Development of Steering Control Algorithms for All-terrain Crane and Performance Verification Based on Real-time Co-simulation

전지형 크레인 조향제어 알고리즘 개발 및 연성해석 기반의 성능평가

  • Seo, Jaho (Dept. of Biosystems Machinery Engineering, Chungnam National Univ.) ;
  • Lee, Geun Ho (Dept. of System Reliability, Korea Institute of Machinery and Materials) ;
  • Oh, Kwangseok (Dept. of Automotive Engineering, Honam Univ.)
  • Received : 2016.08.22
  • Accepted : 2017.01.10
  • Published : 2017.05.01


The goal of this study was to develop control algorithms to improve the steering performance of a 120-ton all-terrain crane. To accomplish this, a hydraulic steering system for the crane was modeled using AMESim software, and a PID steering control algorithm was designed in the MATLAB/Simulink environment. The performance of the designed controller was verified through multiphysics co-simulations based on a real-time simulator.


All-terrain Crane;Steering Control;Co-simulation;Real-time Simulator;Performance Verification


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