Inlämning av Examensarbete / Submission of Thesis

Wojciech Armiński; Andrzej Jüngst , pp. 98. ING/School of Engineering, 2012.

The work

Författare / Author: Wojciech Armiński, Andrzej Jüngst
Titel / Title: SEMI-AUTOMATED FORWARDER CRANE CONTROL
Abstrakt Abstract:

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.

Ämnesord / Subject: Signalbehandling - Signal Processing
Elektroteknik - Electrotechnology
Nyckelord / Keywords: Hydraulic crane, Forwarder, Crane tip control, Degree of freedom

Publication info

Dokument id / Document id: houn-92nq4u
Program:/ Programme Magisterprogram i Elektroteknik / Master of Science in Electrical Engineering
Registreringsdatum / Date of registration: 12/04/2012
Uppsatstyp / Type of thesis: Masterarbete/Master's Thesis (120 credits)

Context

Handledare / Supervisor: Martin Nyström (Rottne Industry AB), Anders Hultgren (BTH), and Matz Lenells (LNU)
Examinator / Examiner: Sven Johansson
Organisation / Organisation: Blekinge Institute of Technology
Institution / School: ING/School of Engineering

+46 455 38 50 00
I samarbete med / In co-operation with: Rottne Industry AB, Dasa Control Systems AB

Files & Access

Bifogad uppsats fil(er) / Files attached: bth2012 armiński.pdf (3950 kB, öppnas i nytt fönster)