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:
Journal Article
Journal or Publication Title:
Journal of Control Theory and Applications
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/1700/1708
Subjects:
?? hydraulic excavatornonlinear dynamicsdata based modelsimplified refined instrumental variable algorithmhardware and architecturecontrol and systems engineeringcomputer science applicationsta engineering (general). civil engineering (general) ??
ID Code:
32496
Deposited On:
13 Apr 2010 08:33
Refereed?:
Yes
Published?:
Published
Last Modified:
15 Jul 2024 10:52