Non-linear dynamics modelling description for simulating the behaviour of forestry cranes

Sammanfattning

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 considered as a tentative method for designing modern heavy-duty machine technology. Under this motivation, our aim is to present how modelling 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 modelled by Euler-Lagrange formulations, and the hydraulic system is modelled by principles of fluid dynamics. The calibration algorithms are performed by statistical algorithms based on linear and non-linear least-squares methods. The results of simulation show a significant correspondence between the simulated and observed variables, validating our procedures.

Nyckelord

Modeling, Simulation, hydraulic manipulators, System Identification, Parameter Estimation

Publicerad i

International Journal of Modelling, Identification and Control
2014, volym: 21, nummer: 2, sidor: 125 - 138

SLU författare

• La Hera, Pedro

  • Institutionen för skogens biomaterial och teknologi, Sveriges lantbruksuniversitet
    

UKÄ forskningsämne

Signalbehandling
Reglerteknik
Robotteknik och automation

Publikationens identifierare

• DOI: https://doi.org/10.1504/ijmic.2014.060006

Permanent länk till denna sida (URI)

https://res.slu.se/id/publ/67429