Dynamic Structure-preserving Analysis and Control of Flexible Long Boom Manipulator Based on Port-Hamiltonian System

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This project is aiming at the complex dynamics and control problems of flexible long boom manipulators, which are equipped by mobile cranes and aerial platform vehicles. The long boom manipulators consist of a flexible boom structure and hydraulic drive system. This multi-physical system can be described as a port-Hamiltonian system by port-based modelling method. The boom structure is modelled by finite element method for the purpose of more accurate dynamic analysis of the complex boom system. The size of the numerical structure of the Hamiltonian system description can be tremendous, due to the fine finite element model of the boom structure. However the structure-preserving numerical algorithm is suitable to solve the large-scale differential-algebraic equations of Hamiltonian system.The present project focuses on the following main research work: The development of port-Hamiltonian systems dynamics modeling, structure-preserving numerical simulation, trajectory planning and active vibration control research. Detailed research work includes: (1) Establishing the dynamic differential-algebraic equations of flexible long boom systems based on the complete port-Hamiltonian system by using the coupling between multi-physical systems such as mechanical, hydraulic and electrical control, and revealing a wide range coupling dynamics of rigid motion and local flexible vibration. (2) Developing the structure-preserving algorithm for solving large-scale rigid-flexible coupled differential-algebraic equations, and revealing the temporal and spatial multiscale dynamical characteristics of the coupled port-Hamiltonian system accurately and efficiently. (3) The optimal trajectory planning method of the flexible long boom system in the process of moving objects is studied to avoid the residual vibration of the high slender system during the lifting/braking phase. At the same time, the fast model predictive control method based on the large-scale dynamic model is proposed for the suppression of flexible long boom system by the local load caused by sudden changes in vibration problems. The above research results can provide technical support for the upgrading and breakthrough of technical capability of mobile cranes and aerial platform vehicles and other construction machineries.