东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2010, Vol. 31 ›› Issue (10): 1475-1478.DOI: -

• 论著 • 上一篇    下一篇

挖掘机器人阀控缸系统RBF神经网络参数辨识

王福斌;刘杰;陈至坤;曾秀丽;   

  1. 东北大学机械工程与自动化学院;河北理工大学计算机与自动控制学院;
  • 收稿日期:2013-06-20 修回日期:2013-06-20 出版日期:2010-10-15 发布日期:2013-06-20
  • 通讯作者: -
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(50775029)

RBF parameter identification of valve-controlled cylinder system for excavator robot

Wang, Fu-Bin (1); Liu, Jie (1); Chen, Zhi-Kun (2); Zeng, Xiu-Li (2)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China; (2) Computer and Automatic Control College, Hebei Polytechnic University, Tangshan 063009, China
  • Received:2013-06-20 Revised:2013-06-20 Online:2010-10-15 Published:2013-06-20
  • Contact: Wang, F.-B.
  • About author:-
  • Supported by:
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摘要： 为提高液压挖掘机器人工作装置轨迹规划控制精度,减小按照理想模型进行控制的阀控缸系统存在的控制误差,获得更接近实际状况的阀控缸系统控制模型,采用RBF神经网络方法,建立含阀控缸系统待辨识参数及Jacobian信息的线性方程组.以挖掘机斗杆油缸为研究对象,经实验获得油缸进回油压力、斗杆倾角参数,辨识出阀控缸模型中阀的增益系数kq、体积模量Eoil和内泄漏系数Cli.最后通过对阀控缸系统进行力控制实验对比研究,验证了采用辨识参数的系统模型控制精度较好,有很强的鲁棒性.

关键词: 挖掘机器人, 阀控缸, RBF神经网络, 参数辨识, 力控制

Abstract: To improve the planned control accuracy of trajectory of the working parts of a hydraulic excavator robot, i.e., to develop an applicable control model for the valve-controlled cylinder system instead of the ideal one so as to make the control of the robot more actual with control error decreased. By way of RBF neural network, a set of nonlinear equations was deduced involving the parameters to be identified for the valve-controlled cylinder system and relevant Jacobian information. With the bucket arm/cylinder system of the excavator robot investigated via tests, such parameters of cylinder's oil inlet/outlet pressure and rake angle of bucket arm were given to identify the valve's gain coefficient kq, oil volumetric coefficient Eoil and inner leak coefficient Cliin the valve-controlled cylinder model. It is verified that the model involving identification parameters has high control accuracy and robustness as the result of a comparative force control test for the valve-controlled cylinder system.

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