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.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.2025.12.368

http://www.cjmenet.com.cn/EN/Y2025/V61/I12/367

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