Motion control of hydraulic telescopic boom crane

This paper discusses the modeling and motion controller design of telescopic boom crane. Through inverse kinematics, the Cartesian coordinates of the crane boom tip are converted to the actuator space. At the same time, the trajectory of the actuator is used as the input of the drive system. The hydraulic drive system uses a fuzzy PID controller to track the position of the actuator. The simulation results show that the controller has a good control effect. This method can be extended to other boom cranes.

I. Introduction

Cranes are large engineering handling equipments, used to transport heavy loads from one place to another. Various types of cranes are widely used in logistics, construction, manufacturing and other industrial fields, which play a crucial role in the construction of the national economy. Based on dynamic properties and the degrees of freedom at the suspension point, they are classified as gantry crane, rotary crane and boom crane [1].