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 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 independent control valves (700, 800), and first and second blocking valves (350, 450). The actuator includes first and second corresponding chambers. In a first mode, the second counter-balance valve is opened by the first control valve, and the first counter-balance valve is opened by the second control valve. In a second mode, at least one of the counter-balance valves is closed. A meter-out control valve (800, 700) may be operated in a flow control mode, and/or a meter-in control valve (700, 800) may be operated in a pressure control mode. Boom dynamics reduction may occur while the boom is in motion (e.g., about a worksite). By opening the counter-balance valves, sensors at the control valves may be used to characterize external loads. The control valves may respond to the external loads and at least partially cancel unwanted boom dynamics. The system may further detecting faults in actuators with counter-balance valves and prevent any single point fault from causing a boom falling event and/or mitigate such faults.

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.

This disclosure relates to a method and a device for controlling the movement of a concrete-distributing boom, the boom base of which is mounted on a slewing gear so as to be rotatable about a vertical axis of rotation, the slewing gear being actuated by means of a rotary drive and, if necessary, a brake in order to bring the boom into a desired angular position, it being possible for an undesired natural oscillation of the boom to occur in the horizontal direction upon accelerating and/or decelerating the boom. According to this disclosure, it is proposed that the rotary drive be temporarily switched to a freewheel mode in the range of at least one peak of oscillation of the natural oscillation, so that the slewing gear is freely movable and the natural oscillation is reduced.

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 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 independent control valves (700, 800), and first and second blocking valves (350, 450). The actuator includes first and second corresponding chambers. In a first mode, the second counter-balance valve is opened by the first control valve, and the first counter-balance valve is opened by the second control valve. In a second mode, at least one of the counter-balance valves is closed. A meter-out control valve (800, 700) may be operated in a flow control mode, and/or a meter-in control valve (700, 800) may be operated in a pressure control mode. Boom dynamics reduction may occur while the boom is in motion (e.g., about a worksite). By opening the counter-balance valves, sensors at the control valves may be used to characterize external loads. The control valves may respond to the external loads and at least partially cancel unwanted boom dynamics. The system may further detecting faults in actuators with counter-balance valves and prevent any single point fault from causing a boom falling event and/or mitigate such faults.

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 first and second blocking valves (350, 450). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder 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 method may include measuring first pressure ripples at the second chamber and reducing a magnitude of second pressure ripples at the first chamber. The pressure ripples may be transformed into a flow command by multiplying the pressure ripples by a gain and/or phase shifting. The gain and/or the phase shifting may be adjusted by feedback. The feedback may include the second pressure ripples at the load holding chamber, a position of the hydraulic actuator, and/or an operator input. A reference signal may be filtered with a moving average filter.

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 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), and first and second control valves (700, 800). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder 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 control valve may apply a holding pressure and thereby hold the first counter-balance valve closed and the second counter-balance valve open.

A device includes a remote control apparatus with a control lever that is pivotably mounted to the remote control apparatus. The control lever is pivotable within an inner zero-position range, an outer travel range, and an oscillation damping range located between the inner zero-position range and the outer travel range. The remote control apparatus is configured to cause movement of a large manipulator, which has an active oscillation damping mode, switch on the active oscillation damping mode and cause movement of the large manipulator when the control lever is within the outer travel range, switch off the active oscillation damping mode when the control lever is located in the zero-position range, and switch on the active oscillation damping mode without causing movement of the large manipulator when the control lever is located within the oscillation damping range.