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

摘要

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, ab. CARMA model) of electro- hydraulic system for excavator is derived. The 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 respectively. Simulation program flow chart is designed according to the above equations. Simulation is done by taking electro- hydraulic proportional system of boom as an example. It is shown that the method for estimation can predict the output of object accurately.