Study on Control Characteristics of Excavator Boom Based on Model Reference Adaptive Control
In addressing the issue of unstable position control of excavator booms caused by nonlinear factors,a model reference adaptive disturbance suppression method was proposed by incorporating an extended state observer(ESO).A mathematical model for the electro-hydraulic control of the boom was established,and a simulation model was constructed.Excellent control curves were collect-ed for parameter identification to determine the specific transfer function,which was used as the reference model.To address uncertain disturbances,an ESO was introduced,and the uncertainties and external disturbances of the controlled object were treated as total dis-turbances.The genetic algorithm particle swarm optimization(GAPSO)was employed for control parameter optimization.Finally,simula-tion and experimental verification were conducted.The results demonstrate that the model reference adaptive control using GAPSO and ESO significantly improves precision,anti-interference capability and stability compared to traditional model reference adaptive control.
model reference adaptive controlextended state observerparameter identificationexcavator boomgenetic algorithm particle swarm optimization
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