Skip to main content
SpringerLink
Log in

Modeling and parameter estimation for hydraulic system of excavator’s arm

  • Published:
Journal of Central South University of Technology Aims and scope Submit manuscript

Abstract

A retrofitted electro-hydraulic proportional system for hydraulic excavator was introduced firstly. According to the principle and characteristic of load independent flow distribution(LUDV) system, taking boom hydraulic system as an example and ignoring the leakage of hydraulic cylinder and the mass of oil in it, a force equilibrium equation and a continuous equation of hydraulic cylinder were set up. Based on the flow equation of electro-hydraulic proportional valve, the pressure passing through the valve and the difference of pressure were tested and analyzed. The results show that the difference of pressure does not change with load, and it approximates to 2.0 MPa. And then, assume the flow across the valve is directly proportional to spool displacement and is not influenced by load, a simplified model of electro-hydraulic system was put forward. At the same time, by analyzing the structure and load-bearing of boom instrument, and combining moment equivalent equation of manipulator with rotating law, the estimation methods and equations for such parameters as equivalent mass and bearing force of hydraulic cylinder were set up. Finally, the step response of flow of boom cylinder was tested when the electro-hydraulic proportional valve was controlled by the step current. Based on the experiment curve, the flow gain coefficient of valve is identified as 2.825 × 10−4 m3/(s·A) and the model is verified.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. WANG Fei-yue, LEVEL P J A. On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements [C]// The 1994 IEEE International Conference on Multisensory Fusion and Intelligent Systems. Piscatauny: IEEE, 1994: 371–378.

    Chapter  Google Scholar 

  2. HAGA M, HIROSHI W, FUJISHIMA K. Digging control system for hydraulic excavator [J]. Mechatronics, 2001, 11(6): 665–676.

    Article  Google Scholar 

  3. ZHANG Da-qing, HE Qing-hua, HAO Peng. Trajectory tracking control of hydraulic excavator bucket [J]. Journal of Jilin University: Engineering and Technology Edition, 2005, 35(5): 490–494. (in Chinese)

    Google Scholar 

  4. LEE S U, CHANG P H. Control of a heavy-duty robotic excavator using time delay control with switching action with integral sliding surface [C]// The 2001 IEEE international Conference on Robotics & Automation. Seoul: IEEE, 2001: 3955–3960.

    Google Scholar 

  5. PYUNG H C, LEE S J. A straight-line motion tracking control of hydraulic excavator system [J]. Mechatronics, 2002, 12(1): 119–138.

    Article  Google Scholar 

  6. LEE S U, CHANG H C. Control of a heavy-duty robotic excavator using time delay control with integral sliding surface [J]. Control Engineering Practice, 2002, 12(1): 697–711.

    Article  MathSciNet  Google Scholar 

  7. NGUYEN H Q. Robust low level control of robotic excavation [D]. Sydney: University of Sydney, 2000: 8–11.

    Google Scholar 

  8. SHAHRAM T, SEPTIMIU S E, KEYVAN H Z. Impedance control of a teleoperated excavator [J]. IEEE Transactions on Control Systems Technology, 2002, 10(3): 355–367.

    Article  Google Scholar 

  9. CHEN Qian-gen, JI Yun-feng, WU Wang-rong. Load independent flow distribution control system [J]. Hydraulic and Pneumatic, 2003(10): 9–11. (in Chinese)

  10. LI Hong-ren. Hydraulic controlling system [M]. Beijing: Defense Industry Press, 1981: 59–60. (in Chinese)

    Google Scholar 

  11. BORA E. Improved nonlinear modeling and control of electro-hydraulic systems [D]. Boston: Northeastern University, 2000: 78–80.

    Google Scholar 

  12. ZHANG Wei-han. The research of non-symmetry oil cylinder system controlled by symmetry valve and characteristic [D]. Changchun: Changchun University of Science and Technology, 2002: 55–56. (in Chinese)

    Google Scholar 

  13. HE Qing-hua, LI Li-zheng, ZHOU Hong-bing. Modeling and parameter estimation for double triangle boom and its hydraulic system [J]. Journal of Central South University: Natural Science, 2001, 32(5): 519–522. (in Chinese)

    Google Scholar 

  14. ZHANG Cheng-qian, ZHANG Guo-qiang. System identification and parameters estimation [M]. Beijing: China Machine Press, 1986: 101–103. (in Chinese)

    Google Scholar 

  15. SHAHRAM T, PETER D L, SALCUDEAN S E. Identification of inertial and friction parameters for excavator arms [J]. IEEE Transactions on Robotics and Automation, 1999, 15(5): 966–971.

    Article  Google Scholar 

  16. BU Fan-ping, YAO Bin. Nonlinear adaptive robust control of hydraulic actuators regulated by proportional directional control valves with dead band and nonlinear flow gains [C]// Proceedings of the American Control Conference. Danvers: American Autom Control Council, 2000: 4129–4133.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China

    Qing-hua He  (何清华), Peng Hao  (郝鹏) & Da-qing Zhang  (张大庆)

Authors
  1. Qing-hua He  (何清华)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Peng Hao  (郝鹏)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Da-qing Zhang  (张大庆)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Peng Hao  (郝鹏).

Additional information

Foundation item: Project(2003AA430200) supported by the National High-Tech Research and Development Program of China

Rights and permissions

Reprints and permissions

About this article

Cite this article

He, Qh., Hao, P. & Zhang, Dq. Modeling and parameter estimation for hydraulic system of excavator’s arm. J. Cent. South Univ. Technol. 15, 382–386 (2008). https://doi.org/10.1007/s11771-008-0072-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-008-0072-1

Key words

Search

Navigation