Search engine for discovering works of Art, research articles, and books related to Art and Culture
Javascript must be enabled to continue!
Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
View through CrossRef
In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a nonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed. The Hammerstein algorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory. In order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update the forgetting factor. The experimental results show that the improved Hammerstein model error is about 40.11% less than the classical Hammerstein model error. This proves that the improved Hammerstein model is feasible and effective to describe the electrohydraulic servo system of the robotic excavator.
Title: Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model
Description:
In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a nonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed.
The Hammerstein algorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory.
In order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update the forgetting factor.
The experimental results show that the improved Hammerstein model error is about 40.
11% less than the classical Hammerstein model error.
This proves that the improved Hammerstein model is feasible and effective to describe the electrohydraulic servo system of the robotic excavator.
Related Results
METHODOLOGY OF THE DESIGN CALCULATION OF THE ELECTRO-HYDRAULIC SERVO DRIVE OF TECHNOLOGICAL EQUIPMENT
METHODOLOGY OF THE DESIGN CALCULATION OF THE ELECTRO-HYDRAULIC SERVO DRIVE OF TECHNOLOGICAL EQUIPMENT
Machine-building industries and enterprises for modernization of railway rolling stock are constantly increasing the requirements for the technical and functional char...
Intelligent Fault Diagnosis of Electrohydraulic Servo Valve Based on Kalman Filter and BiLSTM‐ANN Hybrid Deep Model
Intelligent Fault Diagnosis of Electrohydraulic Servo Valve Based on Kalman Filter and BiLSTM‐ANN Hybrid Deep Model
ABSTRACT
The electrohydraulic servo valve plays crucial roles as key component in combustion control system of an aeroengine, and its fault forms are diverse, non...
Multisource electrohydraulic servo valve fault status diagnostic algorithm based on a message propagation mechanism
Multisource electrohydraulic servo valve fault status diagnostic algorithm based on a message propagation mechanism
Abstract
Fault identification of electrohydraulic servo valves is crucial to maintain the reliability and safety of high-precision electrohydraulic servo systems. Be...
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators
Purpose
To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of...
Development of excavator arm movement with wireless control using Bluetooth and the Internet of Things (IoT)
Development of excavator arm movement with wireless control using Bluetooth and the Internet of Things (IoT)
This research is to develop a wired control system into a wireless control system on a laboratory scale mini excavator. First step is to review the development of the drive system ...
A Unified Approach for the Identification of Wiener, Hammerstein, and Wiener–Hammerstein Models by Using WH-EA and Multistep Signals
A Unified Approach for the Identification of Wiener, Hammerstein, and Wiener–Hammerstein Models by Using WH-EA and Multistep Signals
Wiener, Hammerstein, and Wiener–Hammerstein structures are useful for modelling dynamic systems that exhibit a static type nonlinearity. Many methods to identify these systems can ...
EVENT-TRIGGERED CONTROL OF MILLING PHOTOELECTRIC TRACKING SERVO SYSTEMS BASED ON MULTI-INNOVATION INTEREST PARAMETER IDENTIFICATION
EVENT-TRIGGERED CONTROL OF MILLING PHOTOELECTRIC TRACKING SERVO SYSTEMS BASED ON MULTI-INNOVATION INTEREST PARAMETER IDENTIFICATION
Given the coupling of speed and current and the nonlinearity of electronic devices, the photoelectric tracking servo system for milling machines make it difficult to determine the ...
Evaluating the Cost for Robotic vs “Non-Robotic” Transhiatal Esophagectomy
Evaluating the Cost for Robotic vs “Non-Robotic” Transhiatal Esophagectomy
Introduction
This study was undertaken to analyze and compare the cost of robotic transhiatal esophagectomy (THE) to “non-robotic” THE (ie, “open” and laparosco...