METHOD FOR CONTROLLING AN AERIAL APPARATUS, AND AERIAL APPARATUS WITH CONTROLLER IMPLEMENTING THIS METHOD

摘要

Method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in a horizontal and a vertical direction, a gyroscope attached to the top of the telescopic boom and control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope,;said method comprising the following steps:
obtaining raw signals SGRaw, GYRaw from the SG sensors and the gyroscope,calculating reference signals from the raw signals SGRaw, GYRaw, including an SG reference signal SGRef, representing a strain value, and a gyroscope reference signal GYRef, representing an angular velocity value, and an angular acceleration reference signal AARef derived from angular position or angular velocity measurement values,reconstructing a first oscillation mode f1 and at least one second oscillation mode f2 of higher order than the first oscillation mode f1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus,calculating a compensation angular velocity value AVComp from the reconstructed first oscillation mode f1 and at least one second oscillation mode f2,adding the calculated compensation angular velocity value AVComp to a feedforward angular velocity value to result in a drive control signal.

主权项

1. A method for controlling an aerial apparatus comprising
a telescopic boom (12), strain gauge (SG) sensors (18) for detecting the bending state of the telescopic boom (12) in a horizontal and a vertical direction, a gyroscope (16) attached to the top of the telescopic boom (12) and control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope, said method comprising the following steps:
obtaining raw signals SGRaw, GYRaw from the SG sensors (18) and the gyroscope (16),calculating reference signals from the raw signals SGRaw, GYRaw, including an SG reference signal SGRef, representing a strain value, and a gyroscope reference signal GYRef, representing an angular velocity value, and an angular acceleration reference signal AARef derived from angular position or angular velocity measurement values,reconstructing a first oscillation mode f1 and at least one second oscillation mode f2 of higher order than the first oscillation mode f1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus,calculating a compensation angular velocity value AVComp from the reconstructed first oscillation mode f1 and at least one second oscillation mode f2, andadding the calculated compensation angular velocity value AVComp to a feedforward angular velocity value to result in a drive control signal.