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JRM Vol.28 No.5 pp. 752-758
doi: 10.20965/jrm.2016.p0752
(2016)

Paper:

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Data-Driven Torque Controller for a Hydraulic Excavator

Yasuhito Oshima*1, Takuya Kinoshita*1, Kazushige Koiwai*2, Toru Yamamoto*3, Takao Nanjo*4, Yoichiro Yamazaki*4, and Yoshiaki Fujimoto*4

*1Graduate School of Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima city, Hiroshima 739-8527, Japan

*2Collaborative Research Division, Institute of Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima city, Hiroshima 739-8527, Japan

*3Division of Electrical, Systems and Mathematical Engineering, Institute of Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-hiroshima city, Hiroshima 739-8527, Japan

*4Global Engineering Center, Kobelco Construction Machinery Co., Ltd.
2-2-1 Itsukaichikou, Saeki-ku, Hiroshima city, Hiroshima 731-5161, Japan

Received:
April 5, 2016
Accepted:
June 12, 2016
Published:
October 20, 2016
Creative Commons License
Keywords:
data-driven, FRIT, nonlinear system, derivative system, hydraulic excavator
Abstract
Proportional-integral-derivative (PID) control has been widely used in industrial equipment. However, the transient response obtained is poor when the fixed PID controller is used for nonlinear systems. Moreover, a hydraulic excavator consists of a nonlinear system with a derivative element. In this case, the system output does not track the reference signal because the integral element in the controller is canceled out by the derivative element in the system. In order to improve the transient response and the tracking performance, a data-driven PID control for tuning and updating PID gains has been proposed. However, the data-driven PID control method could not improve the tracking performance. In this paper, the controller design scheme based on a data-driven approach for the hydraulic excavator is proposed. Moreover, the control parameters of the proposed scheme are updated in an off-line manner by using fictitious reference iterative tuning. The effectiveness of this controller is verified by simulating the control behavior of a hydraulic excavator.
Hydraulic system in the excavator

Hydraulic system in the excavator

Cite this article as:
Y. Oshima, T. Kinoshita, K. Koiwai, T. Yamamoto, T. Nanjo, Y. Yamazaki, and Y. Fujimoto, “Data-Driven Torque Controller for a Hydraulic Excavator,” J. Robot. Mechatron., Vol.28 No.5, pp. 752-758, 2016.
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Last updated on Apr. 19, 2024