A regulation system for controlling the orientation of a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, wherein the segment (5.3) is connected to a base (5.4) or a preceding segment (5.3) of the manipulator via a joint (5.5) and can be pivoted at the joint (5.5) relative to the base (5.4) or the preceding segment (5.3) about at least one axis of rotation by means of at least one actuating member (5.6), preferably a hydraulic actuating element, characterized in that the regulation system at least comprises: a first sensor (4.1), which is arranged on a segment (5.3) attached to the joint (5.5) and delivers a first measurement signalreferred to as a deformation signalcorresponding to a deformation of the segment (5.3), a second sensor (4.2, 4.3), which delivers a second measurement signalreferred to as an orientation signalcorresponding to the spatial orientation of the segment (5.3) attached to the joint (5.5), and at least one actuating element (5.6) associated with the joint (5.5);
and is designed to process the deformation signal and the orientation signal as input variables and to determine from these, under consideration of a target orientation of the segment (5.3) associated with the joint (5.5), an actuating signal, which is fed to the associated actuating element (5.6).

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 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.

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 revolution vibration suppressing method and apparatus for pump truck boom is provided. Vibration severity of the boom in the revolution direction is detected. Dynamic characteristic parameters of the boom are extracted. A control signal that can be used to control the revolving actuator to compensate the vibration severity according to the vibration severity and the dynamic characteristic parameters is calculated. The revolving actuator is driven according to the control signal to move, to suppress the revolution vibration of the boom. A revolution vibration suppression controller and a revolution vibration suppression device for a pump truck boom are provided to implement the methods. With the disclosed methods and apparatus, the vibration of a pump truck boom in the revolution direction can be suppressed, and therefore the risk of failures of the boom is decreased and the operating safety in the work is improved.

A boom vibration suppression method for concrete distributing apparatus is disclosed. The boom comprises a boom oil cylinder for respectively driving each section of the boom; the vibration suppression method comprises: detecting the variation of output force of the boom oil cylinder, and maintaining the variation of output force within the range of a preset threshold. The present invention further provides a vibration suppression controller, a vibration suppression device, and a concrete distributing apparatus that implement the method described above. The vibration of the boom is controlled directly with little time delay. The pressure of the boom oil cylinder is controlled directly and the variation of output force is maintained within a specific range; that control process is applicable to any boom posture since it has no direct relationship with the posture and dynamic characteristics of the boom.

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.