Paper Info
Title
Research on 4-DOF adaptive control of hydraulic excavator
Abstract
The research status of robotic excavator was introduced and the electro-hydraulic system schematic diagram of test excavator was analyzed. On the base of principle of load independent flow distribution system, the mathematical model of test excavator was derived. The reference model for adaptive control was given after logically simplifying electro-hydraulic model by combination of theory and experiment results. According to the local parameter optimum, an adaptive controller was developed. The test was conducted on the platform modified by SWE17E of SUNWARD. And the experiment results show that: the tracking error of the angle is 13.8% when adopting traditional PID controller, while it is within 6.8% by using adaptive controller developed in the paper, it demonstrates that the controller designed in the paper can improve control precision and obviously promote the steady state response speed, anticipated control requirements of stability and robustness can be accomplished.
Year
DOI
Venue
2015
10.1109/ICInfA.2015.7279754
Lijiang
Keywords
Field
DocType
adaptive control,electrohydraulic control equipment,excavators,hydraulic actuators,robust control,three-term control,4-DOF adaptive control,PID controller,SUNWARD,SWE17E,electrohydraulic system,hydraulic excavator testing,load independent flow distribution system,local parameter optimum,mathematical model,robotic excavator,schematic diagram,stability,steady state response speed control,tracking error,adaptive control,excavator electro-hydraulic proportional system load,independent flow distribution (LUDV) system,trajectory tracing
Control theory,Reference model,PID controller,Computer science,Control theory,Schematic,Control engineering,Robustness (computer science),Excavator,Adaptive control,Tracking error
Conference
Citations 
PageRank 
References 
0
0.34
2
Authors
4
Name
Order
Citations
PageRank
Yuming Zhao100.34
Qinghua He2194.19
Jun Gong3739.36
Chao Guo454.27