Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation

Lingchong Gao; Mei Wang; Haijun Peng; Michael Kleeberger; Johannes Fottner

doi:10.1007/978-3-030-55867-3_8

Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation

Lingchong Gao, Mei Wang, Haijun Peng, Michael Kleeberger, Johannes Fottner

Chair of Chair of Materials Handling, Material Flow, Logistics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers
Editors	Mohammad S. Obaidat, Mohammad S. Obaidat, Mohammad S. Obaidat, Tuncer Ören, Helena Szczerbicka
Publisher	Springer
Pages	144-166
Number of pages	23
ISBN (Print)	9783030558666
DOIs	https://doi.org/10.1007/978-3-030-55867-3_8
State	Published - 2021
Event	9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019 - Prague, Czech Republic Duration: 29 Jul 2019 → 31 Jul 2019

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	1260 AISC
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019
Country/Territory	Czech Republic
City	Prague
Period	29/07/19 → 31/07/19

Keywords

Folding boom
Hydraulic cylinder
Port-Hamiltonian system
Structure-preserving discretization
Telescopic boom

Access to Document

10.1007/978-3-030-55867-3_8

Cite this

Gao, L., Wang, M., Peng, H., Kleeberger, M., & Fottner, J. (2021). Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation. In M. S. Obaidat, M. S. Obaidat, M. S. Obaidat, T. Ören, & H. Szczerbicka (Eds.), Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers (pp. 144-166). (Advances in Intelligent Systems and Computing; Vol. 1260 AISC). Springer. https://doi.org/10.1007/978-3-030-55867-3_8

Gao, Lingchong ; Wang, Mei ; Peng, Haijun et al. / Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation. Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers. editor / Mohammad S. Obaidat ; Mohammad S. Obaidat ; Mohammad S. Obaidat ; Tuncer Ören ; Helena Szczerbicka. Springer, 2021. pp. 144-166 (Advances in Intelligent Systems and Computing).

@inproceedings{7e774762b7be401aab1663bffc2ec411,

title = "Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation",

abstract = "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.",

keywords = "Folding boom, Hydraulic cylinder, Port-Hamiltonian system, Structure-preserving discretization, Telescopic boom",

author = "Lingchong Gao and Mei Wang and Haijun Peng and Michael Kleeberger and Johannes Fottner",

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2021.; 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019 ; Conference date: 29-07-2019 Through 31-07-2019",

year = "2021",

doi = "10.1007/978-3-030-55867-3\_8",

language = "English",

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series = "Advances in Intelligent Systems and Computing",

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booktitle = "Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers",

}

Gao, L, Wang, M, Peng, H, Kleeberger, M & Fottner, J 2021, Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation. in MS Obaidat, MS Obaidat, MS Obaidat, T Ören & H Szczerbicka (eds), Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers. Advances in Intelligent Systems and Computing, vol. 1260 AISC, Springer, pp. 144-166, 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019, Prague, Czech Republic, 29/07/19. https://doi.org/10.1007/978-3-030-55867-3_8

Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation. / Gao, Lingchong; Wang, Mei; Peng, Haijun et al.
Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers. ed. / Mohammad S. Obaidat; Mohammad S. Obaidat; Mohammad S. Obaidat; Tuncer Ören; Helena Szczerbicka. Springer, 2021. p. 144-166 (Advances in Intelligent Systems and Computing; Vol. 1260 AISC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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M3 - Conference contribution

AN - SCOPUS:85089666647

SN - 9783030558666

T3 - Advances in Intelligent Systems and Computing

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BT - Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers

A2 - Obaidat, Mohammad S.

A2 - Ören, Tuncer

A2 - Szczerbicka, Helena

PB - Springer

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Y2 - 29 July 2019 through 31 July 2019

ER -

Gao L, Wang M, Peng H, Kleeberger M , Fottner J. Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation. In Obaidat MS, Obaidat MS, Obaidat MS, Ören T, Szczerbicka H, editors, Simulation and Modeling Methodologies, Technologies and Applications - 9th International Conference, SIMULTECH 2019, Revised Selected Papers. Springer. 2021. p. 144-166. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-55867-3_8

Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

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Dynamic Structure-preserving Analysis and Control of Flexible Long Boom Manipulator Based on Port-Hamiltonian System

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Dynamic simulation of two kinds of hydraulic actuated long boom manipulator in port-hamiltonian formulation

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Projects

Dynamic Structure-preserving Analysis and Control of Flexible Long Boom Manipulator Based on Port-Hamiltonian System

Cite this