液压挖掘机振动掘削系统辨识模型及算法研究

Research on Identification Model and Arithmetic of Vibratory Cutting System for Hydraulic Excavator

介绍了液压挖掘机振动掘削的激振方式和实现机理。通过确立挖掘机铲斗与土壤的相互作用的动力学模型,再根据系统辨识理论,建立了振动掘削系统的输入输出数学模型;运用参数估计理论,主要探讨了不同辨识模型下最小二乘算法在参数辨识过程中的运用。最后,通过MATLAB软件进行了仿真计算,并比较了不同算法的参数辨识效果。

The way of vibration stimulating and implementation mechanism on vibratory cutting for hydraulic excavator was introduced. Interactional dynamic model between excavator bucket and soil was established,on the basis of system identification theory,founded input-output mathematics model on vibratory cutting system. By using parameter estimating theory,the application of least square method on the process of parameters identification at the different identification models was discussed. Eventually,imitate computing by MATLAB was finished and the effect of parameter identification at the different arithmetic also was compared.