CN105940241B - 降低动臂振荡的控制策略 - Google Patents
降低动臂振荡的控制策略 Download PDFInfo
- Publication number
- CN105940241B CN105940241B CN201480062160.7A CN201480062160A CN105940241B CN 105940241 B CN105940241 B CN 105940241B CN 201480062160 A CN201480062160 A CN 201480062160A CN 105940241 B CN105940241 B CN 105940241B
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- chamber
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- valve
- hydraulic
- vibration
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/008—Reduction of noise or vibration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
- F15B2211/3051—Cross-check valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/355—Pilot pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid Mechanics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims (27)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361904340P | 2013-11-14 | 2013-11-14 | |
US61/904,340 | 2013-11-14 | ||
PCT/US2014/064651 WO2015073330A1 (en) | 2013-11-14 | 2014-11-07 | Control strategy for reducing boom oscillation |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105940241A CN105940241A (zh) | 2016-09-14 |
CN105940241B true CN105940241B (zh) | 2018-11-20 |
Family
ID=53057906
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201480062160.7A Active CN105940241B (zh) | 2013-11-14 | 2014-11-07 | 降低动臂振荡的控制策略 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10316929B2 (zh) |
EP (1) | EP3069043B1 (zh) |
CN (1) | CN105940241B (zh) |
WO (1) | WO2015073330A1 (zh) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9810242B2 (en) | 2013-05-31 | 2017-11-07 | Eaton Corporation | Hydraulic system and method for reducing boom bounce with counter-balance protection |
EP3039301B1 (en) | 2013-08-30 | 2018-10-03 | Eaton Corporation | Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations |
EP3069030B1 (en) | 2013-11-14 | 2020-12-30 | Eaton Intelligent Power Limited | Pilot control mechanism for boom bounce reduction |
WO2015153845A1 (en) * | 2014-04-02 | 2015-10-08 | Sikorsky Aircraft Corporation | System and method for improved drive system diagnostics |
EP3169858B1 (en) * | 2014-07-15 | 2021-02-17 | Eaton Intelligent Power Limited | Methods and apparatus to enable boom bounce reduction and prevent un-commanded motion in hydraulic systems |
DE102015108473A1 (de) * | 2015-05-28 | 2016-12-01 | Schwing Gmbh | Großmanipulator mit schnell ein- und ausfaltbarem Knickmast |
SE1750285A1 (sv) * | 2017-03-13 | 2018-09-14 | Parker Hannifin Emea Sarl | Method and system for controlling the pressure in the chambers of a hydraulic cylinder |
WO2018200689A1 (en) | 2017-04-28 | 2018-11-01 | Eaton Intelligent Power Limited | System with motion sensors for damping mass-induced vibration in machines |
EP3615814A4 (en) * | 2017-04-28 | 2021-01-27 | Eaton Intelligent Power Limited | MASS-INDUCED VIBRATION DAMPING SYSTEM IN MACHINES HAVING HYDRAULICALLY CONTROLLED ARMS OR EXTENDED ELEMENTS |
WO2018200696A1 (en) | 2017-04-28 | 2018-11-01 | Eaton Intelligent Power Limited | Drift compensation system for drift related to damping of mass-induced vibration in machines |
US10428845B1 (en) * | 2018-03-29 | 2019-10-01 | Sun Hydraulics, Llc | Hydraulic system with a counterbalance valve configured as a meter-out valve and controlled by an independent pilot signal |
DE102018209073A1 (de) * | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Verfahren zur Schwingungstilgung für hydraulische Hubwerke von mobilen Arbeitsmaschinen und hydraulisches Hubwerk mit Schwingungstilgung |
WO2020006538A1 (en) | 2018-06-29 | 2020-01-02 | Eaton Intelligent Power Limited | System and device for anticipating and correcting for over-center transitions in mobile hydraulic machine |
US10718447B2 (en) * | 2018-06-29 | 2020-07-21 | Eaton Intelligent Power Limited | System and method for detecting valve operating conditions |
EP3814579B1 (en) | 2018-06-29 | 2024-01-10 | Danfoss A/S | Controller and control system with enhanced orientation detection for mobile hydraulic equipment |
EP4123094A1 (en) | 2018-09-10 | 2023-01-25 | Artemis Intelligent Power Limited | Industrial machine with hydraulic pump/motor controller |
EP3620582B1 (en) | 2018-09-10 | 2022-03-09 | Artemis Intelligent Power Limited | Apparatus comprising a hydraulic circuit |
CN112673136B (zh) | 2018-09-10 | 2023-06-09 | 阿尔特弥斯智能动力有限公司 | 带有液压机控制器的设备 |
EP3620581B1 (en) * | 2018-09-10 | 2022-03-09 | Artemis Intelligent Power Limited | Apparatus comprising a hydraulic circuit |
CN110374333B (zh) * | 2019-06-25 | 2020-08-14 | 中联重科股份有限公司 | 泵车臂架控制方法、泵车臂架控制***及泵车 |
CA3144858A1 (en) * | 2019-08-27 | 2021-03-04 | Sandvik Mining And Construction G.M.B.H. | Hydraulic system, mining machine and method of controlling hydraulic actuator |
US11421401B2 (en) | 2020-01-23 | 2022-08-23 | Cnh Industrial America Llc | System and method for controlling work vehicle implements during implement shake operations |
CN113669310B (zh) * | 2021-08-25 | 2022-08-02 | 广东电网有限责任公司广州供电局 | 基于液压***的主动阻尼控制方法、装置、设备和介质 |
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CN1932215A (zh) * | 2006-09-30 | 2007-03-21 | 三一重工股份有限公司 | 用于抑制混凝土泵车臂架振动的方法及装置 |
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SE459878B (sv) | 1985-01-07 | 1989-08-14 | Akermans Verkstad Ab | Foerfarande och anordning foer att reducera kolvhastigheten i speciellt en arbetsmaskins kolv- och cylinderaggregat |
DE69014312T2 (de) | 1989-01-13 | 1995-04-06 | Hitachi Construction Machinery | Hydraulisches System für den Auslegerzylinder einer Konstruktionsmaschine. |
US5197283A (en) | 1989-12-04 | 1993-03-30 | Hitachi Construction Machinery Co., Ltd. | Hydraulic-motor drive circuit system with anti-cavitation control |
DE4021347A1 (de) | 1990-07-05 | 1992-01-16 | Heilmeier & Weinlein | Hydraulische steuervorrichtung |
DE4129509C2 (de) | 1991-09-05 | 1994-06-16 | Rexroth Mannesmann Gmbh | Hydraulische Steueranordnung für Baumaschinen |
JP3147188B2 (ja) | 1991-12-13 | 2001-03-19 | 株式会社小松製作所 | 作業機の振動抑制装置 |
JP3079498B2 (ja) | 1992-02-24 | 2000-08-21 | 石川島建機株式会社 | ブーム付コンクリートポンプ車のブーム振動抑制制御装置 |
JPH06147259A (ja) * | 1992-11-11 | 1994-05-27 | Mitsubishi Heavy Ind Ltd | 軸系縦振動制振装置 |
DE4306127C2 (de) | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Großmanipulator, insbesondere für Autobetonpumpen |
JPH07113436A (ja) * | 1993-10-15 | 1995-05-02 | Mitsui Constr Co Ltd | 制振用アクチュエータ及び該アクチュエータを用いた制振装置 |
JPH07234727A (ja) | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
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US20160298719A1 (en) | 2016-10-13 |
EP3069043B1 (en) | 2019-02-27 |
CN105940241A (zh) | 2016-09-14 |
US10316929B2 (en) | 2019-06-11 |
WO2015073330A1 (en) | 2015-05-21 |
EP3069043A4 (en) | 2017-06-14 |
EP3069043A1 (en) | 2016-09-21 |
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