Authors:
Lingchong Gao
1
;
Wang Mei
2
;
Michael Kleeberger
1
;
Haijun Peng
3
and
Johannes Fottner
1
Affiliations:
1
Chair of Materials Handling, Material Flow, Logistics, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany
;
2
Chair of Automatic Control, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany
;
3
Department of Engineering Mechanics, Dalian University of Technology, Linggong Road No. 1, 116023 Dalian and P.R. China
Keyword(s):
Port-Hamiltonian System, Structure-preserving Discretization, Hydraulic Cylinder, Telescopic boom.
Related
Ontology
Subjects/Areas/Topics:
Application Domains
;
Complex Systems Modeling and Simulation
;
Conceptual Modeling
;
Dynamical Systems Models and Methods
;
Formal Methods
;
Hydraulic and Pneumatic Systems
;
Mathematical Simulation
;
Multiscale Simulation
;
Simulation and Modeling
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 discretizati
on 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.
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