LSTM based hydraulic excavator angular velocity prediction model
- Title
- LSTM based hydraulic excavator angular velocity prediction model
- Other Titles
- LSTM 기반 유압 굴삭기 각속도 예측 모델
- Author
- 한창수
- Keywords
- LSTM(Long Short Term Memory); hydraulic excavator; angular velocity prediction; deep learning
- Issue Date
- 2019-08
- Publisher
- 제어로봇시스템학회
- Citation
- 제어로봇시스템학회 논문지, v. 25, No. 8, Page. 705-712
- Abstract
- This paper proposes a long short-term memory (LSTM) model for predicting the angular velocity of an excavator. An excavator’s movement command appears at the speed of its hydraulic cylinder, which then appears as the angular velocity of its joint. Therefore, if the angular velocity of the joint, which changes as a function of the operating command, can be predicted, the excavator can be controlled. However, since the cylinder is a nonlinear system, it is difficult to create a system model. To solve this problem, we propose a model having long short-term memory (LSTM) based angular velocity prediction. We constructed an experimental environment for a hydraulic RC excavator, collected excavator data, and analyzed the prediction accuracy of our LSTM model. In addition, we applied the LSTM-based angular velocity prediction model to a PID control algorithm to compare the general PID control algorithm with the proposed control performance.
- URI
- http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE08760751&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/121925
- ISSN
- 1976-5622; 2233-4335
- DOI
- 10.5302/J.ICROS.2019.19.0126
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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