| 挖掘臂电液伺服系统非线性辨识 |
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| 引用本文： | 黎波,严骏,刘安心,曾拥华,郭刚.挖掘臂电液伺服系统非线性辨识[J].农业机械学报,2012,43(4):20-25,131. |
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| 作者姓名： | 黎波 严骏 刘安心 曾拥华 郭刚 |
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| 作者单位： | 解放军理工大学;解放军理工大学;解放军理工大学;解放军理工大学;解放军理工大学 |
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| 基金项目： | 国家自然科学基金资助项目（50875261） |
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| 摘 要： | 针对机理建模存在未建模动态及其参数辨识难的问题,采用由分段非线性模块、线性时不变动态模块及间隙非线性模块串联组成的Pseudo-Hammerstein-Wiener模型来描述挖掘臂电液伺服系统。利用关键变量分离原理将系统模型化解为最小二乘格式,再采用带中间变量估计的改进递推最小二乘算法进行辨识。实验表明,辨识所得Pseudo-Hammerstein-Wiener模型能很好地逼近实际系统,误差比Hammerstein及线性模型分别减少29%及68%。
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| 关 键 词： | 挖掘臂 电液伺服系统 Pseudo-Hammerstein-Wiener 模型 非线性辨识 |
Nonlinear Identification of Excavator Arm’s Electro-hydraulic Servo System |
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| Li Bo,Yan Jun,Liu Anxin,Zeng Yonghua and Guo Gang.Nonlinear Identification of Excavator Arm’s Electro-hydraulic Servo System[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(4):20-25,131. |
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| Authors: | Li Bo Yan Jun Liu Anxin Zeng Yonghua and Guo Gang |
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| Institution: | PLA University of Science and Technology;PLA University of Science and Technology;PLA University of Science and Technology;PLA University of Science and Technology;PLA University of Science and Technology |
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| Abstract: | Aiming at the problem that there are unmodeled dynamics by theoretic modeling and it is also difficult to identify,a Pseudo-Hammerstein-Wiener model with cascade connection of a two-segment polynomial nonlinearity block,a time-invariant linear system,and a backlash nonlinear term was adopted to model the electro-hydraulic servo system of excavator arm.The key term separation principle was used to decompose the model into a linear-in-parameter format,and a refined recursive least square method supplemented with the estimation of internal variables was proposed to identify the decomposed parameters.Experiments demonstrated that the identified Pseudo-Hammerstein-Wiener model approximated the actual system well.Comparing with Hammerstein and ARX model,the error of the Pseudo-Hammerstein-Wiener was reduced by 29% and 68%,respectively. |
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| Keywords: | Excavator arm Electro-hydraulic servo system Pseudo-Hammerstein-Wiener model Nonlinear identification |
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