Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation

作者：Pedersen Mikkel^*; Hansen Michael R; Ballebye Morten

来源：Modeling Identification and Control, 2010, 31(4): 133-143.

DOI：10.4173/mic.2010.4.2

• Interactive real-time dynamic simulation
• hydraulic crane
• tool point control

This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme is developed for the specific crane, considering the saturation phenomena of the system and practical implementation.

• 出版日期2010