| 液压挖掘机上车结构参数与液压缸摩擦力参数辨识 |
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| 引用本文： | 龚文,王庆丰.液压挖掘机上车结构参数与液压缸摩擦力参数辨识[J].中国机械工程,2010(9). |
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| 作者姓名： | 龚文 王庆丰 |
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| 作者单位： | 浙江大学流体传动及控制国家重点实验室; |
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| 基金项目： | 国家自然科学基金资助项目(50875233); 国家863高技术研究发展计划资助项目(2009AA044402) |
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| 摘 要： | 在液压挖掘机上车机械臂的动力学分析基础上,提出利用液压缸平稳低速运行时的动力学特性建立与摩擦力无关的挖掘机臂动力学模型,并运用该模型通过离线辨识确定臂的结构参数。基于经典摩擦力模型建立液压缸的辨识模型,通过在线辨识实验得到了液压缸的摩擦力参数,为深入研究液压挖掘机的动力学特性、建立可靠的系统仿真模型及实现臂运动的精确控制提供了依据。
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| 关 键 词： | 液压挖掘机 动力学模型 液压缸摩擦 参数辨识 |
Parametric Identification of Arm Structure and Cylinder Friction on a Hydraulic Excavator |
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| Gong Wen Wang Qingfeng The State Key Laboratory of Fluid Power Transmission , Control,Zhejiang University,Hangzhou.Parametric Identification of Arm Structure and Cylinder Friction on a Hydraulic Excavator[J].China Mechanical Engineering,2010(9). |
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| Authors: | Gong Wen Wang Qingfeng The State Key Laboratory of Fluid Power Transmission Control Zhejiang University Hangzhou |
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| Affiliation: | Gong Wen Wang Qingfeng The State Key Laboratory of Fluid Power Transmission , Control,Zhejiang University,Hangzhou,310027 |
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| Abstract: | On the basis of dynamics analysis of a hydraulic excavator's arm,when the hydraulic cylinder worked at a low and steady speed,a dynamics model,which was independent on the cylinder friction,was obtained.The model was applied on the off-line parametric identification of the hydraulic excavator's arm.According to the classical frictional model,an experimental on-line parametric identification was carried out on the excavator.The validation of the method is proved through the experimental data.The results prov... |
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| Keywords: | hydraulic excavator dynamics model hydraulic cylinder friction parameter identification |
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