METHOD FOR CONTROLLING AN AIR DEVICE AND AN AIR DEVICE WITH A CONTROLLER WHICH REALIZES SAID METHOD Russian patent published in 2019 - IPC B66C23/88 

FIELD: control methods.

SUBSTANCE: disclosed is a method for controlling an air device. Air device comprises telescopic boom, strain gauges (SG) sensors for detection of bending state of telescopic boom in horizontal and vertical direction, gyroscope attached to upper part of telescopic boom, control means (50) for controlling movement of the air device based on signal values received from the SG sensors and the gyroscope. Method comprises realizing primary signals SG_Raw, GY_Raw from SG sensors and gyroscope. Reference signals are calculated from primary signals SG_Raw, GY_Raw, including SG reference signal SG_Ref, representing deformation value, and reference signal of gyroscope GY_Ref, representing angular velocity value, and angular acceleration reference signal AA_Ref, derived from angular position or angular velocity measurement values. Restoring the first mode f₁ of oscillations and second mode f₂ of oscillations of higher order than first mode f₁ of oscillations from reference signals and additional PAR parameters related to air device design. Values of angular compensation rate AV_Comp from recovered first mode f₁ of oscillations and at least one second mode f₂ of oscillations. Computed angular compensation rate AV_Comp to direct communication angular velocity value to result in drive control signal. Also disclosed is an air device. Effective damping of air device oscillations is achieved by considering connection of bending and torsion in horizontal direction.

EFFECT: method can similarly be used for damping vibrations in vertical direction, possibly including effects of hinged manipulator and cabin attached to end of hinged manipulator, for both axes.

12 cl, 8 dwg