Dynamic Simulation of Two Kinds of Hydraulic Actuated Long Boom Manipulator in Port-Hamiltonian Formulation

The boom systems of mobile cranes and aerial platform vehicles can be described as hydraulic actuated long boom manipulators. The purpose of this paper is to develop a complete mathematical model for such a boom system which is a multi-domains system consisting of the boom structure and hydraulic drive system. The hydraulic system and the boom structure are described in the port-Hamiltonian formulation. The port-Hamiltonian systems can be easily interconnected through energy exchanges, thus allowing the description of a complex system as a composition of subsystems. The structure of the long boom manipulator is specified as two main types, telescopic boom, and folding boom. These two boom types are correspondingly simplified as rotational non-homogeneous Timoshenko beam and double rotational Timoshenko beams. A structure-preserving discretization for the Timoshenko beam model is applied to transfer the boom model from infinite into finite. Then the interconnections between the hydraulic model and discretized boom structure model are illustrated and simulations of two types of long boom manipulators are accomplished in MATLAB/Simulink.