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Inertial parameter estimation for the dynamic simulation of a hydraulic excavator

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Abstract

This paper presents a systematic method for estimating the inertial parameters of an excavator. The method utilizes dynamic excavator models with the pressure and displacement measurements of the hydraulic actuators. Provided that the geometrical parameters of the mechanical linkages are obtained with relatively high accuracy, the dynamic model is factored into the unknown inertial parameter vector and the known kinematic matrix. The contribution of each inertial parameter on the actuator force under the specific motion is explored through a dynamic sensitivity analysis. The results are then used to investigate various properties of the inertial parameters and categorize them into identifiable, unrelated to dynamics, and known parameter groups, according to numerical properties of the kinematic matrix. Then the identifiable inertial parameters are estimated sequentially, and the guideline for the optimal excavator position at each estimation step is suggested in order to minimize estimation error. The practicality of this method is demonstrated via data acquired using an actual hydraulic excavator.

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Author information

Authors and Affiliations

  1. Korea Institute of Machinery and Materials, Daejeon, 34103, Korea

    Seungjin Yoo

  2. Construction Equipment Technology R&BD Group, Korea Institute of Industrial Technology, Daegu, 42994, Korea

    Cheol-Gyu Park

  3. School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, 31253, Korea

    Seung-Han You

Authors
  1. Seungjin Yoo
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  2. Cheol-Gyu Park
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  3. Seung-Han You
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Corresponding author

Correspondence to Seung-Han You.

Additional information

Recommended by Associate Editor Sungsoo Na

Seungjin Yoo received the B.S. and Ph.D. degrees in Department of Mechanical & Aerospace Engineering from Seoul National University in 2002 and 2007, respectively. His research interests include multibody dynamics analysis, hydraulic system control, and electric motor control.

Cheol-Gyu Park received the B.S., M.S. and Ph.D. degrees in mechanical design and production engineering from Seoul National University in 1991, 1993 and 1999, respectively. His research interests include modeling and control of hydraulic and dynamic systems, and hybrid powertrain systems.

Seung-Han You received the B.S., M.S. and Ph.D. degrees in Department of Mechanical & Aerospace Engineering from Seoul National University in 1999, 2001 and 2006, respectively. His research interests include vehicle dynamics, vehicle control and vehicle state estimation.

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Yoo, S., Park, CG. & You, SH. Inertial parameter estimation for the dynamic simulation of a hydraulic excavator. J Mech Sci Technol 32, 4045–4056 (2018). https://doi.org/10.1007/s12206-018-0804-6

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  • DOI: https://doi.org/10.1007/s12206-018-0804-6

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