Identification and control design for path tracking of hydraulic loader crane

The controlled operation of hydraulic machines with multiple degrees of freedom is challenging due to complex nonlinear dynamics of cylinder actuators, in addition to multibody dynamics like in the case of hydraulic manipulators. This paper addresses the system identification and control design for path tracking of a standard hydraulic loader crane. The kinematics of the crane is solved for operation in the vertical plane and generation of trajectories for the tool tip to be followed. A frequency response measurements and analysis have been done for dynamics modeling of both hydraulic cylinders actuating main boom and jib. The static dead-zone type input non-linearity has been identified and compensated through the inverse. A suitable control structure combining the proportional feedback regulator with model-based feed-forward control part has been derived and implemented. The experimental evaluation is shown for the Cartesian path tracking with a constant tangential velocity. The results demonstrate a way of application-related identification and control design for hydraulic manipulators with limited access into internal actuator and control structure.

[1]  Jouni Mattila,et al.  Stability-Guaranteed Force-Sensorless Contact Force/Motion Control of Heavy-Duty Hydraulic Manipulators , 2015, IEEE Transactions on Robotics.

[2]  Takao Nishiumi,et al.  Hydraulic Control Systems: Theory And Practice , 2016 .

[3]  Nariman Sepehri,et al.  Towards oscillation reduction in forestry cranes , 2016 .

[4]  M. Jelali,et al.  Nonlinear identification of hydraulic servo-drive systems , 1995 .

[5]  Kristin Ytterstad Pettersen,et al.  A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface , 2018, IEEE Journal of Oceanic Engineering.

[6]  Bruce H. Wilson,et al.  Unified modeling and analysis of a proportional valve , 2006, J. Frankl. Inst..

[7]  James E. Bobrow,et al.  Experiments and simulations on the nonlinear control of a hydraulic servosystem , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[8]  Magnus Berthelsen Kjelland,et al.  Offshore Wind Turbine Access Using Knuckle Boom Cranes , 2016 .

[9]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[10]  Michael Rygaard Hansen,et al.  Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification , 2013 .

[11]  Michael Rygaard Hansen,et al.  Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation , 2010 .

[12]  Jan Komsta,et al.  Integral sliding mode compensator for load pressure control of die-cushion cylinder drive , 2013 .

[13]  Gene F. Franklin,et al.  Feedback Control of Dynamic Systems , 1986 .

[14]  O Sawodny,et al.  Active Control for an Offshore Crane Using Prediction of the Vessel’s Motion , 2011, IEEE/ASME Transactions on Mechatronics.