In this paper, anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to create the 2-DOF anti-swing controller. The anti-swing controller is added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angle during motion. Experiments are carried out to verify the performance of the anti-swing controller, showing good suppression of the payload angle in practice.

在本文中，介绍了一种液压随车起重机的防摆控制。讨论了液压起重机和电动起重机之间的区别，以展示与液压驱动相关的挑战。推导出起重机的悬挂负载动力学和相关运动学以创建 2-DOF 防摆控制器。防摆控制器通过前馈方式添加到电液运动控制器中。建立了起重机的动态仿真模型，并在执行器空间中使用路径控制器进行仿真评估控制系统。仿真结果显示运动过程中负载摆动角显着减小。进行了实验以验证抗摆动控制器的性能，在实践中显示出对有效载荷角度的良好抑制。