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Content Provider | IEEE Xplore Digital Library |
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Author | Yuming Zhao Qinghua He Jun Gong Chao Guo Daqing Zhang Xinhao Liu Kang Wu |
Copyright Year | 2015 |
Description | Author affiliation: Key State Lab. of High Performance Complex Manuf., Central South Univ., Changsha, China (Yuming Zhao; Qinghua He; Jun Gong; Chao Guo) || Sunward Intell. Equip. Co., Ltd., Changsha, China (Daqing Zhang; Xinhao Liu; Kang Wu) |
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. |
Starting Page | 2760 |
Ending Page | 2764 |
File Size | 289132 |
Page Count | 5 |
File Format | |
e-ISBN | 9781467391047 |
DOI | 10.1109/ICInfA.2015.7279754 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2015-08-08 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | excavator electro-hydraulic proportional system load Adaptation models independent flow distribution (LUDV) system Valves Robot sensing systems adaptive control Cavity resonators Mathematical model Adaptive control trajectory tracing |
Content Type | Text |
Resource Type | Article |
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