TY - GEN
T1 - Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation
AU - Gao, Lingchong
AU - Wang, Mei
AU - Peng, Haijun
AU - Kleeberger, Michael
AU - Fottner, Johannes
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2021.
PY - 2021
Y1 - 2021
N2 - The boom systems of mobile cranes and aerial platform vehicles can be described as hydraulic actuated long boom manipulators. The purpose of this paper is to develop a complete mathematical model for such a boom system which is a multi-domains system consisting of the boom structure and hydraulic drive system. The hydraulic system and the boom structure are described in the port-Hamiltonian formulation. The port-Hamiltonian systems can be easily interconnected through energy exchanges, thus allowing the description of a complex system as a composition of subsystems. The structure of the long boom manipulator is specified as two main types, telescopic boom, and folding boom. These two boom types are correspondingly simplified as rotational non-homogeneous Timoshenko beam and double rotational Timoshenko beams. A structure-preserving discretization for the Timoshenko beam model is applied to transfer the boom model from infinite into finite. Then the interconnections between the hydraulic model and discretized boom structure model are illustrated and simulations of two types of long boom manipulators are accomplished in MATLAB/Simulink.
AB - The boom systems of mobile cranes and aerial platform vehicles can be described as hydraulic actuated long boom manipulators. The purpose of this paper is to develop a complete mathematical model for such a boom system which is a multi-domains system consisting of the boom structure and hydraulic drive system. The hydraulic system and the boom structure are described in the port-Hamiltonian formulation. The port-Hamiltonian systems can be easily interconnected through energy exchanges, thus allowing the description of a complex system as a composition of subsystems. The structure of the long boom manipulator is specified as two main types, telescopic boom, and folding boom. These two boom types are correspondingly simplified as rotational non-homogeneous Timoshenko beam and double rotational Timoshenko beams. A structure-preserving discretization for the Timoshenko beam model is applied to transfer the boom model from infinite into finite. Then the interconnections between the hydraulic model and discretized boom structure model are illustrated and simulations of two types of long boom manipulators are accomplished in MATLAB/Simulink.
KW - Folding boom
KW - Hydraulic cylinder
KW - Port-Hamiltonian system
KW - Structure-preserving discretization
KW - Telescopic boom
UR - http://www.scopus.com/inward/record.url?scp=85089666647&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-55867-3_8
DO - 10.1007/978-3-030-55867-3_8
M3 - Conference contribution
AN - SCOPUS:85089666647
SN - 9783030558666
T3 - Advances in Intelligent Systems and Computing
SP - 144
EP - 166
BT - Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers
A2 - Obaidat, Mohammad S.
A2 - Obaidat, Mohammad S.
A2 - Obaidat, Mohammad S.
A2 - Ören, Tuncer
A2 - Szczerbicka, Helena
PB - Springer
T2 - 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019
Y2 - 29 July 2019 through 31 July 2019
ER -