Modeling and parameter estimation for hydraulic system of excavator’s arm

Abstract

A retrofitted electro-hydraulic proportional system for hydraulic excavator was introduced firstly. According to the principle and characteristic of load independent flow distribution(LUDV) system, taking boom hydraulic system as an example and ignoring the leakage of hydraulic cylinder and the mass of oil in it, a force equilibrium equation and a continuous equation of hydraulic cylinder were set up. Based on the flow equation of electro-hydraulic proportional valve, the pressure passing through the valve and the difference of pressure were tested and analyzed. The results show that the difference of pressure does not change with load, and it approximates to 2.0 MPa. And then, assume the flow across the valve is directly proportional to spool displacement and is not influenced by load, a simplified model of electro-hydraulic system was put forward. At the same time, by analyzing the structure and load-bearing of boom instrument, and combining moment equivalent equation of manipulator with rotating law, the estimation methods and equations for such parameters as equivalent mass and bearing force of hydraulic cylinder were set up. Finally, the step response of flow of boom cylinder was tested when the electro-hydraulic proportional valve was controlled by the step current. Based on the experiment curve, the flow gain coefficient of valve is identified as 2.825 × 10⁻⁴ m³/(s·A) and the model is verified.

Keywords

excavator / electro-hydraulic proportional system / load independent flow distribution(LUDV) system / modeling / parameter estimation