Basket Level and Tilt with Hydraulic Actuation (Test Harness)
This example models a hydraulic system that keeps a boom lift basket level as the boom tilts up and down. In this harness, the tilt actuator is actuated as part of the hydraulic system. Two double-acting hydraulic cylinders are connected in a closed circuit in a master-slave arrangement.
This model is a test harness from the main model (see documentation).
Component Under Test
The component under test is a hydraulic system that holds the basket level as the boom. A double-sided cylinder (Cylinder Slave) with two counterbalance valves extends to tilt the crew basket. Another double-sided cylinder (Cylinder Master), also with two counterbalance valves, contracts/extends as the boom tilts. It is connected in a closed hydraulic circuit with the slave cylinder and forces the slave to extend/contract to offset the tilt from the boom.
In this test harness, the boom has a hydraulic actuator.
Simulation Results: Tilt Sequence
The plots below shows the result of a test sequence designed to only tilt the boom. The test sequence includes signals for all valves so that the test sequence can also be run on the full model.
Below is the corresponding prescribed motion for the test. This allows testing on a full model that has motion for any combination of the actuators.
Motion of the tilt, master, and slave cylinders along with applied actuator force.
Hydraulic pressures in the actuators along with actuator position.