Computer simulation and modelling for intelligent control systems in small forestry machines
Villa Escusol, Jose Enrique (2016)
2016
Teknisten tieteiden tiedekunta - Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2016-08-17
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201608014352
https://urn.fi/URN:NBN:fi:tty-201608014352
Tiivistelmä
In the forest industry, machines are equipped with robust and efficient hydraulic technology. However, the work profit depends heavily on the working operations with these machines. As a consequence, intelligent control systems are essential in these machines to try to improve work efficiency and variation between different human operators.
The main objective of this Master’s Thesis is to obtain a linear trajectory control of a forestry crane in a miniature forest machine. To do that, it is important to study the system modeling using appropriate assumptions obtaining the most accurate response through the correct controller design. Moreover, simulation of the system using advanced modeling and simulation tool is run once that modeling has been done. This simulation has to include non-linearities of the components to obtain the most realistic results. To do that, MATLAB tools are used in modeling, control design and LMS Imagine.Lab AMESim is used in the final simulation. Control system is designed as Proportional Integral controller due to the fact that it is a simple controller for implementation.
This thesis is divided in two parts. First, in the theoretical chapter, modeling of the machine is obtained according to dynamics and kinematics of the forestry crane. In the second part, simulation in AMESim software is run to observe how the machine responds to an input signal according to the forestry crane trajectory.
The main objective of this Master’s Thesis is to obtain a linear trajectory control of a forestry crane in a miniature forest machine. To do that, it is important to study the system modeling using appropriate assumptions obtaining the most accurate response through the correct controller design. Moreover, simulation of the system using advanced modeling and simulation tool is run once that modeling has been done. This simulation has to include non-linearities of the components to obtain the most realistic results. To do that, MATLAB tools are used in modeling, control design and LMS Imagine.Lab AMESim is used in the final simulation. Control system is designed as Proportional Integral controller due to the fact that it is a simple controller for implementation.
This thesis is divided in two parts. First, in the theoretical chapter, modeling of the machine is obtained according to dynamics and kinematics of the forestry crane. In the second part, simulation in AMESim software is run to observe how the machine responds to an input signal according to the forestry crane trajectory.