Search results for "loader crane"
showing 2 items of 2 documents
Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane
2021
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 …
Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback
2022
The deflection compensation of a hydraulically actuated loader crane is presented. Measurement data from the laboratory are used to design a neural network deflection estimator. Kinematic expressions are derived and used with the deflection estimator in a feedforward topology to compensate for the static deflection. A dynamic deflection compensator is implemented, using pressure feedback and an adaptive bandpass filter. Simulations are conducted to verify the performance of the control system. Experimental results showcase the effectiveness of both the static and dynamic deflection compensator while running closed-loop motion control, with a 90% decrease in static deflection.