Research on 4-DOF adaptive control of hydraulic excavator

The research status of robotic excavator was introduced and the electro-hydraulic system schematic diagram of test excavator was analyzed. On the base of principle of load independent flow distribution system, the mathematical model of test excavator was derived. The reference model for adaptive control was given after logically simplifying electro-hydraulic model by combination of theory and experiment results. According to the local parameter optimum, an adaptive controller was developed. The test was conducted on the platform modified by SWE17E of SUNWARD. And the experiment results show that: the tracking error of the angle is 13.8% when adopting traditional PID controller, while it is within 6.8% by using adaptive controller developed in the paper, it demonstrates that the controller designed in the paper can improve control precision and obviously promote the steady state response speed, anticipated control requirements of stability and robustness can be accomplished.