On-line Identification of the Model Parameters for Excavator’s Manipulator

作     者：He Qinghua~1 Zhang Daqing~(1 2) Zhang Xinhai~1 Zou Xiangfu~1 1.School of Mechanical and Electrical Engineering Central South University Changsha 410083 P.R.China 2.Hunan Sunward Intelligent Machinery Co. LTD Changsha 410100 P.R China 

会议名称：《2007工程机械与车辆工程新进展国际学术会议》

会议日期：2007年

学科分类：08[工学] 0802[工学-机械工程] 

关 键 词：Excavator Electro-hydraulic system CARAMA Parameter identification. 

摘      要：正The retrofitted electro-hydraulic system for hydraulic robotic excavator and the model of electro-hydraulic proportional system is introduced. Base on which,the CARMA model（Controlled auto regression average model,*** model）of electro-hydraulic system for excavator is *** recursive least square（RLS） estimation fitting for excavator’s manipulator is developed,which is combining the forgetting factor algorithm with extended matrix Principle and recursion arithmetic for the estimation method are presented *** program flow chart is designed according to the above equations. Simulation is done by taking electro-hydraulic proportional system of boom as an *** is shown that the method for estimation can predict the output of object accurately.