A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic actuator (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and first and second blocking valves (350, 450). A net load (90) is supported by a first chamber (116, 118) of the hydraulic actuator, and a second chamber (118, 116) of the hydraulic actuator may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first blocking valve prevents the fluctuating hydraulic fluid flow from opening the first counter-balance valve. The first blocking valve may drain leakage from the first counter-balance valve.

A system for damping mass-induced vibrations in a machine having a long boom or elongate member, the movement of which causes mass-induced vibration in such boom or elongate member. The system comprises at least one motion sensor operable to measure movement of such boom or elongate member resulting from mass-induced vibration, and a processing unit operable to control a first control valve spool in a pressure control mode and a second control valve spool in a flow control mode in order to adjust the hydraulic fluid flow to the load holding chamber of an actuator attached to the boom or elongate member to dampen the mass-induced vibration. The system further comprises a control manifold fluidically interposed between the actuator and control valve spools that causes the first and second control valve spools to operate, respectively, in pressure and flow control modes.

The present disclosure provides systems, methods, and computer-readable storage devices for building construction from extrudable materials with improved accuracy due to increased stability of components. In some aspects, a construction system includes a frame assembly disposed at a building site and a moveable frame assembly (e.g., gantry) coupled to the frame assembly and configured to move along a first axis. A moveable platform is coupled to and configured to move along the moveable frame assembly along a second axis perpendicular to the first axis. The moveable platform has an opening and a guide structure is disposed within the opening and configured to move along a third axis that is perpendicular to the first and second axes. The guide structure holds a conduit configured to deposit, via a nozzle, extrudable building material at the building site. Use of the guide structure, disposed within the opening, stabilizes the nozzle during material deposition.

A system for damping mass-induced vibrations in a machine having a long boom or elongate member, the movement of which causes mass-induced vibration in such boom or elongate member. The system comprises at least one motion sensor operable to measure movement of such boom or elongate member resulting from mass-induced vibration, and a processing unit operable to control a first control valve spool in a pressure control mode and a second control valve spool in a flow control mode in order to adjust the hydraulic fluid flow to the load holding chamber of an actuator attached to the boom or elongate member to dampen the mass-induced vibration. The system further comprises a control manifold fluidically interposed between the actuator and control valve spools that causes the first and second control valve spools to operate, respectively, in pressure and flow control modes.

A manipulator includes an articulated boom configured to be folded out. The articulated boom includes a turntable that can be rotated about a vertical axis, a plurality of boom segments, electrically-actuated proportional valves, and a remote control. The boom segments are pivotable via respective drive assemblies. The electrically-actuated proportional valves are respectively arranged directly on or in proximity to the respective drive assemblies to be controlled. The remote control includes at least one control lever configured to be displaced in a plurality of actuating directions. The manipulator further includes an electronic controller configured to actuate the drive assemblies via a travel command. The travel command indicates a desired movement of the boom tip. The travel command is generated in response to displacement of the control lever into at least one of the plurality of actuating directions. And, the travel command causes actuation of the respective electrically-actuated proportional valves.

A method controls the movement of a boom, wherein the boom is moved by a plurality of hydraulic drives. Each hydraulic drive is fed with a hydraulic medium, the pressure and/or volume flow of which is adjustable. The method predefines a desired direction of movement and a desired speed of a boom tip; predictively calculates a pressure and/or a volume flow required for each of the hydraulic drives that are required for the desired direction of movement and desired speed; subsequently generates a supply pressure depending on the predictively calculated pressures and/or subsequently generating a supply volume flow as a function of the predictively calculated volume flows; and subsequently feeds the hydraulic drives required for the desired direction of movement and desired speed with the hydraulic medium having a respective feed pressure and/or a respective feed volume flow such that the boom tip moves in the desired direction of movement at the desired speed.

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.sub.∥ 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 SD.sub.i for the actuating elements of the drive units, which positioning control variables depend on the determined vertical speed v.sub.∥ and/or horizontal speed v⊥ of the boom arm location, and on the determined articulating angles ε.sub.i of the joints, and/or on an angle of rotation ε.sub.18 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.

A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic actuator (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and first and second blocking valves (350, 450). A net load (90) is supported by a first chamber (116, 118) of the hydraulic actuator, and a second chamber (118, 116) of the hydraulic actuator may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first blocking valve prevents the fluctuating hydraulic fluid flow from opening the first counter-balance valve. The first blocking valve may drain leakage from the first counter-balance valve.

A system for compensating for drift or movement of a hydraulic actuator connected to a machine's boom or similar elongate member that is caused, at least in part, by damping of mass-induced vibration. The system comprises a processing unit and a plurality of sensors operable to collect data from a control valve connected to an actuator's load holding chamber and to calculate additional volume present therein due to vibration damping. Using the calculated additional volume, the processing unit determines a hydraulic fluid flow rate appropriate to substantially reduce or eliminate the additional volume. The processing unit combines this flow rate with the hydraulic fluid flow rate necessary to cause operation of the actuator in response to the machine's operator input, and provides signals to the control valve causing actuation of the valve to output hydraulic fluid to the actuator at a rate equal to the combined flow rates.

A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic cylinder (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and a selection valve set (850). The selection valve set is adapted to self-configure to a first configuration and to a second configuration when a net load (90) is supported by a first chamber (116, 118) and a second chamber (118, 116) of the hydraulic cylinder, respectively. When the selection valve set is enabled in the first and second configurations, the second and first control valve may fluctuate hydraulic fluid flow to the second and first chamber, respectively, to produce a vibratory response (950) that counters environmental vibrations (960) of the boom. When the selection valve set is not enabled, the first and second counter-balance valves are adapted to provide the hydraulic cylinder with conventional counter-balance valve protection.