Model Reference Adaptive Control of Electric Excavator Variable Inertia Electric Swing Based on Adaptive Disturbance Observer

doi:10.3901/JME.2025.12.368

Abstract

Abstract: Electric excavators with zero emissions and high energy efficiency, have become a focal point in industry development. Compared to traditional hydraulic drive systems, the swing electric drive can further enhance energy efficiency, marking a significant trend toward greener excavator technology. However, the swing structure of excavators represents a typical time-varying large-inertia system. Existing electric drive systems exhibit inadequate control performance and poor robustness when addressing large load inertia variations and sudden load changes. To address these challenges, a model reference adaptive-based active disturbance rejection control method is proposed. This approach incorporates a disturbance observer tailored to handle load disturbances and time-varying inertia disturbances in swing systems, thereby improving system control performance. To validate the effectiveness of the proposed control method, simulations and experiments are carried out. The results demonstrate that the proposed control method offers superior control performance and robustness compared to proportional integral derivative(PID) control. Specifically, under constant inertia conditions, model reference adaptive control reduced adjustment time by 9.3%, with disturbance observer-based model reference adaptive control further improving adjustment time by 32.6% and reducing overshoot by 45.5%. Under varying inertia conditions, model reference adaptive control decreased adjustment time by 36.1% and overshoot by 39.7%, while disturbance observer-based model reference adaptive control achieved a 41.8% reduction in adjustment time and a 50% decrease in overshoot. During sudden load events, model reference adaptive control reduced adjustment time by 12.8% and overshoot by 5.6%, whereas disturbance observer-based model reference adaptive control improved adjustment time by 29.5% and reduced overshoot by 16.7%.

Key words: construction machinery, swing, electric motor drive, model reference adaptive control, disturbance observer

CLC Number:

TP242

CHEN Qihuai, ZHENG Liuqing, LIN Tianliang, LI Zhongshen, REN Haoling, FU Shengjie. Model Reference Adaptive Control of Electric Excavator Variable Inertia Electric Swing Based on Adaptive Disturbance Observer[J]. Journal of Mechanical Engineering, 2025, 61(12): 367-376.

References

[1] NOUMBA I，NGUEA S. Assessing the role of globalization for universal electricity access[J]. International Economics，2023，174：180-195.
[2] 马建，孙守增，芮海田，等. 中国筑路机械学术研究综述·2018[J]. 中国公路学报，2018，31(6)：1-164. MA Jian，SUN Shouzeng，RUI Haitian，et al. A review of academic research on chinese road construction machinery[J]. China Journal of Highway and Transport，2018，31(6)：1-164.
[3] HUANG X，YAN W，CAO H，et al. Prospects for purely electric construction machinery：Mechanical components，control strategies and typical machines[J]. Automation in Construction，2024，164：105477.
[4] YAO Hong，WANG Qingfeng. The control strategy for improving the stability of a powertrain for a compound hybrid power excavator[J]. Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering，2015，229(14)：1944-1958.
[5] 贺磊，刘志奇，刘宣佐，等. 大惯量高频启停液压回转机构节能驱动技术综述[J]. 机电工程，2022，39(7)：877-885. HE Lei，LIU Zhiqi，LIU Xuanzuo，et al. Review of energy-saving drive technology for high inertia high-frequency start stop hydraulic rotary mechanism[J]. Journal of Mechanical & Electrical Engineering，2022，39(7)：877-885.
[6] GU Tingyun，ZHANG Houyi，LI Bowen，et al. Virtual inertia control to active support of the variable-speed wind turbine in variable frequency limit time[J]. Frontiers in Energy Research，2024，12：1352385.
[7] JAUCH C，JOST R，KLOFT P. Hydraulic variable inertia flywheel[J]. Applied Energy，2024，360：122830.
[8] REN Haoling，LIN Tianliang，HUANG Weiping，et al. Characteristics of the energy regeneration and reutilization system during the acceleration stage of the swing process of a hydraulic excavator[J]. Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering，2017，231(6)：842-856.
[9] JOVANOVIC V，JANOSEVIC D，MARINKOVIC D，et al. Analysis of influential parameters in the dynamic loading and stability of the swing drive in hydraulic excavators[J]. Machines，2024，12(10)：737.
[10] FU W，ZHANG L，MENG Z，et al. Research on maneuverability optimization of negative control excavator[J]. IEEE Access，2022(10)：52043-52051.
[11] ZHANG L，FU W，YUAN X，et al. Research on optimal control of excavator negative control swing system[J]. Processes，2020，8(9)：1096.
[12] 王成宾，权龙. 大惯量负载液压冲击的主动变阻尼抑制方法[J]. 机械工程学报，2014，50(8)：182-188. WANG Chengbin， QUAN Long. Methods of restrain the hydraulic impact with active adjusting the variable damping in system with large inertia load[J]. Journal of Mechanical Engineering，2014，50(8)：182-188.
[13] 刘锋，黄长征，罗昕，等. 大惯量负载回转液压系统启制动平稳性的实验研究[J]. 液压与气动，2017(1)：89-93. LIU Feng，HUANG Changzheng，LUO Xin，et al. Experimental study on start-up and braking stability for large inertia load slewing hydraulic system[J]. Hydraulic and Pneumatic，2017(1)：89-93.
[14] MOROTA Y，KOZUI M，YAMAMOTO T，et al. Design of a swing operation assist controller with a local feedback compensator for a hydraulic excavator[J]. IEEJ Transactions on Electrical and Electronic Engineering，2021，16(10)：1444-1446.
[15] JIN K，PARK T，LEE H. A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach[J]. Proceedings of the Institution of Mechanical Engineers，2012，226(5)：1237-1253.
[16] MOROTA Y，KOZUI M，YAMAMOTO T， et al. Design of a swing operation assist controller with a local feedback compensator for a hydraulic excavator[J]. IEEJ Transactions on Electrical and Electronic Engineering，2021，16(10)：1444-1446.
[17] SUN G，MAO Y，LI X，et al. Dual-motor master-slave cross-coupled synchronization control of winch considering parameters variations[C/OL]//Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society，Singapore，New York：IEEE，2020.
[18] ZHAO W，REN X，WANG S. Parameter estimation-based time-varying sliding mode control for multi-motor driving servo systems[J]. IEEE/ASME Transaction on Mechatronics，2017，22：2330-2341.
[19] QIN T，MA Y，LI Y，et al. Torque equilibrium position closed-loop control of dual electric motors swing system for large mining excavator[J]. Mechatronics，2023，95：103035.