Dynamics of luffing motion of a flexible knuckle boom crane actuated by hydraulic cylinders

Cibicik, Andrej; Pedersen, Eilif; Egeland, Olav

doi:10.1016/j.mechmachtheory.2019.103616

Cited by 25 publications

(9 citation statements)

References 25 publications

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“…The CMOR redundant degree of freedom design can circumvent the physical limits of joints [10] surrounding obstacles [11] and motion singularities [12] to meet the requirement of full coverage of the vacuum chamber with "D" shaped cross section. Due to the rigid-flexible coupling deformation, the static deformation error of CMOR reaches 77 mm [13,14], which makes accurate dynamic control very difficult.…”

Section: Introductionmentioning

confidence: 99%

Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

Zuo,

Qin,

Pan

et al. 2023

Applied Sciences

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The CFETR multi-purpose overload robot (CMOR) is a key subsystem of the remote handling system of the China fusion engineering test reactor (CFETR). This paper first establishes the kinematic and dynamic models of CMOR and analyzes the working process in the vacuum chamber. Based on the uncertainty of rigid-flexible coupling, a CMOR adaptive robust sliding mode controller (ARSMC) is designed based on the Hamilton-Jacobi equation to enhance the robustness of the control system. In addition, to compensate the influence of non-geometric factors on position accuracy, an error compensation method is designed. Based on the matrix differentiation method, the CMOR coupling parameter errors are decoupled, and then the gridded workspace principle is used to identify the parameter errors and improve the motion control accuracy. Finally, the CMOR rigid-flexible coupling simulation system is established by ADAMS-MATLAB/Simulink to analyze the dynamic control effect of ARSMC. The simulation results show that the CMOR end position error exceeds 0.1 m for single joint motion. The average value of CMOR end position error is less than 0.025 m after compensation, and the absolute error value is reduced by 4 times, improves the dynamic control accuracy of CMOR.

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Section: Introductionmentioning

confidence: 99%

Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

Zuo,

Qin,

Pan

et al. 2023

Applied Sciences

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“…In the literature of the subject, one can mainly find works based on analytical models [3][4][5][6][7][8][9]. However, in the case of designing new devices, the use of CAD/CAE software to conduct numerical simulations is indispensable, especially during the strength analysis [10,11].…”

Section: Introductionmentioning

confidence: 99%

Event Visualization and Trajectory Tracking of the Load Carried by Rotary Crane

Cekus

Depta

Kubanek

et al. 2022

Sensors

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Tracking the trajectory of the load carried by the rotary crane is an important problem that allows reducing the possibility of its damage by hitting an obstacle in its working area. On the basis of the trajectory, it is also possible to determine an appropriate control system that would allow for the safe transport of the load. This work concerns research on the load motion carried by a rotary crane. For this purpose, the laboratory crane model was designed in Solidworks software, and numerical simulations were made using the Motion module. The developed laboratory model is a scaled equivalent of the real Liebherr LTM 1020 object. The crane control included two movements: changing the inclination angle of the crane’s boom and rotation of the jib with the platform. On the basis of the developed model, a test stand was built, which allowed for the verification of numerical results. Event visualization and trajectory tracking were made using a dynamic vision sensor (DVS) and the Tracker program. Based on the obtained experimental results, the developed numerical model was verified. The proposed trajectory tracking method can be used to develop a control system to prevent collisions during the crane’s duty cycle.

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“…Electro‐hydraulic servo systems (EHSS) have been widely used in industrial applications such as mining engineering [1], ocean engineering [2], and civil engineering [3]. Compared with electric drives, the hydraulic actuator has obvious overload capability and smaller size‐to‐power ratios, which leads to the irreplaceability of electro‐hydraulic drives, especially in the field of heavy machinery [4, 5]. However, the strong nonlinearity, parameter uncertainty, and unknown dynamics of EHSS seriously affect the control performance of the system.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear cascade control of an electro‐hydraulic actuator with large payload variation

Wang

Zhao

Ding

et al. 2022

Asian Journal of Control

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Electro‐hydraulic actuators have been widely used in industrial production, but the unknown variable payload seriously affects its position control accuracy. Therefore, a radial basis function neural network disturbance observer is designed to estimate the lumped disturbance force through strong online learning ability in the absence of force sensor. Besides, a nonlinear cascade controller with double loop structure is proposed in this paper. A global fast terminal sliding mode control method is firstly applied in the outer loop position system, which can eliminate chattering and improve convergence speed comparing to traditional sliding mode control. The inner loop force system adopts a backstepping control method to calculate the actual input of the whole system. Theoretical analysis indicates that the proposed controller is stable even if existing time‐variant disturbance. Moreover, three comparative controllers are designed and tested in both simulations and experiments. Comparative results show that the developed method has absolute average errors of 1.14 and 0.49 mm in different position tracking, which means more satisfactory tracking performance compared to the contrast controllers.

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Dynamics of luffing motion of a flexible knuckle boom crane actuated by hydraulic cylinders

Cited by 25 publications

References 25 publications

Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

Event Visualization and Trajectory Tracking of the Load Carried by Rotary Crane

Nonlinear cascade control of an electro‐hydraulic actuator with large payload variation

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