Model-Based Development of Control Systems for Forestry Cranes

<div>Validation results. The data presents a comparison of the measured pressure <svg height="10.2124pt" id="M179" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -6.78297 13.563 10.2124" width="13.563pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M570 304C570 398 525 448 414 448C385 448 343 445 312 434L329 511L321 518C297 504 262 482 244 460L233 411C195 397 159 381 128 358L135 332C160 347 189 360 224 373L111 -147C97 -210 84 -218 17 -231L13 -257L254 -247L259 -218L233 -216C183 -212 177 -202 189 -142L218 -1C238 -10 266 -12 283 -12C351 3 429 48 483 105C543 168 570 242 570 304ZM482 289C482 161 380 33 304 33C278 33 248 51 233 69L303 396C326 400 352 403 369 403C428 403 482 380 482 289Z" id="g113-113"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="593" vert-adv-y="593"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z" id="g50-67"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="622" vert-adv-y="622"></glyph.data></g></svg> (grey signal) with the estimation <svg height="13.5007pt" id="M180" style="vertical-align:-3.4294pt" version="1.1" viewbox="-0.0498162 -10.0713 13.563 13.5007" width="13.563pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.781,-1.044)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z" id="g119-17"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="470" vert-adv-y="470"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M570 304C570 398 525 448 414 448C385 448 343 445 312 434L329 511L321 518C297 504 262 482 244 460L233 411C195 397 159 381 128 358L135 332C160 347 189 360 224 373L111 -147C97 -210 84 -218 17 -231L13 -257L254 -247L259 -218L233 -216C183 -212 177 -202 189 -142L218 -1C238 -10 266 -12 283 -12C351 3 429 48 483 105C543 168 570 242 570 304ZM482 289C482 161 380 33 304 33C278 33 248 51 233 69L303 396C326 400 352 403 369 403C428 403 482 380 482 289Z" id="g113-113"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="593" vert-adv-y="593"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,7.384,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z" id="g50-67"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="622" vert-adv-y="622"></glyph.data></g></svg> (bold signal) found according to the model (<a href="https://static.hindawi.com/articles/jcse/volume-2015/256951/figures/#EEq47">46</a>).</div>

Journal of Control Science and Engineering

Model-Based Development of Control Systems for Forestry Cranes

Figure 10