关键词: 液压挖掘臂, 动力学, 非线性摩擦, 最小二乘法, 参数辨识

Abstract:

Dynamics model for a single excavator arm and a driving-force model for cylinder were established, unknown parameters for the dynamics and nonlinear friction were described by linear-in-parameter models. Based on the acquired pressure and angular data, forgetting factor recursive least square method and recursive extended least square method were adopted to identify the unknown parameters. Comparison results demonstrate that both identified models approximate to the actual system well. Comparing with the forgetting factor recursive least square method, the error of the recursive extended least square method is reduced by 28%, it is more robust to the system noise.

Key words: hydraulic excavator arm, dynamics, nonlinear friction, least square method, parameter identification