Method for controlling an aerial apparatus, and aerial apparatus with controller implementing this method
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United States of America Patent
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Jul 4, 2017
Grant Date -
Jun 23, 2016
app pub date -
Dec 16, 2015
filing date -
Dec 18, 2014
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Abstract
A method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in horizontal and vertical directions, a gyroscope attached to the top of the telescopic boom and a control arrangement for controlling movement of the aerial apparatus on the basis of signal values gained from the sensors and the gyroscope, the method including the following steps: obtaining raw signals from the sensors and the gyroscope, calculating reference signals from the raw signals, reconstructing a first oscillation mode and a second oscillation mode from the reference signals and additional model parameters related to construction of the aerial apparatus, calculating a compensation angular velocity value from the reconstructed oscillation modes, and adding the calculated compensation angular velocity value to a feedforward angular velocity value to result in a drive control signal.
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