Non-linear dynamics modelling description for simulating the behavior of forestry cranes
2014 (English)In: International journal of Modeling, identification and control, ISSN 1746-6172, E-ISSN 1746-6180, Vol. 21, no 2, 125-138 p.Article in journal (Refereed) Published
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.
Place, publisher, year, edition, pages
Inderscience Enterprises Ltd , 2014. Vol. 21, no 2, 125-138 p.
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
Control Engineering Robotics
IdentifiersURN: urn:nbn:se:umu:diva-87577DOI: 10.1504/IJMIC.2014.060006OAI: oai:DiVA.org:umu-87577DiVA: diva2:710068