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지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2017.9
- 수록면
- 40 - 49 (10page)
이용수
초록· 키워드
오류제보하기
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.
목차
Abstract
1. Introduction
2. Investigation of Variations inRotational Inertia
3. Rotational Inertia Estimation
4. Performance Evaluation
5. Conclusion
References
참고문헌 (8)
참고문헌 신청
[학술지(정기간행물)] - S. Tafazoli / 1999 / Identification of Inertial and Friction Parameters for Excavator Arms / IEEE Trans. on Robotics and Automation 15 : 863 ~ 885
[학술지(정기간행물)] - C. Tan / 2005 / Online Soil Parameter Estimation Scheme Based on Newton-Raphson Method for Autonomous Excavation / IEEE/ASME Trans. on Mechatronics 10 : 221 ~ 229
[학술지(정기간행물)] - 이수진 / 2012 / Modeling of a hydraulic excavator based on bond graph method and its parameter estimation / Journal of Mechanical Science and Technology 26 (1) : 195 ~ 204
[학술지(정기간행물)] - A. Vahidi / 2005 / Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments / Vehicle System Dynamics 43 : 31 ~ 55
[학술지(정기간행물)] - S. Dasgupta / 1987 / Asymptotically convergent modified recursive least-squares with data-dependent updating and forgetting factor for systems with bounded noise / IEEE Trans. on Information Theory 33 : 383 ~ 392
[학술지(정기간행물)] - C. Tan / 2005 / Online Soil Parameter Estimation Scheme Based on Newton-Raphson Method for Autonomous Excavation / IEEE/ASME Trans. on Mechatronics 10 : 221 ~ 229
[학술지(정기간행물)] - 이수진 / 2012 / Modeling of a hydraulic excavator based on bond graph method and its parameter estimation / Journal of Mechanical Science and Technology 26 (1) : 195 ~ 204
[학술지(정기간행물)] - A. Vahidi / 2005 / Recursive least squares with forgetting for online estimation of vehicle mass and road grade: theory and experiments / Vehicle System Dynamics 43 : 31 ~ 55
[학술지(정기간행물)] - S. Dasgupta / 1987 / Asymptotically convergent modified recursive least-squares with data-dependent updating and forgetting factor for systems with bounded noise / IEEE Trans. on Information Theory 33 : 383 ~ 392
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