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

Abstract

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.

Keywords

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

Published in

International Journal of Modelling, Identification and Control
2014, volume: 21, number: 2, pages: 125 - 138

SLU Authors

• La Hera, Pedro

  • Department of Forest Biomaterials and Technology, Swedish University of Agricultural Sciences
    

UKÄ Subject classification

Signal Processing
Control Engineering
Robotics and automation

Publication identifier

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

Permanent link to this page (URI)

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