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

Gu, Jun and Taylor, James and Seward, Derek (2007) Modelling of an hydraulic excavator using simplified refined instrumental variable (SRIV) algorithm. Journal of Control Theory and Applications, 5 (4). pp. 391-396. ISSN 1672-6340

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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.

Item Type: Article
Journal or Publication Title: Journal of Control Theory and Applications
Uncontrolled Keywords: Hydraulic excavator ; Nonlinear dynamics ; Data based model ; Simplified refined instrumental variable algorithm
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
VC's Office
ID Code: 32496
Deposited By: Dr C. James Taylor (Engineering)
Deposited On: 13 Apr 2010 09:33
Refereed?: Yes
Published?: Published
Last Modified: 24 Jan 2014 05:17
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/32496

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