Tip control of a log crane with mobile hydraulic proportional valves

Abstract

The main objective of this work is to develop a practical open-type control system for a log crane with mobile hydraulic proportional valves. A feature of the control system is the receipt of appropriate control signals for the hydraulic system to achieve a commanded velocity of a boom tip in Cartesian coordinates. Another feature of the developed control system is that it does not require any additional adjustments to the system than the pistons' position sensors. Two variants of the system were considered: with and without counterbalance valves. A mathematical model of the hydraulic system was developed in conjunction with a multibody model to test the designed control system. The limits of application of the implemented control method were formulated based on the analysis of the obtained results. Also, the determination of the directions for improving the system was performed.