Faster than real-time simulation of mobile crane dynamics using digital twin concept

Abstract

The paper discusses the problem of the mobile crane movement prediction in real-time during the operation of the crane. Dynamic and kinematic models of the crane are created to solve this problem. The models form the digital twin that can be used to facilitate the crane operation. As the crane can move rather fast, the crane dynamics, rather than kinematics, becomes more important in its movement prediction. However, in order to be calculated faster than real-time the crane model should be simplified. The paper considers an example of the mobile crane for which two models are developed: the detailed reference model and the simplified model for faster than real-time calculations, which includes the dynamic and kinematic equations. We implemented both models as C programs. Experiments are made in order to compare the accuracy and the calculation speed of the simplified model with respect to the reference model.