Identification of dynamic parameters of an excavator's bucket with earth inside
In order to reduce the fuel consumption of excavators,a practical approach is to perform payload identification and carry out matched control of engine-pump-payload.In this paper,a method is developed to identify the dynamic parameters of the complex of the bucket and the contained earth,i.e.the payload.The to-be-identified parameters include the mass,the position of the mass center and the moment of inertia of the payload.Firstly,the dynamic equations are constructed by using the LaGrange method based on the profile of the working device and the pressure at both ends of the hydraulic cylinders.The systematic equations are constructed based on relevant data of the excavator during operation.Newton iteration method is ap-plied to solve the nonlinear equations and realize parameter identification.Simulations are carried out to verify the identifica-tion method,and the effect of data size and data noise on the identification results are studied.
NETL
NSTL
万方数据
维普
