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

本课题针对车载起重机和高空作业车所装备的柔性长臂机械手复杂的动力学和控制问题。长臂机械手由柔性臂架结构和液压驱动系统组成。通过基于端口的建模方法，可以将这个多物理系统描述为一个端口-哈密顿系统。为了更准确地对复杂的臂架系统进行动力学分析，采用有限元方法对臂架结构进行了建模。由于臂架结构的精细有限元模型，哈密顿系统描述的数值结构的规模可能是巨大的。然而，保结构数值算法适合于求解哈密顿系统的大规模微分-代数方程。本项目主要研究工作如下：港口哈密顿系统动力学建模、保结构数值仿真、轨迹规划和振动主动控制研究的发展。具体研究工作包括：(1)利用机械、液压和电气控制等多物理系统之间的耦合，建立了基于完整的端口-哈密顿系统的柔性长臂系统的动力学微分-代数方程，揭示了大范围的刚体运动和局部柔性振动的耦合动力学。(2)发展了求解大规模刚柔耦合微分代数方程的保结构算法，准确、高效地揭示了端口-哈密顿耦合系统的时间和空间多尺度动力学特性。(3)研究了柔性长臂系统在移动物体过程中的最优轨迹规划方法，以避免高细长系统在提升/制动阶段的残余振动。同时，针对振动突变引起的局部载荷对柔性长臂系统的抑制问题，提出了基于大尺度动态模型的快速模型预测控制方法。以上研究成果可为汽车起重机、高空作业车等工程机械的技术能力升级和突破提供技术支撑。

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.