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

Publication identifier

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

Permanent link to this page (URI)

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