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

Abstract

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.

Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback

“…The dynamic deflection compensator is based on the feedback of the load pressure on the main cylinder. Pressure feedback has previously shown its effectiveness in [24], where it was used to suppress oscillations for the slewing motion of the HMF 2020K4 loader crane. The load pressure is defined as the effective pressure acting on a cylinder-see Equation (52)-and is derived from the a-side and b-side pressures, respectively.…”

“…A model of the crane containing the hydraulic system, main boom, and knuckle boom was previously created using Simscape™ components; see [23][24][25]. For this paper, the telescopic actuation system is modeled and added to the Simscape model.…”