Linearization and identification a mathematical model of an excavator

Abstract

This paper presents the linearization and identification of a mathematical model of a hydraulic system coupled to the boom and the arm of an excavator. The system was represented in two ways: as a system of differential equations and as a quasi-linear model. The quasi-linear model was identified and verified using measurement results obtained for a real system. The data employed for the identification of the simplified model were gained through experiments.