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Modelling of an hydraulic excavator using simplified refined instrumental variable (SRIV) algorithm

Research output: Contribution to journalJournal article

Published

<mark>Journal publication date</mark>11/2007
<mark>Journal</mark>Journal of Control Theory and Applications
Issue4
Volume5
Number of pages6
Pages391-396
<mark>Original language</mark>English

Abstract

Instead of the establishing the mathematical hydraulic system models from the physical laws as usual with the problems of complex modelling process, low reliability and practicality caused by large uncertainties, a novel modelling method for a highly nonlinear system of 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 experiments.