Inertial parameter estimation for the dynamic simulation of a hydraulic excavator
This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained wi...
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| Published in | Journal of mechanical science and technology Vol. 32; no. 9; pp. 4045 - 4056 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Seoul
Korean Society of Mechanical Engineers
01.09.2018
Springer Nature B.V 대한기계학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1738-494X 1976-3824 |
| DOI | 10.1007/s12206-018-0804-6 |
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| Abstract | This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained with relatively high accuracy, the dynamic model is factored into the unknown inertial parameter vector and the known kinematic matrix. The contribution of each inertial parameter on the actuator force under the specific motion is explored through a dynamic sensitivity analysis. The results are then used to investigate various properties of the inertial parameters and categorize them into identifiable, unrelated to dynamics, and known parameter groups, according to numerical properties of the kinematic matrix. Then the identifiable inertial parameters are estimated sequentially, and the guideline for the optimal excavator position at each estimation step is suggested in order to minimize estimation error. The practicality of this method is demonstrated via data acquired using an actual hydraulic excavator. |
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| AbstractList | This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained with relatively high accuracy, the dynamic model is factored into the unknown inertial parameter vector and the known kinematic matrix. The contribution of each inertial parameter on the actuator force under the specific motion is explored through a dynamic sensitivity analysis. The results are then used to investigate various properties of the inertial parameters and categorize them into identifiable, unrelated to dynamics, and known parameter groups, according to numerical properties of the kinematic matrix. Then the identifiable inertial parameters are estimated sequentially, and the guideline for the optimal excavator position at each estimation step is suggested in order to minimize estimation error. The practicality of this method is demonstrated via data acquired using an actual hydraulic excavator. This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained with relatively high accuracy, the dynamic model is factored into the unknown inertial parameter vector and the known kinematic matrix. The contribution of each inertial parameter on the actuator force under the specific motion is explored through a dynamic sensitivity analysis. The results are then used to investigate various properties of the inertial parameters and categorize them into identifiable, unrelated to dynamics, and known parameter groups, according to numerical properties of the kinematic matrix. Then the identifiable inertial parameters are estimated sequentially, and the guideline for the optimal excavator position at each estimation step is suggested in order to minimize estimation error. The practicality of this method is demonstrated via data acquired using an actual hydraulic excavator. KCI Citation Count: 0 |
| Author | Yoo, Seungjin Park, Cheol-Gyu You, Seung-Han |
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| Cites_doi | 10.1109/70.34762 10.1007/s11771-011-0869-1 10.1007/s11633-008-0185-x 10.1002/1097-4563(200102)18:2<55::AID-ROB1005>3.0.CO;2-O 10.1109/70.817677 10.1016/j.autcon.2014.03.024 10.1109/70.56655 10.1109/70.631234 10.1109/70.795801 10.1023/A:1008914201877 10.1177/027836499501400606 |
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| Keywords | Excavator Parameter categorization Inertial parameter estimation Sensitivity analysis Optimization |
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| SubjectTerms | Actuators Computer simulation Control Data acquisition Dynamic models Dynamical Systems Earthmoving equipment Engineering Excavators Hydraulic equipment Hydraulics Industrial and Production Engineering Kinematics Matrix algebra Matrix methods Mechanical Engineering Model accuracy Parameter estimation Parameter identification Sensitivity analysis Vibration 기계공학 |
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