巻号一覧
47 巻 (2016)
- 6 号 p. 39-
- 5 号 p. 31-
- 4 号 p. 23-
- 3 号 p. 15-
- 2 号 p. 7-
- 1 号 p. 1-
前身誌
47 巻, 5 号
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研究論文
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松本 優司, 酒井 悟2016 年 47 巻 5 号 p. 31-37
発行日: 2016年
公開日: 2017/02/20
ジャーナル フリーThis paper discusses an on-line parameter identification for hydraulic arms. First, the state-space equation of hydraulic arms is converted into a linear equation with respect to unknown physical parameters such as the bulk modulus and the flow gain. Second, a new on-line parameter identification method for hydraulic arms is proposed based on the linear equation. Third, the validity of the proposed method is confirmed by simulation using a nonlinear model. Finally, the validity of the proposed method is confirmed by experiment using an actual arm. The identified values by the proposed method converge to those by the previous off-line method and the setting times in our laboratory scale are less than 10 seconds.
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