Concrete Pump Boom Vibration Damping via Dynamic Control
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Solution Overview
Problem
Large manipulators for concrete pumps experience significant mechanical vibrations due to resonant excitation, leading to uneven concrete distribution and safety risks for operators, as existing damping methods are not effective across all postures of the manipulator.
Innovation Solution
A control device is implemented in the large manipulator that determines the vertical and horizontal speeds of boom arm locations and articulating angles, generating damping forces and torques to counteract vibrations by dividing damping forces into component forces associated with individual joints and adjusting actuating elements accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing damping methods are used, then some vibration damping is achieved, but the damping behavior is not stable across all postures of the manipulator
Solution Approach 1:
The damping control variables are dynamically adjusted based on the current posture of the articulated boom. The control device continuously determines articulating angles and speeds, then generates posture-dependent damping forces. This dynamic adaptation ensures stable damping behavior across all postures, resolving the contradiction between reliability and adaptability.
Solution Approach 2:
The system implements feedback by continuously measuring the articulating angles and speeds of the boom arms, then using this information to generate appropriate damping control variables. The feedback loop ensures that the damping force adapts to changing postures, maintaining stable damping behavior while being effective across all configurations.
2Ease of operation
If resonant excitation occurs, then the manipulator can reach high amplitudes, but vibrations cause uneven concrete distribution and safety risks
Solution Approach 1:
The system converts the harmful resonant vibrations into beneficial damping forces. By detecting the articulating speed and generating damping control variables that oppose the vibration direction, the system transforms the problematic oscillatory motion into controlled, stable operation. This eliminates uneven concrete distribution and safety risks while maintaining operational capability.
3Reliability
If damping forces are applied to counteract vibrations, then vibration reduction is achieved, but the control system complexity increases
Solution Approach 1:
The damping control is segmented by assigning specific damping control variables to each drive unit actuating element. The control device calculates damping forces for individual boom arms and joints separately, then applies them through the existing drive units. This segmentation approach maintains reliability while utilizing the existing modular structure of the manipulator system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides stable damping behavior across various postures, efficiently reducing unwanted vibrations and ensuring safer and more consistent concrete distribution.
Implementation Method 1
A large manipulator for concrete pumps with a damping behavior that is more stable than known large manipulators and a method for damping the mechanical vibrations of large manipulators
Data Source
AI summary
A large manipulator for concrete pumps a distributor boom that includes an articulated boom mounted on the boom pedestal and formed by multiple articulating boom arms with multiple joints for pivoting the boom arms with respect to the boom pedestal or an adjacent boom arm. A control device controls the movement of the articulated boom with the aid of drive unit actuating elements associated with the articulated joints. A device determines the vertical speed v∥ and/or horizontal speed v⊥ of a location on at least one boom arm in a coordinate system referenced to the frame. A device is also provided for determining the articulating angles of the joints. The control device controls the movement of the articulated boom by providing positioning control variables SDi for the actuating elements of the drive units, which positioning control variables depend on the determined vertical speed v∥ and/or horizontal speed v⊥ of the boom arm location, and on the determined articulating angles εi of the joints, and/or on an angle of rotation ε18 of the boom pedestal about a vertical axis, and on control signals S for adjusting the distributor boom generated by a controller that can be operated by a boom operator.