Anti-swing control of a hydraulic loader crane with a hanging load

Jensen, Konrad Johan; Ebbesen, Morten Kjeld; Hansen, Michael Rygaard

doi:10.1016/j.mechatronics.2021.102599

Cited by 23 publications

(15 citation statements)

References 19 publications

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“…Hence, components and control parameters are quantified and the concept is evaluated via time-domain simulations. The simulations are performed using an outer path control loop with anti-swing which have been developed earlier in [27,28]. The novel concept has also been compared with a traditional design with a single pump driven by an induction motor and proportional valves to control each actuator.…”

Section: Considered Systemmentioning

confidence: 99%

“…To test the performance of the developed system, numerical simulations are carried out with path control and anti-swing as a load case. Path control and 2-DOF anti-swing have previously been developed in [27,28]. An illustration of the HMF 2020K4 crane with hanging load is shown in Figure 26.…”

Section: Load Case: Path Control and Anti-swing For Hydraulic Cranementioning

confidence: 99%

“…Compare energy efficiency etc. The simulation is carried out with the same controller parameters used in [28]. A plot of the power and consumed energy is shown in Figure 30.…”

Section: Simulation With Valve-controlled Actuatorsmentioning

confidence: 99%

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Novel Concept for Electro-Hydrostatic Actuators for Motion Control of Hydraulic Manipulators

2021

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Self-contained hydraulic cylinders have gained popularity in the recent years but have not been implemented for high power articulated hydraulic manipulators. This paper presents a novel concept for an electro-hydrostatic actuator applicable to large hydraulic manipulators. The actuator is designed and analyzed to comply with requirements such as load holding, overload handling, and differential flow compensation. The system is analyzed during four quadrant operation to investigate energy efficiency and regenerative capabilities. Numerical simulation is carried out using path control and 2DOF anti-swing of a hydraulic crane as a load case to illustrate a real world scenario. A comparison with traditional valve-controlled actuators is conducted, showing significantly improved efficiency and with similar dynamic response, as well as the possibility for regenerating energy.

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Section: Considered Systemmentioning

confidence: 99%

Section: Load Case: Path Control and Anti-swing For Hydraulic Cranementioning

confidence: 99%

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Novel Concept for Electro-Hydrostatic Actuators for Motion Control of Hydraulic Manipulators

2021

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“…The actuator space kinematics describes the relation between the cylinder lengths, cylinder velocities, joint angles, and joint angular velocities. They have previously been developed in Jensen et al (2021). The shorthand kinematic expressions are shown in Equations (39)-(47).…”

Section: Actuator Space Kinematicsmentioning

confidence: 99%

“…An example of a typical closed loop electro-hydraulic motion control system with feedforward (FF) and feedback (FB) is shown in Figure 1. This paper is based on the previous work in Jensen et al (2021), which focus on 2D anti-swing, and extends the relevant kinematics and dynamics in order to create a 3D anti-swing control system.…”

Section: Introductionmentioning

confidence: 99%

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Jensen¹,

Ebbesen²,

Hansen³

2021

MIC

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In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.

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