A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach
- 23 September 2011
- journal article
- research article
- Published by SAGE Publications in Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Vol. 226 (5), 1237-1253
- https://doi.org/10.1177/0954406211421260
Abstract
This article presents a control method for suppressing the swing vibration of a hybrid excavator. For control design, dynamic models of typical swing motions of the hybrid excavator are derived using a system identification technique. Because the system states of theobtained models are not directly measurable, a sliding mode observer is designed to estimate the system states. A sliding mode control is designed to provide robust tracking performance against the parameter variations and uncertain non-linearities caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional proportional and integral controller.Keywords
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