Electronic Carriage Compensation for Telehandlers

The electronic compensation is a control method that can substitute the current hydraulic compensation system on telescopic handlers machines, that keeps the angle of the carriage constant during the movement of the arm. The carriage is the attachment point on telescopic handlers' arm where tools like forks are mounted. This current method has some minor problems that can be resolved using the electronic counterpart, that needs sensors and an algorithm for the control system that commands the pistons. In order to test the controller I needed to do researches on multiple fields, for example nonlinear control methods, like Feedback Linearization, or researches on methods as Feed-forward control or System Identification. I later tested the control system I've developed on MATLAB and Simulink directly on a company machine, proving that the electronic compensation system obtained better results in terms of accuracy and performance with respect to the hydraulic one.