Synchronous Leveling Control Method of Crane Vehicle Platform Based on Position–Force Coordination

Leveling of the crane support platform plays a vital role in operational safety and lifting efficiency; it requires both precise horizontal positioning and the rational distribution of outrigger load. However, the current synchronous leveling methods mainly focus on displacement synchronization leveling while neglecting the control of outrigger load, resulting in the problem of individual outrigger overloading. To address this problem, a synchronous leveling control method with variable load constraints (SLCM-VLC) is proposed in this paper based on the framework of model predictive control. Firstly, the proposed method conducts independent outrigger modeling and decoupling of outriggers through adjacent cross-coupling; then a displacement synchronization controller (DSC) is designed to ensure efficient synchronous leveling. Secondly, a collaborative controller of displacement and force (DFCC) under variable load constraints is designed to overcome the limitations of traditional independent optimization. Subsequently, an extended state observer (ESO) is introduced to compensate for environmental disturbances and control deviations. Finally, the effectiveness of the proposed method is verified through a co-simulation using Matlab, Adams, and Solidworks. The results show that, compared with existing leveling control methods, the proposed method can achieve high precision and rapid leveling under smaller peak load, thereby extending the service life of the platform’s electric cylinders.