Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane

Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane

Model Predictive Control of Gantry Crane with Input Nonlinearity Compensation

Abstract—This paper proposed a nonlinear model predictive control (MPC) method for the control of gantry crane. One of the main motivations to apply MPC to control gantry crane is based on its ability to handle control constraints for multivariable systems. A pre-compensator is constructed to compensate the input nonlinearity (nonsymmetric dead zone with saturation) by using its inverse functio...

Identification and Control of a Hydraulic Forestry Crane

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...

Modelling and Control Design for a Hydraulic Forestry Crane

In the industry of forestry cranes, the design of automated machines that improve productivity has been a challenge for many researchers and engineers in the field of Control Systems and Robotics. An appropriate control design requires a detailed knowledge of the physical phenomena involved in the real system. At this point it is needed to perform simulation tests more rapid than experimental o...

Modeling 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...