드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제14권3호
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  • Pages.40-49
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  • 2017
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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Online Estimation of Rotational Inertia of an Excavator Based on Recursive Least Squares with Multiple Forgetting

  • Oh, Kwangseok (Department of Mechanical Engineering, Hankyong National University) ;
  • Yi, Kyong Su (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, Jaho (Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology) ;
  • Kim, Yongrae (Department of System Reliability, Korea Institute of Machinery & Material) ;
  • Lee, Geunho (Department of System Reliability, Korea Institute of Machinery & Material)
  • 투고 : 2017.04.09
  • 심사 : 2017.08.24
  • 발행 : 2017.09.01
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초록

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

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참고문헌

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피인용 문헌

  1. Review of Energy Saving Technology of Hybrid Construction Machine vol.15, pp.4, 2018, https://doi.org/10.7839/ksfc.2018.15.4.091