Stability assist wheel control of multi-axle all-terrain crane using RLS algorithms with forgetting

Abstract

This paper describes stability assist wheel control based on RLS estimation with forgetting in order to improve the dynamic stability of a multi-axle all-terrain crane. Existing multi-axle all-terrain cranes have greater mass and a longer distance between axles than ordinary vehicles, so their rotational inertia is very large. Large rotational inertia implies a slower dynamic response for yaw motion, and it is difficult to achieve the desired yaw motion within an expected amount of time. Therefore, ensuring yaw and lateral dynamic stability is an important theme in research regarding multi-axle all-terrain cranes. In this study, to ensure the crane’s dynamic stability, a simplified linear crane model of a multi-axle all-terrain crane was developed, in which an assist wheel was chosen according to speed, for control. To improve the driving stability, the chosen assistant wheel’s optimal steering angle was calculated through LQR, and to calculate the optimal feedback gain and steering angle, the rotational inertia and lateral velocity were estimated using recursive least square algorithms with forgetting. MATLAB/Simulink based simulations were used to evaluate the performance of the assist wheel controller for improving the crane’s dynamic stability, and the simulation results showed that the proposed stability assist wheel control method improved yaw and lateral dynamic stability over existing steering systems.