Anti-sway load control system for a hydraulic crane
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Kuormanvakautusjärjestelmä hydraulista nosturia varten
The goal of this thesis is to design an anti-sway load control system for a hydraulic crane. In this thesis a tool which is connected to the crane by using two joints is studied. These joint can sway freely in two different directions so the tool includes 2DOF. The test crane in this thesis is Hiab 033 with 3DOF in the Cartesian space. At the beginning of this thesis the forward and the differential kinematics equations for the test system are defined. For the controller design a dynamic model of the tool need to be determined. In this thesis, the dynamic model is constructed by using Lagrangian dynamic formulation. The anti-sway control system includes two main parts. The first controller part is the state feedback controller, which defines reference velocity for the boom tip. From the tool only the swaying angles can be measured so in the control system need to be used estimator to construct missing state velocities. In this thesis state-feedback controller and the Kalman filter is tuned by using Linear-Quadratic-Gaussian method. This method combines the Linear-Quadratic-Regulator and Kalman filter. The control signals for the valves are calculated by using proportional controllers. In this thesis the quality of the anti-sway controller is tested by using two different load mass sizes and two different test paths. According to the results it can be noted that the control system can compensate the tool swaying when the tool sways forward/backwards. When the tool sways left/right the controller cannot compensate the swaying as efficiently due to the nonlinear flexibility of the swing joint. According to the results it can also be noted that the load mass does not affect the anti-sway load control system.