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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Bibliographic Details
Published inJournal of mechanical science and technology Vol. 32; no. 9; pp. 4045 - 4056
Main Authors Yoo, Seungjin, Park, Cheol-Gyu, You, Seung-Han
Format Journal Article
LanguageEnglish
Published Seoul Korean Society of Mechanical Engineers 01.09.2018
Springer Nature B.V
대한기계학회
Subjects
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
Excavator
Parameter categorization
Inertial parameter estimation
Sensitivity analysis
Optimization
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Summary: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.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-018-0804-6