Model-Based Development of Control Systems for Forestry Cranes

Abstract

Model-based methods are used in industry for prototyping concepts based on mathematical models. With our forest industry partners, we have established a model-based workflow for rapid development of motion control systems for forestry cranes. Applying this working method, we can verify control algorithms, both theoretically and practically. This paper is an example of this workflow and presents four topics related to the application of nonlinear control theory. The first topic presents the system of differential equations describing the motion dynamics. The second topic presents nonlinear control laws formulated according to sliding mode control theory. The third topic presents a procedure for model calibration and control tuning that are a prerequisite to realize experimental tests. The fourth topic presents the results of tests performed on an experimental crane specifically equipped for these tasks. Results of these studies show the advantages and disadvantages of these control algorithms, and they highlight their performance in terms of robustness and smoothness.

Keywords

Sliding mode control, System Idenfication, Hydraulic manipulator, Modeling, Hardware-in-the-loop testing, motion control

Published in

Journal of Control Science and Engineering
2015, volume: 2015, article number: 256951

SLU Authors

• La Hera, Pedro

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

UKÄ Subject classification

Robotics
Control Engineering
Embedded Systems

Publication identifier

• DOI: https://doi.org/10.1155/2015/256951

Permanent link to this page (URI)

https://res.slu.se/id/publ/67430