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Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model

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  • Shen Jinxing
  • Cui Hongxin
  • Feng Ke
  • Zhang Hong
  • Li Huanliang

Abstract

In view of the nonlinearity and time-varying characteristics of the electrohydraulic servo system of the robotic excavator, a nonlinear adaptive identification and control algorithm based on improved Hammerstein model is proposed. The Hammerstein algorithm model can approximate the nonlinear system with enough precision, but for the time-varying systems is not satisfactory. In order to compensate for the influence of time-varying factors, the fuzzy control module is designed to adaptively update the forgetting factor. The experimental results show that the improved Hammerstein model error is about 40.11% less than the classical Hammerstein model error. This proves that the improved Hammerstein model is feasible and effective to describe the electrohydraulic servo system of the robotic excavator.

Suggested Citation

  • Shen Jinxing & Cui Hongxin & Feng Ke & Zhang Hong & Li Huanliang, 2020. "Parameter Identification and Control Algorithm of Electrohydraulic Servo System for Robotic Excavator Based on Improved Hammerstein Model," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-9, May.
    • Handle: RePEc:hin:jnlmpe:9216019
    DOI: 10.1155/2020/9216019
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    Cited by:

    1. Lukasz Stawinski & Justyna Skowronska & Andrzej Kosucki, 2021. "Energy Efficiency and Limitations of the Methods of Controlling the Hydraulic Cylinder Piston Rod under Various Load Conditions," Energies, MDPI, vol. 14(23), pages 1-20, November.

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