pedestal arranged on a frame, the boom pedestal being rotatable relative to the frame about a vertical axis,
• a distributor boom which comprises an articulated boom which is mounted on the boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent one of the plurality of boom arms, and
• a control apparatus which controls the movement of the articulated boom about the vertical axis with the aid of an actuating element of a drive unit associated with the boom pedestal,
• a horizontal speed determining device for determining a horizontal speed v⊥ of a boom arm location in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame, and an angle of rotation determining device for determining the angle of rotation ε18 of the boom pedestal about the vertical axis,
• wherein the control apparatus controls the movement of the articulated boom by providing control signals SW90 for the at least one actuating element for the drive unit associated with the boom pedestal, which positioning control variables are determined as a function of the horizontal speed v⊥ of the boom arm location determined by the horizontal speed determining device, and on control signals S for adjusting the distributor boom that are generated by the angle of rotation determining device and a boom operator controller that can be operated by a boom operator,
• wherein the control apparatus has a controller assembly with a controller and the controller assembly calculates the actual torque M18 generated by the drive unit,
• wherein the boom operator controller supplies the controller assembly with control signals S which are converted, in the controller assembly, into target posture values PS18 in the form of target values of the angle of rotation ε18 of the boom pedestal about the vertical axis,
• and wherein the controller assembly is configured to run a distributor boom horizontal damping routine wherein the determined actual torque M18, generated by the drive unit, and the determined horizontal speed v⊥ of the boom arm location and the determined angle of rotation ε18 of the boom pedestal about the vertical axis, are all continuously supplied to the distributor boom horizontal damping routine, and
• wherein the distributor boom horizontal damping routine:
• determines, based on the supplied actual torques Mi8, and the supplied angles of rotation ε18 of the boom pedestal about the vertical axis, as well as known physical variables of the distributor boom, a vertical horizontal force F⊥ acting on the boom arm location,
• converts the horizontal force F⊥ acting on the boom arm location into a horizontal target speed v⊥Target of the boom arm location,
• determines a horizontal comparison value Δv⊥ based on the horizontal target speed v⊥Target of the boom arm location and the determined horizontal speed v⊥ of the boom arm location,
• converts the horizontal comparison value Δv⊥, using an inverse transformation on the basis of the supplied angle of rotation ε18 of the boom pedestal about the vertical axis and on the basis of known physical variables of the distributor boom, into an inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal about the vertical axis, and
• the inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal about the vertical axis is integrated, in an angular velocity calculation stage designed as an integration stage, over a constant time interval, to form a target value of the angle of rotation ε18 defining the target posture values PS18,
• wherein the controller assembly is configured to run a distributor boom control routine which receives actual posture values PI18, from an input routine, in the form of actual values from the angle of rotation determining device, and determining, using a control loop, controlled posture values PG18, as positioning control variables SD18, based on the actual posture values PI18 and the target posture values PS18, wherein the controlled posture values are converted, in an output routine, into the control signals SW90 for the actuating element of the drive unit associated with the boom pedestal.

A method for damping mechanical vibrations of an articulated boom of a large manipulator for concrete pumps, comprising:

• providing a distributor boom which comprises an articulated boom mounted on a boom pedestal and including a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent boom arm, and
• providing a control apparatus which controls the movement of the articulated boom with the aid of actuating elements for a plurality of drive units respectively associated with the plurality of articulated joints,
• determining with the control apparatus a vertical speed v∥ of a boom arm location in a plane parallel with the articulated boom and in a coordinate system referenced to the frame,
• determining with the control apparatus the articulating angles of the plurality of articulated joints, and
• generating positioning control variables SDi for the actuating elements of the drive units with the control apparatus, wherein the positioning control variables are a function of a vertical speed v∥ of a boom arm location determined by a vertical speed determining device for determining a vertical speed v∥ of a boom arm location, articulating angles εi of the plurality of articulating joints determined by an angle determining device for determining the articulating angles of the plurality of plurality of articulating joints, and on control signals S for adjusting the distributor boom generated by a boom operator controller that can be operated by a boom operator, and
• wherein:
• (i) a damping force FD∥ is determined based on the vertical speed v∥ determined for the boom arm location;
• (ii) the damping force FD∥ determined is divided into component damping forces associated with the individual articulated joints;
• and
• (iii) damping control variables DSi for controlling the drive unit actuating elements for damping the articulated boom are provided, wherein the damping control variables are determined as a function of the component damping forces, the determined articulating angles εi for the drive units associated with the articulated joints, known physical variables of the distributor boom for damping the boom arms, and wherein the damping control variables are used in the determination of the positioning control variables SDi for the actuating elements of the drive units,
• wherein a target component damping force FDi or a target component damping torque MDi that can be generated by the drive unit associated with a joint, is determined based on the component damping force associated with one of the plurality of joints and based on the articulating angle determined for that joint,
• wherein an actual force Fi or an actual torque Mi generated the drive unit associated with the joint is determined,
• wherein the damping control variables DSi for damping the distributor boom are determined based on a comparison between the actual force Fi generated by the drive unit and the target component damping force FDi to be generated, or based on a comparison between the actual torque Mi generated by the drive unit and the target component damping torque MDi to be generated,
• wherein the control signals S of the boom operator controller are converted into target posture values PSi in the form of target values of the articulating angles εi of the joints of the distributor boom,
• wherein the positioning control variables SDi for the actuating elements of the drive units are determined based on actual posture values PIi in the form of actual values of the articulating angles εi of the joints of the distributor boom and the target posture values PSi, and
• wherein the damping control variables DSi and the positioning control variables SDi are superimposed to form control signals SWi for the actuating elements of the drive units.

A method for damping mechanical vibrations of an articulated boom of a large manipulator for concrete pumps, comprising:

• providing a distributor boom which comprises an articulated boom which is mounted on a boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent one of the plurality of boom arms,
• controlling movement of the articulated boom with the aid of actuating elements for a plurality of drive units respectively associated with the plurality of articulated joints,
• determining a vertical speed v∥ of a boom arm location in a plane parallel with the articulated boom and in a coordinate system referenced to the frame,
• determining the articulating angles εi of the plurality of articulated joints, and
• generating positioning control variables SDi for the actuating elements of the plurality of drive units, wherein the positioning control variables are a function of a vertical speed v∥ of a boom arm location determined by a vertical speed determining device for determining a vertical speed v∥ of a boom arm location, the articulating angles εi of the plurality of articulated joints determined with an angle determining device for determining the articulating angles of the joints, and control signals S for adjusting the distributor boom generated by a boom operator controller that can be operated by a boom operator,
• determining the actual forces Fi or actual torques Mi generated by the drive units,
• determining a vertical force F∥ acting on the boom arm location as a function of the actual forces Fi or actual torques Mi which have been determined and the articulating angles εi determined for the joints, and known physical variables of the distributor boom,
• the vertical speed v∥ of a boom arm location on at least one boom arm is determined, and
• the vertical force F∥ acting on the boom arm location is converted into a vertical target speed v∥Target of the boom arm location;
• a vertical comparison value Δv∥ is determined based on the target vertical speed v∥Target of the boom arm location and the vertical speed v∥ determined for the boom arm location, and
• the vertical comparison value Δv∥ is converted, using an inverse transformation based on the determined articulating angles εi of the joints and based on known physical variables of the distributor boom into an inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints, and
• the inverse transformation angular velocities {dot over (ε)}i Inv of the articulated joints are integrated, over a constant time interval, to form target values of the articulating angles εi of the joints defining the target posture values PSi,
• wherein the positioning control variables SDi for the actuating elements of the drive units are determined, using a control loop, based on the actual posture values PIi and the target posture values PSi, and then being converted into control signals for the actuating elements of the drive units.

A method for damping mechanical vibrations of an articulated boom in a large manipulator for concrete pumps, comprising:

• providing a boom pedestal arranged on a frame, the boom pedestal being rotatable relative to the frame about a vertical axis,
• providing a distributor boom which comprises an articulated boom which is mounted on the boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent one of the boom arms, and
• providing a control apparatus which controls the movement of the articulated boom about the vertical axis with the aid of an actuating element of a drive unit associated with the boom pedestal,
• determining a horizontal speed v⊥ of a boom arm location, in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame, and
• determining articulating angles εi of the plurality of articulated joints, and
• controlling the movement of the articulated boom by providing positioning control variables SD90 for the at least one actuating element of the drive unit associated with the boom pedestal, wherein the positioning control variables are a function of the horizontal speed v⊥ of the boom arm location determined by a horizontal speed determining device for determining a horizontal speed v⊥, control signals S for adjusting the distributor boom that are generated by an angle of rotation determining device which determines the angle of rotation ε18 of the boom pedestal about the vertical axis and a boom operator controller that can be operated by a boom operator,
• and wherein
• (i) a damping force FD∥ is determined based on the determined horizontal speed v⊥;
• and
• (ii) damping control variables DSi, for damping the articulated boom, are determined based on said damping force FD⊥, and based on the articulating angles εi determined for the drive units associated with the articulated joints, and based on known physical variables of the distributor boom, and wherein the damping control variables are used in determining the positioning control variables SD90 for controlling the at least one actuating element of the drive unit associated with the boom pedestal,
• wherein a target damping force FD⊥ or a target damping torque MD⊥=v⊥ D⊥ is determined based on the horizontal speed v⊥ of the boom arm location in the plane perpendicular to the axis of rotation of the boom pedestal, and
• wherein an actual force Fi generated by the drive unit or an actual torque Mi generated by the drive unit is determined,
• wherein the damping control variables DSi for damping the distributor boom are determined based on a comparison between the actual force Fi generated by the drive unit and the target component damping force FDi to be generated, or based on a comparison between the actual torque Mi generated by the drive unit and the target component damping torque MDi to be generated,
• wherein the control signals S of the boom operator controller are converted into target posture values PSi in the form of target values of the angle of rotation ε18 of the boom pedestal about the vertical axis,
• wherein the positioning control variables SD90 for the actuating element of the drive unit are determined based on actual posture values PIi in the form of actual values of the angle of rotation ε18 of the boom pedestal about the vertical axis and the target posture values PSi, and
• wherein the damping control variables DS90 and the positioning control variables SD90 are superimposed to form control signals SW90 for the actuating element of the drive unit.

A method for damping mechanical vibrations of an articulated boom in a large manipulator for concrete pumps, comprising:

• providing a boom pedestal that is arranged on a frame, the boom pedestal being rotatable relative to the frame about a vertical axis,
• providing a distributor boom which comprises an articulated boom which is mounted on the boom pedestal and includes a plurality of boom arms connected to one another in an articulated manner and having a boom tip, and a plurality of articulated joints for pivoting the boom arms about horizontal and mutually parallel articulating axes with respect to the boom pedestal or an adjacent one of the boom arms,
• controlling the movement of the articulated boom about the vertical axis with the aid of an actuating element of a drive unit associated with the boom pedestal,
• wherein a horizontal speed v⊥ of a boom arm location is determined in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame,
• wherein the articulating angles of the articulated joints are determined, and
• wherein the movement of the articulated boom is controlled by providing positioning control variables SD90 for the at least one actuating element for the drive unit associated with the boom pedestal, wherein the positioning control variables are a function of a horizontal speed v⊥ of the boom arm location determined by a horizontal speed determining device for determining a horizontal speed v⊥, and control signals S for adjusting the distributor boom that are generated by an angle of rotation determining device for determining the angle of rotation ε18 of the boom pedestal about the vertical axis, and by a boom operator controller that can be operated by a boom operator, wherein
• the actual force Fi generated by means of the drive unit associated with the boom pedestal or the actual torque Mi generated by means of the drive unit associated with the boom pedestal is determined,
• the horizontal speed v⊥ of a boom arm location on at least one boom arm is determined, and
• the articulating angles εi of the articulated joints and the angle of rotation ε18 of the boom pedestal about the vertical axis thereof are determined,
• a horizontal force F⊥ acting on the boom arm location is determined based on the actual force Fi or the actual torque Mi supplied and the articulating angles εi supplied for the joints, as well as known physical variables of the distributor boom,
• the horizontal force F⊥ acting on the boom arm location is converted into a horizontal target speed v⊥Target of the boom arm location,
• wherein a horizontal comparison value Δv⊥ is determined based on the horizontal target speed v⊥Target of the boom arm location and the horizontal speed v⊥ determined for the boom arm location,
• wherein the horizontal comparison value Δv⊥ is converted, by means of an inverse transformation on the basis of the angle of rotation ε18 supplied for the boom pedestal about the vertical axis and on the basis of known physical variables of the distributor boom, into an inverse transformation angular velocity {dot over (ε)}18Inv of the boom pedestal about the vertical axis thereof, and
• the inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal about the vertical axis is integrated, over a constant time interval, to form a target value of the angle of rotation ε18 defining the target posture value PS18,
• wherein controlled posture values SD18, in the form of positioning control variables SD18, for the drive unit associated with the boom pedestal are determined based on the actual posture values PI18 and the target posture values PS18 using a control loop, and are converted into control signals SW90 for the actuating element of the drive unit associated with the boom pedestal.