Simone Bruno 1), Harri Sairiala 2) and Kari T. Koskinen 3)
1) Politecnico di Bari – DIMeG – Via Re David 200, 70122 Bari, Italy
2) Tampere University of Technology – Institute of Hydraulic and Automation, Valkeakoski Research Unit – Valkeakoski, Finland
3) Tampere University of Technology – Institute of Hydraulic and Automation – Tampere, Finland
1) s.bruno@poliba.it, 2) harri.sairiala@tut.fi,
3) kari.t.koskinen@tut.fi
In this work a hydraulic crane was equipped with water hydraulic components. A control system using two PID
controllers plus a Feed Forward block (F-PID) was implemented and in order to study the dynamic behaviour of this kind of
system a series of tests were performed. At first, a characterisation of the system (mechanical and hydraulic) was performed
and then the different steps of the controllers design were analysed, by means of various end-effector trajectories. The results
show a very good behaviour of this kind of system with a low positioning error.
Keywords: hydraulic crane, water hydraulic, PID, proportional valve