METHOD OF CONTROLLING AERIAL APPARATUS, AND AERIAL APPARATUS WITH CONTROLLER IMPLEMENTING THE SAME

摘要

PROBLEM TO BE SOLVED: To provide a method of controlling an aerial apparatus, which effectively damps vibration of the aerial apparatus.SOLUTION: Described is a method of controlling an aerial apparatus with; a telescopic boom; strain gauge (SG) sensors for detecting a state of bending of the telescopic boom in horizontal and vertical directions; a gyroscope attached to a top end of the telescopic boom; and control means for controlling movement of the aerial apparatus based on values of signals obtained from the SG sensors and the gyroscope. The method includes steps of; calculating a compensation angular velocity value AV Comp; and adding the calculated compensation angular velocity value AV Comp to a feedforward angular velocity value to result in a drive control signal.SELECTED DRAWING: Figure 4