Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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. , p. 98
Keywords [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, id: diva2:832273
Uppsok
Technology
Supervisors
Available from: 2015-04-22 Created: 2012-12-04 Last updated: 2015-06-30Bibliographically approved

Open Access in DiVA

fulltext(3858 kB)1095 downloads
File information
File name FULLTEXT01.pdfFile size 3858 kBChecksum SHA-512
6df56f1e2893eda42e83638e957c75b538220c9d11bb861196f783db1b53fa9949460e33e0505905ac96e1ad2fb407b01b1427369cb982992e6e7aac849f0682
Type fulltextMimetype application/pdf

By organisation
School of Engineering
Signal ProcessingElectrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 1097 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 620 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf