Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - Modelling of an hydraulic excavator using simplified refined instrumental variable (SRIV) algorithm
AU - Gu, Jun
AU - Taylor, James
AU - Seward, Derek
PY - 2007/11
Y1 - 2007/11
N2 - 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.
AB - 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.
KW - Hydraulic excavator
KW - Nonlinear dynamics
KW - Data based model
KW - Simplified refined instrumental variable algorithm
U2 - 10.1007/s11768-006-6180-2
DO - 10.1007/s11768-006-6180-2
M3 - Journal article
VL - 5
SP - 391
EP - 396
JO - Journal of Control Theory and Applications
JF - Journal of Control Theory and Applications
SN - 1672-6340
IS - 4
ER -