Faster than real-time simulation of a hydraulically actuated log crane

The problem of dynamics modeling of mobile machines that include hydraulic components is considered. The dynamic model should be built in a way that enables its faster than real-time calculation. The simulation results of such a model can be used in real-time tasks such as trajectory prediction, control and optimization. The dynamic model of hydraulically actuated mobile crane is developed and used as an example of the system in which dynamics is of great value for the system behavior evaluation. Several approaches for dynamic model construction are discussed and their features such as performance, accuracy and ease of use are evaluated. The performance of the developed models is estimated with respect to crane dynamic model built in commercial software. The advantages and disadvantages of every approach relatively to faster than real-time calculations are discussed.