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SEMI-AUTOMATED FORWARDER CRANE CONTROL
Blekinge Institute of Technology, School of Engineering.
Blekinge Institute of Technology, School of Engineering.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years))Student thesis
Abstract [en]

The objective of this thesis is to develop and implement two control programs on an experimental hydraulic crane. The first program demonstrates a kinematic redundancy of the crane also called an extra degree of freedom. The second program is an experimental trajectory following solution that can aid crane operators. The trajectory is optimized to minimize hydraulic cylinders use. The thesis involves various issues concerning both low layer and high layer control. This includes a system identification, system nonlinearity compensation, dead zone compensation, gain scheduling, PI controllers tuning and optimization problems. The solutions like genetic algorithm and fuzzy logic are used. Both control programs are made in Mathworks Simulink and run in dSPACE system.

Place, publisher, year, edition, pages
2012. , 98 p.
Keyword [en]
Hydraulic crane, Forwarder, Crane tip control, Degree of freedom
National Category
Signal Processing Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:bth-4921Local ID: oai:bth.se:arkivex5DDC4B6B5A07AF76C1257ACA006789F8OAI: oai:DiVA.org:bth-4921DiVA: diva2:832273
Uppsok
Technology
Supervisors
Available from: 2015-04-22 Created: 2012-12-04 Last updated: 2015-06-30Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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