A base parameter identification method and model validation for hydraulic arms
A base parameter identification method and model validation for hydraulic arms
复制标题
液压臂基本参数辨识方法及模型验证
DOI：
10.5739/jfps.43.16
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
K. Osuka
中科院分区：
文献类型：
--
作者：
Yuzo Maeshima;S. Sakai;M. Nakanishi;K. Osuka
本文提出了一种液压臂基本参数辨识方法。首先，将液压臂的状态空间方程转换为关于基本参数的线性方程，基本参数是一组未知参数，例如流量系数、管道体积和内泄漏系数。其次，提出了一种新的基于线性方程的参数辨识方法。最后，通过使用实际手臂的模型验证证实了所提出方法的有效性。通过所提出的方法，不仅手臂位置，而且实际手臂的压力都接近于根据识别参数构建的非线性模型。特别地，非线性模型还产生实际压力的特征响应。
This paper proposes a base parameter identifi cation method for hydraulic arms. First, the state-space equation of hydraulic arms is converted into a linear equation with respect to base parameters which are a set of unknown parameters such as the fl ow coeffi cient, the pipeline volume and the internal leakage coeffi cient. Second, a new parameter identifi cation method is proposed based on the linear equation. Finally, the validity of the proposed method is confi rmed via the model validation using an actual arm. By the proposed method, not only the arm position, but also the pressures of the actual arm are close to those of the nonlinear model which is constructed from the identifi ed parameters. Especially, a characteristic response of the actual pressures is also generated by the nonlinear model.