6533b857fe1ef96bd12b509c

RESEARCH PRODUCT

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

Konrad Johan JensenMichael Rygaard HansenMorten Kjeld Ebbesen

subject

0209 industrial biotechnologyComputer scienceMechanical EngineeringFeed forwardComputerApplications_COMPUTERSINOTHERSYSTEMSMotion controller02 engineering and technologyKinematicsSwing021001 nanoscience & nanotechnologyComputer Science ApplicationsLoaderVDP::Teknologi: 500020901 industrial engineering & automationControl and Systems EngineeringControl theoryControl systemHardware_INTEGRATEDCIRCUITSElectrical and Electronic Engineering0210 nano-technologyActuator

description

Abstract In this paper, 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 create the 2-DOF anti-swing controller. The anti-swing controller is 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 angle during motion. Experiments are carried out to verify the performance of the anti-swing controller, showing good suppression of the payload angle in practice.

yearjournalcountryeditionlanguage
2021-08-01Mechatronics
https://doi.org/10.1016/j.mechatronics.2021.102599