Dynamic Structure-preserving Analysis and Control of Flexible Long Boom Manipulator Based on Port-Hamiltonian System
Final Report Abstract
In the research project “Dynamic Structure-preserving Analysis and Control of Flexible Long Boom Manipulator Based on Port-Hamiltonian System”, a modeling method for coupled mechanical-hydraulic systems is developed. This method especially suitable for the calculation of mobile cranes and aerial platform vehicles. Particularly, the mathematical model of the coupled system is derived in the port-Hamiltonian formulation. The structure-preserving space discretization method was applied to discretize the partial differential equations of the dynamic model. A planar Timoshenko beam model was developed for the calculation of simple working motions, such as single luffing and hoisting operations. The equations of motion of the beam model and a simple valvecontrolled hydraulic cylinder were presented in Port-Hamiltonian formulation. The structure-persevering discretization method was applied to transfer the original partial differential equations of the 2-dimensional beam model into the solvable ordinary differential equations. For more complex applications a dynamic spatial beam model was developed according to the co-rotational coordinate formulation and the geometrically exact beam formulation. The 3-dimensional beam element takes into account the flexible deformation and large rigid body motion (displacement and rotation). The equations of motion of the boom systems of aerial platform vehicles and the lattice boom mobile cranes were established in the port-Hamiltonian formulation by using the Legendre transformation. The proposed new formulation of the 3-dimensional beam element is suitable for the continuous boom structure and the lattice boom structure. In order to minimize the vibration of the long boom manipulator during operation, the trajectory tracking strategy was applied and formulated as an optimal control problem. A new structure-preserving time discretization method was developed and applied to transfer the original optimal control problem into a discrete form as the instantaneous optimal control formulation. For the generation of the target trajectory (such as the trajectory of the boom’s tip), a quasi-static mapping strategy was proposed. Finally, the performance of the coupled dynamic model of the flexible long boom manipulator and the trajectory tracking strategy were tested numerically. The obtained results have proved the validity of the developed coupling method for the dynamic system of the mechanical structure and the hydraulic drive system. The trajectory tracking strategy has proven to be well suited for the dynamic system of a flexible manipulator with a long boom. The developed modeling method and numerical solution can also be used for the calculation of other types of nonlinear dynamic systems. The results of the project are of fundamental importance for further in-depth research and investigations and can help to significantly improve the performance of mobile cranes and aerial work platforms.
Publications
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(2019). Modeling and Discretization of Hydraulic Actuated Telescopic Boom System in Port-Hamiltonian Formulation. In Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH, ISBN 978-989-758-381-0; ISSN 2184-2841, pages 69-79
Gao, L.; Wang, M.; Kleeberger, M.; Peng, H. and Fottner, J.
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(2020). Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory. In Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH, ISBN 978-989-758-444-2; ISSN 2184-2841, pages 209-216
Gao, L.; Zhuo, Y.; Kleeberger, M.; Peng, H. and Fottner, J.
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Optimal control of the hydraulic actuated boom system based on port-Hamiltonian formulation. 12th International Fluid Power Conference (12. IFK). Dresden, October 12 – 14, 2020, 2020, Dresden, Germany
Gao, L.; Shi, B.; Kleeberger, M.; Fottner, J.
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(2021). Dynamic Simulation of Two Kinds of Hydraulic Actuated Long Boom Manipulator in Port-Hamiltonian Formulation. In: Obaidat, M., Ören, T., Szczerbicka, H. (eds) Simulation and Modeling Methodologies, Technologies and Applications. SIMULTECH 2019. Advances in Intelligent Systems and Computing, vol 1260. Springer, Cham
Gao, L., Wang, M., Peng, H., Kleeberger, M., Fottner, J.
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(2021). Dynamics Modelling and Simulation of Super Truss Element based on Non-linear Beam Element. In Proceedings of the 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMUL- TECH, ISBN 978-989-758-528-9; ISSN 2184-2841, pages 50-61
Gao, L.; Dai, X.; Kleeberger, M. and Fottner, J.
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(2022). Dynamics of the Spatial Motion of the Long Boom Manipulator Based on Nonlinear Beam Element. In: Obaidat, M.S., Oren, T., Rango, F.D. (eds) Simulation and Modeling Methodologies, Technologies and Applications. SIMULTECH 2020. Lecture Notes in Networks and Systems, vol 306. Springer, Cham
Gao, L., Zuo, Y., Kleeberger, M., Peng, H., Fottner, J.
