Modeling and Discretization of Hydraulic Actuated Telescopic Boom System in Port-Hamiltonian Formulation
Authors
Lingchong Gao, Wang Mei, Michael Kleeberger, Haijun Peng, Johannes Fottner
Abstract
The hydraulic actuated telescopic boom system is the primary operation actuator of mobile cranes and aerial platform vehicles. The purpose of this paper is to develope a unified mathematic model of such a boom system which is a multi-domain system consisting of boom structure and hydraulic drive system. The model is formulated within the port-Hamilton (PH) formalism using the definition of hydraulic system and elastic boom structure as (Stokes-) Dirac structures. The Port-Hamiltonian systems can be easily interconnected thus allowing the description of a complex system as a composition of subsystems. This property is especially useful to model a multi-domain system with energy exchanges between subsystems. Considering the boom structure as a Timoshenko beam, the luffing operation of boom system is simplified in a plane coordinate system. The Port-Hamiltonian model of the hydraulic system and the boom structure are described with details separately, a structure-preserving discretization is applied to transfer the distributed-parameter boom model into a lumped-parameter model. Then the interconnections between the subsystems are illustrated and a complete simulation including hydraulic system is accomplished in MATLAB/Simulink.
Citation
- Journal: Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications
- Year: 2019
- Volume:
- Issue:
- Pages: 69–79
- Publisher: SCITEPRESS - Science and Technology Publications
- DOI: 10.5220/0007832100690079
BibTeX
@inproceedings{Gao_2019,
title={{Modeling and Discretization of Hydraulic Actuated Telescopic Boom System in Port-Hamiltonian Formulation}},
DOI={10.5220/0007832100690079},
booktitle={{Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications}},
publisher={SCITEPRESS - Science and Technology Publications},
author={Gao, Lingchong and Mei, Wang and Kleeberger, Michael and Peng, Haijun and Fottner, Johannes},
year={2019},
pages={69--79}
}