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

Shen Jinxing, Cui Hongxin, Feng Ke, Zhang Hong and Li Huanliang

Mathematical Problems in Engineering, 2020, vol. 2020, 1-9

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.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9216019

DOI: 10.1155/2020/9216019

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