A framework to develop and test a model-free motion control system for a forestry crane

作     者：Pedro La Hera Omar Mendoza-Trejo Hakan Lideskog Daniel Ortíz Morales 

作者机构：Swedish University of Agricultural SciencesDepartment of Forest Biomaterials and TechnologyUmea90183Sweden Lulea University of TechnologyDepartment of Engineering Sciences and MathematicsLulea 97187Sweden CRANAB ABVindeln 92232Sweden 

出 版 物：《Biomimetic Intelligence & Robotics》 (仿生智能与机器人（英文）)

年 卷 期：2023年第3卷第4期

页      面：75-87页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：Swedish Cluster of Forest Technology Swedish Energy Swedish Foundation for Strategic Environmental Research MISTRA Sveriges Lantbruksuniversitet, SLU Luleå Tekniska Universitet, LTU Kempestiftelserna, (JCK-1713) 

主　　题：Model-free control Hydraulic manipulator Forestry crane control Intelligent PID control Forestry automation Controller implementation 

摘      要：This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry *** control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control *** framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using *** downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real *** results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.