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.