ON THE DEVELOPMENT OF A REAL-TIME SIMULATOR ENGINE FOR A HYDRAULIC FORESTRY MACHINE

Authors

  • Evangelos Papadopoulos Dept. of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece
  • Yves Gonthier Canadian Space Agency, St. Hubert, PQ, Canada J3Y 8Y9

Keywords:

machine training simulator, hydraulic dynamics, numerical stiffness, real-time, control system

Abstract

This work focuses on the development of a real-time training simulator engine for a forestry machine. The rigid body dynamics of the machine’s manipulator is integrated with electrohydraulic actuator dynamics and joint controllers. System numerical stiffness introduced by the closing valves, high order hydraulic dynamics, and simulator implementa-tion using an interpreted language were identified as the prime reasons for slowing down the integration. Successive models of lower complexity and switching between models for the open and closed phases of the valves are proposed aiming to achieve a satisfactory simulator engine that can run in real-time. Simulation results demonstrate very good prediction of an actual machine behaviour with execution speeds improved by a factor of 35.

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Author Biographies

Evangelos Papadopoulos, Dept. of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece

Evangelos Papadopoulos Received his Diploma from the NTUA in 1981, and his M.S. and Ph.D. from MIT in 1983 and 1991 respectively, all in ME. He then joined McGill U., ME Dept. where he became an Assoc. Prof. (1997). Currently, he is an Assoc. Prof. with the ME Dept. of NTUA. His research interests are in robotics, including forestry and space, modelling and control of dynamic systems, and electrohy-draulic servo systems. He is a senior member of IEEE and AIAA and a member of ASME and Sigma Xi.

Yves Gonthier, Canadian Space Agency, St. Hubert, PQ, Canada J3Y 8Y9

Yves Gonthier Received his BS in 1993 and his M.Eng. in 1996 from McGill University, both in ME. From 1996-1997 he worked as a research engineer at the McGill Centre for Intelligent Machines and from 1997-1999 at the Centre de Recherche Informatique de Montreal (CRIM). He is currently with the Canadian Space Agency. His research interests include simula-tion of contact dynamics and of complex electromechanical and space systems.

References

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Published

2002-03-01

How to Cite

Papadopoulos, E., & Gonthier, Y. (2002). ON THE DEVELOPMENT OF A REAL-TIME SIMULATOR ENGINE FOR A HYDRAULIC FORESTRY MACHINE. International Journal of Fluid Power, 3(1), 55–65. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/630

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Original Article