Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification
Turntable ladders are flexible large-scale manipulators, so an active oscillation damping is highly valuable. Aiming to support the development and parametrization of the controller, a precise dynamic model of the vehicle is desired. Previous work considering solely the dynamic oscillations of the l...
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2024-12-01
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| Series: | Mathematical and Computer Modelling of Dynamical Systems |
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| Online Access: | https://www.tandfonline.com/doi/10.1080/13873954.2024.2361011 |
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| author | Bernd Müller Oliver Sawodny |
| author_facet | Bernd Müller Oliver Sawodny |
| author_sort | Bernd Müller |
| collection | DOAJ |
| description | Turntable ladders are flexible large-scale manipulators, so an active oscillation damping is highly valuable. Aiming to support the development and parametrization of the controller, a precise dynamic model of the vehicle is desired. Previous work considering solely the dynamic oscillations of the ladder parts is extended by a dynamic model of the chassis and support structure that includes flexible deformation of the chassis. All contact forces to the ground are calculated because they provide potential for determining dynamic outreach limits in future. As it can happen in practice, the outriggers are able to become fully unloaded in the simulation model. This behaviour is validated by measurements. A sensitivity analysis is used to establish a suitable approach for identification of model parameters. Dynamical measurements illustrate that the combination of two dynamic models of ladder and chassis improves representation of the dynamic oscillations that are crucial for the active oscillation damping control. |
| format | Article |
| id | doaj-art-bc51016610c342598edb5acf31c22c20 |
| institution | Kabale University |
| issn | 1387-3954 1744-5051 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Mathematical and Computer Modelling of Dynamical Systems |
| spelling | doaj-art-bc51016610c342598edb5acf31c22c202024-12-12T14:07:39ZengTaylor & Francis GroupMathematical and Computer Modelling of Dynamical Systems1387-39541744-50512024-12-0130156759010.1080/13873954.2024.2361011Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identificationBernd Müller0Oliver Sawodny1Institute for System Dynamics, University of Stuttgart, Stuttgart, GermanyInstitute for System Dynamics, University of Stuttgart, Stuttgart, GermanyTurntable ladders are flexible large-scale manipulators, so an active oscillation damping is highly valuable. Aiming to support the development and parametrization of the controller, a precise dynamic model of the vehicle is desired. Previous work considering solely the dynamic oscillations of the ladder parts is extended by a dynamic model of the chassis and support structure that includes flexible deformation of the chassis. All contact forces to the ground are calculated because they provide potential for determining dynamic outreach limits in future. As it can happen in practice, the outriggers are able to become fully unloaded in the simulation model. This behaviour is validated by measurements. A sensitivity analysis is used to establish a suitable approach for identification of model parameters. Dynamical measurements illustrate that the combination of two dynamic models of ladder and chassis improves representation of the dynamic oscillations that are crucial for the active oscillation damping control.https://www.tandfonline.com/doi/10.1080/13873954.2024.2361011Dynamic modellingsensitivity analysisparameter identification |
| spellingShingle | Bernd Müller Oliver Sawodny Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification Mathematical and Computer Modelling of Dynamical Systems Dynamic modelling sensitivity analysis parameter identification |
| title | Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification |
| title_full | Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification |
| title_fullStr | Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification |
| title_full_unstemmed | Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification |
| title_short | Dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity-based parameter identification |
| title_sort | dynamic multibody model of a turntable ladder truck considering unloaded outriggers and sensitivity based parameter identification |
| topic | Dynamic modelling sensitivity analysis parameter identification |
| url | https://www.tandfonline.com/doi/10.1080/13873954.2024.2361011 |
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