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

Authors: Pedro La Hera; Daniel Ortíz Morales

Addresses: Department of Biomaterials and Forest Technology, Swedish University of Agricultural Sciences, 90183 Umeå, Sweden ' Department of Applied Physics and Electronics, Robotics and Control Lab, Umeå University, 90187 Umeå, Sweden

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: forestry machines; forestry cranes; hydraulic manipulators; dynamic modelling; model calibration; identification; simulation; real-time implementation; nonlinear dynamics; heavy-duty machinery; mathematical modelling; Euler-Lagrange formulations; fluid dynamics.

DOI: 10.1504/IJMIC.2014.060006

International Journal of Modelling, Identification and Control, 2014 Vol.21 No.2, pp.125 - 138

Available online: 24 Mar 2014 *

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