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Modelling of an hydraulic excavator using simplifiedrefined instrumental variable(SRIV)algorithm 被引量：6

Modelling of an hydraulic excavator using simplified refined instrumental variable(SRIV)algorithm
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摘要 Instead of establishing mathematical hydraulic system models from physical laws usually done with the problems of complex modelling processes, low reliability and practicality caused by large uncertainties, a novel modelling method for a highly nonlinear system of a hydraulic excavator is presented. Based on the data collected in the excavator＇s arms driving experiments, a data-based excavator dynamic model using Simplified Refined Instrumental Variable （SRIV） identification and estimation algorithms is established. The validity of the proposed data-based model is indirectly demonstrated by the performance of computer simulation and the.real machine motion control exoeriments. Instead of establishing mathematical hydraulic system models from physical laws usually done with the problems of complex modelling processes, low reliability and practicality caused by large uncertainties, a novel modelling method for a highly nonlinear system of a hydraulic excavator is presented. Based on the data collected in the excavator＇s arms driving experiments, a data-based excavator dynamic model using Simplified Refined Instrumental Variable （SRIV） identification and estimation algorithms is established. The validity of the proposed data-based model is indirectly demonstrated by the performance of computer simulation and the.real machine motion control exoeriments.
作者 Jun GU James TAYLOR Derek SEWARD
机构地区 School of Mechanical ＆ Electronic Engineering Engineering Department
出处 《控制理论与应用（英文版）》 EI 2007年第4期391-396,共6页
关键词 Hydraulic excavator Nonlinear dynamics Data based model Simplified refined instrumental variable algorithm Hydraulic excavator Nonlinear dynamics Data based model Simplified refined instrumental variable algorithm
分类号 TH7 [机械工程—精密仪器及机械]
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参考文献11

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同被引文献38

  • 1杨军宏,尹自强,李圣怡.阀控非对称缸的非线性建模及其反馈线性化[J].机械工程学报,2006,42(5):203-207. 被引量：63
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  • 8TAYLOR C J, CHOTAI A, YOUNG P C. State space control system design based on non-minimal state-variable feedback: Further generalisation and unification results[J]. International Journal of Control, 2000, 73(14): 1 329-1 345.
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引证文献6

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控制理论与应用（英文版）
2007年 第4期

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