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Non-linear dynamics modelling description for simulating the behavior of forestry cranes
Sveriges lantbruksuniversitet . (Department of Biomaterials and Forest Technology)
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik. (Robotics & Control Lab)
2014 (Engelska)Ingår i: International journal of Modeling, identification and control, ISSN 1746-6172, E-ISSN 1746-6180, Vol. 21, nr 2, s. 125-138Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Model-based design is a standard framework widely adopted in modern industry. It is used for designing multi-domain engineering solutions based on computer-aided simulation technology. Currently, this approach is also being viewed as a tentative method for designing modern heavy-duty machine technology. Under this motivation, our aim is to present how modeling techniques can be used for simulating dynamics of forestry machines. To this end, we consider a forestry crane, and propose mathematical models and calibration techniques, such that model-based methods can subsequently be applied. The complexity of the machine is represented by first principle laws, in which the mechanical system is modeled by Euler-Lagrange formulations, and the hydraulic system is modeled by principles of fluid dynamics. The calibration algorithms are performed by statistical algorithms based on linear and nonlinear least-squares methods. The results of simulation show a significant correspondence between the simulated and observed variables, validating our procedures.

Ort, förlag, år, upplaga, sidor
Inderscience Enterprises Ltd , 2014. Vol. 21, nr 2, s. 125-138
Nyckelord [en]
forestry machines, forestry cranes, hydraulic manipulators, dynamic modelling, model calibration, identification, simulation, real–time implementation, nonlinear dynamics, heavy–duty machinery, mathematical modelling, Euler–Lagrange formulations, fluid dynamics
Nationell ämneskategori
Reglerteknik Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:umu:diva-87577DOI: 10.1504/IJMIC.2014.060006OAI: oai:DiVA.org:umu-87577DiVA, id: diva2:710068
Tillgänglig från: 2014-04-04 Skapad: 2014-04-04 Senast uppdaterad: 2018-06-08Bibliografiskt granskad
Ingår i avhandling
1. Virtual Holonomic Constraints: from academic to industrial applications
Öppna denna publikation i ny flik eller fönster >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Ort, förlag, år, upplaga, sidor
Umeå: Umeå Universitet, 2015. s. 57
Serie
Robotics and control lab, ISSN 1654-5419 ; 7
Nyckelord
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
Nationell ämneskategori
Reglerteknik Robotteknik och automation
Identifikatorer
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Disputation
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (Engelska)
Opponent
Handledare
Tillgänglig från: 2015-01-12 Skapad: 2014-04-07 Senast uppdaterad: 2018-06-07Bibliografiskt granskad

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Fulltext saknas i DiVA

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Förlagets fulltexthttp://inderscience.metapress.com/content/XX51264172M1U31W

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La Hera, PedroOrtiz Morales, Daniel

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International journal of Modeling, identification and control
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