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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 demon- strated by the performance of computer simulation and the real machine motion control experiments.
Instead of establishing mathematical hydraulic system models from physical laws usually done with the problems of complex modeling processes, low reliability and practicality caused by large uncertainties, a novel modeling 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 demon- strated by the performance of computer simulation and the real machine motion control experiments.