Improvement of Starting Pressure Impact on Hydraulic Excavator Based on Model Calibration and Dynamic Matching of Pump Valve

doi:10.3969/j.issn.1004-132X.2026.07.029

Abstract

Abstract:

This paper addresses the problem of excessive pressure surge and speed oscillation during the start-up phase of a hydraulic excavator， caused by lag in pump-valve matching. A hybrid speed regulation method is proposed based on dynamic parameter calibration and pump-valve dynamic matching. A Lagrangian dynamic model with a continuously differentiable friction term is constructed. The inertia parameters and friction model coefficients are identified via excitation trajectory optimization and the leasts-quares method. A neural-network-based pressure feedback controller is designed to achieve dynamic matching between the main pump displacement and the unloading valve opening. Experimental results show that the proposed method reduces the start-up pressure surge by 19.12% to 35.43% without compromising speed response， and significantly enhances start-up stability and maneuverability.

Key words: hydraulic excavator, dynamic modeling, pump-valve matching, pressure surge

摘要：

针对液压挖掘机启动阶段泵阀匹配滞后导致的压力冲击大与速度振荡问题，提出了基于动力学参数标定与泵阀动态匹配的旁路节流-进油节流混合调速方法。构建含连续可微摩擦项的拉格朗日动力学模型，采用激励轨迹优化与最小二乘法辨识惯性参数和摩擦模型参数，并设计基于神经网络的压力反馈控制器，实现主泵排量与卸荷阀开度的动态匹配。试验表明，该方法在保持速度响应的同时使启动压力冲击减小19.12%~35.43%，提高了启动平稳性与操控性。

关键词: 液压挖掘机, 动力学模型, 泵阀匹配, 压力冲击

CLC Number:

TP601

GUO Yujie, CHEN Junxiang, AI Chao, KONG Xiangdong. Improvement of Starting Pressure Impact on Hydraulic Excavator Based on Model Calibration and Dynamic Matching of Pump Valve[J]. China Mechanical Engineering, 2026, 37(7): 1784-1793.

郭煜杰, 陈俊翔, 艾超, 孔祥东. 基于模型标定与泵阀动态匹配的液压挖掘机启动压力冲击改善[J]. 中国机械工程, 2026, 37(7): 1784-1793.

Figures/Tables 13

Fig.1 Electro-hydraulic flow matching system with bypass compensation valve

Fig.2 Electro-hydraulic flow matching control block diagram

Fig.3 Kinematic model of hydraulic excavator

Fig.4 Identification of dynamic parameters of hydraulic excavator

Fig.5 Excitation trajectory curve

Fig.6 Hydraulic excavator test platform based on load port independent hydraulic system

Tab.1 Identification results of friction model parameters for each joint

关节	α₁	α₂	α₃	γ₁	γ₂	γ₃
动臂	160.5	196.6	36.18	20.39	6.02	11.32
斗杆	129.6	145	36.55	6.74	2.76	46.82
铲斗	100.2	167.5	11.98	26.03	3.93	7.76

Fig.7 Identification results of friction torque models for each joint

Tab.2 Identification results of rigid-body dynamic parameters

最小惯性参数	辨识结果
$m 1 L A G 1 c o s (β 4) + m 2 L 1 + m 3 L 1 / (k g · m)$	329.1
$m 1 L A G 1 s i n (β 4) / (k g · m)$	31.03
$I 1 + m 1 L A G 1 2 + m 2 L 12 + m 3 L 12 / (k g · m 2)$	564.4
$m 2 L B G 2 c o s (β 5) + m 3 L 2 / (k g · m)$	109.3
$m 2 L B G 2 s i n (β 5) / (k g · m)$	2.965
$I 2 + m 2 L B G 2 2 + m 3 L 22 / (k g · m 2)$	111.5
$m 3 L C G 3 s i n (β 6) / (k g · m)$	12.07
$m 3 L C G 3 c o s (β 6) / (k g · m)$	19.32
$I 3 + m 3 L C G 3 2 / (k g · m 2)$	9.695

Tab.2 Identification results of rigid-body dynamic parameters

最小惯性参数	辨识结果
$m 1 L A G 1 c o s (β 4) + m 2 L 1 + m 3 L 1 / (k g · m)$	329.1
$m 1 L A G 1 s i n (β 4) / (k g · m)$	31.03
$I 1 + m 1 L A G 1 2 + m 2 L 12 + m 3 L 12 / (k g · m 2)$	564.4
$m 2 L B G 2 c o s (β 5) + m 3 L 2 / (k g · m)$	109.3
$m 2 L B G 2 s i n (β 5) / (k g · m)$	2.965
$I 2 + m 2 L B G 2 2 + m 3 L 22 / (k g · m 2)$	111.5
$m 3 L C G 3 s i n (β 6) / (k g · m)$	12.07
$m 3 L C G 3 c o s (β 6) / (k g · m)$	19.32
$I 3 + m 3 L C G 3 2 / (k g · m 2)$	9.695

Fig.8 Torque curves for joints of hydraulic excavator

Tab.3 Prediction performance evaluation metrics

评价指标		MAE	RMSE	R²/%
动臂	M1	23.21	44.03	93.75
动臂	M2	33.16	56.49	89.71
斗杆	M1	52.08	73.35	97.14
斗杆	M2	57.9	81.13	95.50
铲斗	M1	21.91	38.54	97.49
铲斗	M2	45.08	59.01	94.11

Fig.9 Characteristic curve of hydraulic cylinder under four working conditions of boom

Tab.4 Start-up pressure oscillation values of the boom under four working conditions

参数	最高压力/MPa		最低压力/MPa		w_p /%
参数	C1	C2	C1	C2	w_p /%
工况1	7.368	7.683	6.794	6.712	35.43
工况2	8.344	8.903	7.143	7.012	31.76
工况3	4.143	4.319	3.718	3.713	29.28
工况4	4.526	4.631	4.082	4.108	19.12

References 21

[1]	葛磊，董致新，李运华，等. 系列化液压挖掘机数字样机研究［J］. 机械工程学报， 2019， 55（14）： 186-196.
	GE Lei， DONG Zhixin， LI Yunhua， et al. Research on Digital Prototypes of Serial Hydraulic Excavators［J］. Journal of Mechanical Engineering， 2019， 55（14）： 186-196.
[2]	程敏，侯严迪，丁孺琦. 负载口独立控制系统非线性滤波振动抑制方法［J］. 西安交通大学学报， 2024， 58（4）： 200-210.
	CHENG Min， HOU Yandi， DING Ruqi. A Nonlinear Filtering Method of Vibration Suppression for the Independent Metering Control System［J］. Journal of Xi’an Jiaotong University， 2024， 58（4）： 200-210.
[3]	石运序，岳宗曙，黄伟迪，等. 正流量控制挖掘机泵阀响应特性及匹配优化研究［J］. 机床与液压， 2024， 52（10）： 38-42.
	SHI Yunxu， YUE Zongshu， HUANG Weidi， et al. Study on Response Characteristics and Matching Optimization of Positive Flow Control Excavator Pump Valve［J］. Machine Tool & Hydraulics， 2024， 52（10）： 38-42.
[4]	徐兵，程敏，杨华勇，等. 带旁路压力补偿的电液流量匹配系统［J］. 浙江大学学报（工学版）， 2015， 49（9）： 1762-1767.
	XU Bing， CHENG Min， YANG Huayong， et al. Electrohydraulic Flow Matching System with Bypass Pressure Compensation［J］. Journal of Zhejiang University （Engineering Science）， 2015， 49（9）： 1762-1767.
[5]	赵小龙，赵丁选，王建涛，等. 定量泵负载敏感系统卸荷压力冲击抑制研究［J］. 农业机械学报， 2020， 51（9）： 408-417.
	ZHAO Xiaolong， ZHAO Dingxuan， WANG Jiantao， et al. Suppression of Unloading Pressure Shock in Load Sensitive System of Constant Displacement Pump［J］. Transactions of the Chinese Society for Agricultural Machinery， 2020， 51（9）： 408-417.
[6]	XU Bing， CHENG Min， YANG Huayong， et al. A Hybrid Displacement/Pressure Control Scheme for an Electrohydraulic Flow Matching System［J］. IEEE/ASME Transactions on Mechatronics， 2015， 20（6）： 2771-2782.
[7]	CHENG Min， XU Bing， ZHANG Junhui， et al. Pump-based Compensation for Dynamic Improvement of the Electrohydraulic Flow Matching System［J］. IEEE Transactions on Industrial Electronics， 2017， 64（4）： 2903-2913.
[8]	CHENG Min， LUO Shaqi， DING Ruqi， et al. Dynamic Impact of Hydraulic Systems Using Pressure Feedback for Active Damping［J］. Applied Mathematical Modelling， 2021， 89： 454-469.
[9]	FU Wenbo， YUAN Xiaoming， LI Yongquan， et al. Research on Acceleration Performance Optimization of Large Inertia Hydraulic Actuator Based on Main Valve Input Shaping［J］. Machines， 2022， 10（11）： 987.
[10]	黄伟男，权龙，黄家海，等. 进出口独立控制液压挖掘机回转系统运行特性［J］. 机械工程学报， 2016， 52（20）： 159-167.
	HUANG Weinan， QUAN Long， HUANG Jiahai， et al. Excavator Swing System Controlled with Separate Meter-in and Meter-out Method［J］. Journal of Mechanical Engineering， 2016， 52（20）： 159-167.
[11]	Litong LYU， CHEN Zheng， YAO Bin. Energy Saving Motion Control of Independent Metering Valves and Pump Combined Hydraulic System［J］. IEEE/ASME Transactions on Mechatronics， 2019， 24（5）： 1909-1920.
[12]	AXIN M， ERIKSSON B， KRUS P. Flow versus Pressure Control of Pumps in Mobile Hydraulic Systems［J］. Proceedings of the Institution of Mechanical Engineers， Part I： Journal of Systems and Control Engineering， 2014， 228（4）： 245-256.
[13]	DU C， PLUMMER A R， JOHNSTON D N. Performance Analysis of a New Energy-efficient Variable Supply Pressure Electro-hydraulic Motion Control Method［J］. Control Engineering Practice， 2017， 60： 87-98.
[14]	ZHANG Junhui， ZHANG Fu， CHENG Min， et al. Parameter Identification of Hydraulic Manipulators Considering Physical Feasibility and Control Stability［J］. IEEE Transactions on Industrial Electronics， 2024， 71（1）： 718-728.
[15]	丁孺琦，王振，程敏，等. 基于模型控制的液压机械臂高精度轨迹跟踪［J］. 机械工程学报， 2023， 59（14）： 298-309.
	DING Ruqi， WANG Zhen， CHENG Min， et al. Model-based Control of the Hydraulic Manipulator for the High-precision Trajectory Tracking［J］. Journal of Mechanical Engineering， 2023， 59（14）： 298-309.
[16]	杨中华，俞经虎，俞哲，等. 应用于动力学参数辨识的激励轨迹优化研究［J］. 机械传动， 2024， 48（11）： 37-47.
	YANG Zhonghua， YU Jinghu， YU Zhe， et al. Optimization Study of Excitation Trajectories for Dynamic Parameter Identification［J］. Journal of Mechanical Transmission， 2024， 48（11）： 37-47.
[17]	SHEN Jun， ZONG Huaizhi， CHENG Min， et al. Force Soft Measurement Based on Cylinder Decoupling Model and Stepwise Parameter Identification for Hydraulic Manipulators［J］. IEEE Transactions on Instrumentation and Measurement， 2024， 73： 7504912.
[18]	LIAO Jian， ZHOU Fuming， ZHENG Jianbo. An Improved Parameter Identification Algorithm for the Friction Model of Electro-hydraulic Servo Systems［J］. Sensors， 2023， 23（4）： 2076.
[19]	CHANG Siyuan， WANG Jiang， ZHU Yulin， et al. Nonlinear Dynamical Modeling of Neural Activity Using Volterra Series with GA-enhanced Particle Swarm Optimization Algorithm［J］. Cognitive Neurodynamics， 2023， 17（2）： 467-476.
[20]	LIANG Xianglong， YAO Zhikai， DENG Wenxiang， et al. Adaptive Control of N-link Hydraulic Manipulators with Gravity and Friction Identification［J］. Nonlinear Dynamics， 2023， 111（20）： 19093-19109.
[21]	周宁，姚建勇，邓文翔. 基于神经网络的比例伺服阀阀芯液动力补偿鲁棒智能控制［J］. 机械工程学报， 2024， 60（4）： 126-133.
	ZHOU Ning， YAO Jianyong， DENG Wenxiang. Neural Network-based Robust Intelligent Control of Proportional Servo Valve Center with Flow Force Compensation［J］. Journal of Mechanical Engineering， 2024， 60（4）： 126-133.