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		Jun GU,James TAYLOR,Derek SEWARD.[en_title][J].Control Theory and Technology,2007,5(4):391~396.[Copy]

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JunGU,JamesTAYLOR,DerekSEWARD
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Received:October 15, 2006Revised:February 27, 2007

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

Jun GU, James TAYLOR, Derek SEWARD

(School of Mechanical & Electronic Engineering, Soochow University, Suzhou, Jiangsu 215021, China; Engineering Department, Lancaster University, Lancaster, LA1 4YR, UK)

Abstract:

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

Key words: Hydraulic excavator Nonlinear dynamics Data based model Simplified refined instrumental variable algorithm