Optimal Tool Point Control of Hydraulically Actuated Flexible Multibody System With an Operator-in-the-Loop

Ebbesen, Morten Kjeld; Hansen, Michael Rygaard; Andersen, Torben Ole

doi:10.1007/1-4020-5370-3_568

Cited by 3 publications

(2 citation statements)

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“…By supplying a desired tool-point position, the joint angles for the manipulator can be calculated. This has been done on a hydraulic telescopic handler in [17], for a hydraulic crane in [18], and for flexible loader cranes in [19][20][21][22][23].…”

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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Section: Introductionmentioning

confidence: 99%

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

2020

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“…Since then, work on similar cranes has been followed by several others. Ebbesen et al (2006) presented a control strategy based on optimal cylinder velocities determined by minimisation of energy consumption. Recently Pedersen et al (2010) developed a control scheme by means of dynamic real-time simulation based on a pseudo inverse approach.…”

Section: Introductionmentioning

confidence: 99%

Robust Tool Point Control for Offshore Knuckle Boom Crane

Bak

Hansen

Karimi

2011

IFAC Proceedings Volumes

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This paper considers the design of an H ∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane's mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible controller that solves the problem of robust regulation against step inputs with an H ∞ constraint based on the internal model principle. Simulation results are given to show the effectiveness of the method.

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Using input shaping and pressure feedback to suppress oscillations in slewing motion of lightweight flexible hydraulic crane

Kjelland

Hansen

2015

International Journal of Fluid Power

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Optimal Tool Point Control of Hydraulically Actuated Flexible Multibody System With an Operator-in-the-Loop

Cited by 3 publications

References 0 publications

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

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

Robust Tool Point Control for Offshore Knuckle Boom Crane

Using input shaping and pressure feedback to suppress oscillations in slewing motion of lightweight flexible hydraulic crane

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