ISO 11783 Compliant Forest Crane As a Platform for Automatic Control

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Journal Title
Journal ISSN
Volume Title
School of Electrical Engineering | A4 Artikkeli konferenssijulkaisussa
Date
2013
Major/Subject
Mcode
Degree programme
Language
en
Pages
6
Series
Abstract
ISO 11783 is a communication standard for agricultural and forest machines. This standard allows an implement to command specific functions of a tractor. Agricultural tractors can be equipped for silvicultural work forming small scale forest machine. It could cost-efficiently compete against common forest machines in some tasks. We have developed an ISO 11783 compliant forest crane connected to an agricultural tractor. The combination is designed to work as a test platform for an autonomous forest machine. The dynamics of the system have been studied using first and second-order models. Based on identification tests with no load on the crane, first-order model is sufficient for describing the motion of most of the cylinders. According to the identification results, small controls do not cause motion on the crane, and a non-linear model is required. Currently used hydraulics of agricultural tractors is not entirely adequate for controlling forest cranes. With more intelligent tractor hydraulics, the crane could be more controllable and energy-efficient.
Description
Keywords
identification, hydraulic systems, ISO 11783, forestry, agriculture
Other note
Citation
Kalmari, Jouko & Pihlajamäki, Tuomas & Hyyti, Heikki & Luomaranta, Markku & Visala, Arto. 2013. ISO 11783 Compliant Forest Crane As a Platform for Automatic Control. Agricontrol 2013, Espoo. P. 6. 10.3182/20130828-2-SF-3019.00046.