Model-Based Development of Control Systems for Forestry Cranes
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 algo...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/256951 |
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| _version_ | 1849413044152565760 |
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| author | Pedro La Hera Daniel Ortíz Morales |
| author_facet | Pedro La Hera Daniel Ortíz Morales |
| author_sort | Pedro La Hera |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-65ab065a1ecb4b83a2e9ba052aa7ccb1 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-65ab065a1ecb4b83a2e9ba052aa7ccb12025-08-20T03:34:14ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/256951256951Model-Based Development of Control Systems for Forestry CranesPedro La Hera0Daniel Ortíz Morales1Department of Forest Technology, Swedish University of Agricultural Sciences, 90183 Umeå, SwedenDepartment of Applied Physics and Electronics, Umeå University, 90187 Umeå, SwedenModel-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.http://dx.doi.org/10.1155/2015/256951 |
| spellingShingle | Pedro La Hera Daniel Ortíz Morales Model-Based Development of Control Systems for Forestry Cranes Journal of Control Science and Engineering |
| title | Model-Based Development of Control Systems for Forestry Cranes |
| title_full | Model-Based Development of Control Systems for Forestry Cranes |
| title_fullStr | Model-Based Development of Control Systems for Forestry Cranes |
| title_full_unstemmed | Model-Based Development of Control Systems for Forestry Cranes |
| title_short | Model-Based Development of Control Systems for Forestry Cranes |
| title_sort | model based development of control systems for forestry cranes |
| url | http://dx.doi.org/10.1155/2015/256951 |
| work_keys_str_mv | AT pedrolahera modelbaseddevelopmentofcontrolsystemsforforestrycranes AT danielortizmorales modelbaseddevelopmentofcontrolsystemsforforestrycranes |