Modeling the dynamics and kinematics of a telescopic rotary crane by the bond graph method: Part II

Simulation of a rotary telescopic crane for which a detailed nonlinear bond graph model has been established in Part I of this study, is realized utilizing experimental actual system for geometrical and dynamical parameters. With the intention of comparing the real system and the model and of verifying the sufficiency of the model accuracy, various scenarios are defined corresponding to different loading and operating conditions. Of the scenarios defined, impulse response, time response and static response are used to experimentally gather such system parameters and variables as damping coefficient, cylinder displacements, and stiffness of the telescopic boom, respectively. Following, the simulation for two dissimilar scenarios which are static response and impulse response is undergone and results are presented.