Position: Home > Articles > Nonlinear Identification of Excavator Arm's Electro-hydraulic Servo System
Transactions of the Chinese Society for Agricultural Machinery
2012,43
(4)
20-25+131
挖掘臂电液伺服系统非线性辨识
作 者：
黎波;严骏;刘安心;曾拥华;郭刚
单 位：
解放军理工大学工程兵工程学院
关键词：
挖掘臂;电液伺服系统;Pseudo-Hammerstein-Wiener;模型;非线性辨识
摘 要：
针对机理建模存在未建模动态及其参数辨识难的问题,采用由分段非线性模块、线性时不变动态模块及间隙非线性模块串联组成的Pseudo-Hammerstein-Wiener模型来描述挖掘臂电液伺服系统。利用关键变量分离原理将系统模型化解为最小二乘格式,再采用带中间变量估计的改进递推最小二乘算法进行辨识。实验表明,辨识所得Pseudo-Hammerstein-Wiener模型能很好地逼近实际系统,误差比Hammerstein及线性模型分别减少29%及68%。
译 名：
Nonlinear Identification of Excavator Arm's Electro-hydraulic Servo System
作 者：
Li Bo Yan Jun Liu Anxin Zeng Yonghua Guo Gang (Engineering Institute of Corps of Engineer,PLA University of Science and Technology,Nanjing 210007,China)
关键词：
Excavator arm,Electro-hydraulic servo system,Pseudo-Hammerstein-Wiener model,Nonlinear identification
摘 要：
Aiming at the problem that there are unmodeled dynamics by theoretic modeling and it is also difficult to identify,a Pseudo-Hammerstein-Wiener model with cascade connection of a two-segment polynomial nonlinearity block,a time-invariant linear system,and a backlash nonlinear term was adopted to model the electro-hydraulic servo system of excavator arm.The key term separation principle was used to decompose the model into a linear-in-parameter format,and a refined recursive least square method supplemented with the estimation of internal variables was proposed to identify the decomposed parameters.Experiments demonstrated that the identified Pseudo-Hammerstein-Wiener model approximated the actual system well.Comparing with Hammerstein and ARX model,the error of the Pseudo-Hammerstein-Wiener was reduced by 29% and 68%,respectively.
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