Nonlinear model predictive control of a hydraulic excavator using Hammerstein models
Nonlinear model predictive control of a hydraulic excavator using Hammerstein models
复制标题
使用 Hammerstein 模型对液压挖掘机进行非线性模型预测控制
DOI：
10.1109/icara.2015.7081208
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
O. Sawodny
中科院分区：
文献类型：
--
作者：
F. A. Bender;M. Sonntag;O. Sawodny
液压挖掘机在世界各地的建筑工地上发挥着至关重要的作用。因此，这些机器的有效操作有助于快速完成施工任务。特别是，优化的控制策略可以改善机器性能，燃料消耗和污染物排放。在这项工作中，液压挖掘机的非线性模型被认为是。结果表明，一个简化的非线性模型与Hammerstein结构可以准确地代表潜在的动态控制的目的。基于此模型，非线性模型预测控制方法，包括一个优化算法的开发，以使挖掘机执行给定的任务，通过四个运动轴的目标位置。仿真结果的基础上开发的控制器的应用程序的复杂的物理模型的挖掘机表明良好的跟踪性能和快速执行的任务。
Hydraulic excavators play a crucial role on worldwide construction sites. Efficient operation of these machines therefore contributes to a quick completion of the construction task. In particular, optimized control strategies can lead to improvements with regard to machine performance, fuel consumption, and pollutant emissions. In this work, a nonlinear model of a hydraulic excavator is considered. It is shown that a simplified nonlinear model with Hammerstein structure can accurately represent the underlying dynamics for the purpose of control. Based on this model, a nonlinear model predictive control approach including an optimization algorithm is developed in order to have the excavator perform a task given through target positions of the four motion axes. Simulation results based on an application of the developed controller to a complex physical model of the excavator indicate good tracking performance and fast execution of the task.