Modelling and simulation of mobile hydraulic crane with telescopic arm

Nielsen, Brian; Pedersen, Henrik C.; Andersen, Torben Ole; Hansen, Michael Rygaard

doi:10.1080/14484846.2005.11464484

Cited by 3 publications

(3 citation statements)

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“…The latter is modeled as being pressure dependent as described in e.g. [9]. For the load the system consists of the load orifices, which are simply described by the orifice equation, whereas the on-off valve is simply modeled as a switch.…”

Section: System Modelingmentioning

confidence: 99%

Analysis of and H<inf>∞</inf> controller design for an electro-hydraulic servo pressure regulator

Stubkier¹,

Pedersen

Andersen

et al. 2011

Proceedings of 2011 International Conference on Fluid Power and Mechatronics

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Currently mobile hydraulics is in a transition phase, where electronic sensors and digital signal processors are becoming standard on a high number of machines, hereby replacing hydraulic pilot lines and offering new possibilities with regard to both control and feasibility. As most open-circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable displacement pump based on an electrical reference. The paper first presents the considered system and an experimentally verified model of this. A linearized model and a stability analysis is then presented, based on which an H ∞ control strategy is selected. A nominal performance and a robustly stable controller are designed and tested in simulation and experimentally. Finally both controllers are compared to the reference system, finding that similar performance may be obtained, but the used FPGA limits the performance.

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Section: System Modelingmentioning

confidence: 99%

Analysis of and H<inf>∞</inf> controller design for an electro-hydraulic servo pressure regulator

Stubkier¹,

Pedersen

Andersen

et al. 2011

Proceedings of 2011 International Conference on Fluid Power and Mechatronics

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show abstract

“…Different approaches for motion control of hydraulic cranes have previously been investigated, including vector control, feed forward control, pressure control, and force control, see [1][2][3][4][5][6]. Modeling of hydraulic cranes has been investigated in [7][8][9][10]. Point-to-point control of robots has been studied in [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

2020

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This paper presents a novel method for point-to-point path control for a hydraulic knuckle boom crane. The developed path control algorithm differs from previous solutions by operating in the actuator space instead of the joint space or Cartesian space of the crane. By operating in actuator space, almost all the parameters and constraints of the system become either linear or constant, which greatly reduces the complexity of both the control algorithm and path generator. For a given starting point and endpoint, the motion for each actuator is minimized compared to other methods. This ensures that any change in direction of motion is avoided, thereby greatly minimizing fatigue, jerky motion, and energy consumption. However, where other methods may move the tool-point in a straight line from start to end, the method in actuator space will not. In addition, when working in actuator space in combination with pressure-compensated control valves, there is no need for linearization of the system or feedback linearization due to the linear relationship between the control signal and the actuator velocities. The proposed solution has been tested on a physical system and shows good setpoint tracking and minimal oscillations.

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“…Modeling, simulation, design and control of various types of cranes have been subjected to extensive research. General modeling techniques and different control concepts have been presented by Hiller (1996) and Abdel-Rahman et al (2003) and particularly mobile (truck-mounted) cranes have attracted a considerable amount of interest from researchers (Ellman et al, 1996), (Mikkola and Handroos, 1996), (Esque et al, 1999), (Hansen et al, 2001), (Nielsen et al, 2003) and (Esque et al, 2003). The dynamics of these types of cranes is well documented and modeling techniques have been proven through experimental verification.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification

Bak

Hansen

2013

MIC

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This paper presents an extensive model of a knuckle boom crane used for pipe handling on offshore drilling rigs. The mechanical system is modeled as a multi-body system and includes the structural flexibility and damping. The motion control system model includes the main components of the crane's electro-hydraulic actuation system. For this a novel black-box model for counterbalance valves is presented, which uses two different pressure ratios to compute the flow through the valve. Experimental data and parameter identification, based on both numerical optimization and manual tuning, are used to verify the crane model. The demonstrated modeling and parameter identification techniques target the system engineer and takes into account the limited access to component data normally encountered by engineers working with design of hydraulic systems.

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Modelling and simulation of mobile hydraulic crane with telescopic arm

Cited by 3 publications

References 0 publications

Analysis of and H<inf>∞</inf> controller design for an electro-hydraulic servo pressure regulator

Analysis of and H<inf>∞</inf> controller design for an electro-hydraulic servo pressure regulator

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification

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