SEMI-AUTOMATED FORWARDER CRANE CONTROL
Independent thesis Advanced level (degree of Master (Two Years))Student thesis
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.
Hydraulic crane, Forwarder, Crane tip control, Degree of freedom
Signal Processing Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:bth-4921Local ID: oai:bth.se:arkivex5DDC4B6B5A07AF76C1257ACA006789F8OAI: oai:DiVA.org:bth-4921DiVA: diva2:832273
AB), Martin Nyström (Rottne Industry(BTH), Anders Hultgren(LNU), and Matz Lenells