Identification and Control of a Hydraulic Forestry Crane
نویسندگان
چکیده
This article presents the identification and control of an electro-hydraulic crane. The crane is of the type used on forestry vehicles known as forwarders, which travel off-road collecting logs cut by the harvesters. The dynamics identified include significant frictional forces, dead zones, and structural and hydraulic vibrations. The control algorithm proposed, comprised of a linear controller and a compensator for nonlinearities, is able to accurately track a reference trajectory for the end effector, despite uncertainties in the arm mechanics and hydraulic system dynamics. A further control design is presented which uses an inner loop to compensate for vibrations in the hydraulic system, and its performance is experimentally verified.
منابع مشابه
Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control
• Non-linear dynamics modelling description for simulating the behaviour of forestry cranes 2014 • Modeling an industrial flotation process: A case study at the mining company Boliden AB 2012 • Modeling dynamics of an electro-hydraulic servo actuated manipulator: A case study of a forestry forwarder crane 2012 • Underactuated mechanical systems: Contributions to trajectory planning, analysis, a...
متن کاملIdentification and assessment of human errors among tower crane operators using SHERPA and CREAM techniques
Introduction: Cranes are of the major causes of accidents in the construction industries. As human error mostly causes crane accidents, this study aims to investigate the human errors of tower crane operators in the construction projects using SHERPA and CREAM techniques. Material and Method: In this research, first, all of the tasks of the tower crane operator were identified and analyzed. Th...
متن کاملModeling and Analysis of Outrigger Reaction Forces of Hydraulic Mobile Crane (TECHNICAL NOTE)
This paper presents an original interactive analysis method consisting of mathematical calculation based on theoretical mechanics and mechanics of materials, and dynamics simulation for quantifying outrigger reaction forces of a kind of hydraulic mobile crane, aiming to avoid the eventualities during normal operation as far as possible, for example, tipping-over. First, a three dimensional dyna...
متن کاملInput nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane
متن کامل
Identification and assessment of Human Error in Cabin Roofed Crane Using SHERPA and SPAR-H Techniques
Introduction: Human errors play a significant role in the occurrence of industrial accidents. This study aims to investigate the human errors in cabin roof crane operators of a metal industry using SHERPA and SPAR-H techniques. Material and Method: In this research, first, all of the tasks of the tower crane operator were identified and analyzed. Then, adopting SHERPA technique, p...
متن کامل