Application of a Dynamic Tip-Over Stability Margin to a Turntable Ladder Model

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2025-01-01 DOI:10.1016/j.ifacol.2025.03.037

Bernd Müller , Tim Friedrich , Oliver Sawodny

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引用次数: 0

Abstract

To ensure structural stability of fire service turntable ladders, the working range and actuator velocities are usually limited based on static calculations with conservative safety factors. Considering dynamic effects through an online stability measure may potentially allow for a more efficient limitation of ladder movements in future, aiming to enhance the performance of turntable ladders. Within this work, a rigid body model of a turntable ladder is derived enabling the elevation and extraction of the ladder parts as well as the outrigger lifting off the ground in case of vanishing contact force. The dynamic equations are derived using the Lagrange formalism. Subsequently, the dynamic stability measure NTOPv3 from Bennett (2019) is applied to assess a margin for the tip-over stability of the manipulator. Two exemplary trajectories are analyzed to examine the respective stability measure. These simulations reveal that initiating an emergency stop based on the stability measure prevents a possible tip-over. Therefore, the NTOPv3 measure is shown to be a useful tool for determining the position and velocities limits of the manipulator actuators of the turntable ladder.

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动态倾覆稳定裕度在转台梯模型中的应用

为了保证消防转台云梯的结构稳定性，通常采用静态计算方法对其工作范围和执行机构速度进行限制，且安全系数较为保守。考虑动态影响，通过在线稳定性措施可能允许未来更有效地限制梯子运动，旨在提高转台梯子的性能。在这项工作中，导出了一个转台梯子的刚体模型，使梯子部件的提升和提取以及支腿在接触力消失的情况下离开地面。利用拉格朗日公式推导了动力学方程。随后，应用Bennett（2019）的动态稳定性度量NTOPv3来评估机械手倾覆稳定性的裕度。分析了两个示例轨迹，以检查各自的稳定性措施。这些模拟表明，基于稳定措施启动紧急停车可以防止可能的倾覆。因此，NTOPv3测量被证明是一个有用的工具，用于确定的位置和速度限制的机械手的转台梯子。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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