The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 04, 2017
Filed:
Dec. 16, 2015
Iveco Magirus Ag, Ulm, DE;
Oliver Sawodny, Stuttgart, DE;
Alexander Pertsch, Stuttgart, DE;
IVECO MAGIRUS AG, Ulm, DE;
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.