Intelligent recognition method for working-cycle state of hydraulic excavator
Jie HUANG1,2(),Dong WANG1,3,*(),Xin-qing WANG1,Qin YIN1,Fa-ming SHAO1
1. College of Field Engineering, Army Engineering University of PLA, Nanjing 210007, China 2. Engineering University of PAP, Urumqi Campus, Urumqi 830049, China 3. Second Institute of Engineering Research and Design,Southern Theatre Command, Kunming 650222, China
A novel intelligent recognition method based on the combination of PCA-SVM and feature extraction with sliding time-window was proposed to recognize each state in working cycle stages of hydraulic excavator. The pressure signals of two pumps were taken as recognizing object, and small waveform segments of each state in a working cycle of hydraulic excavator were intercepted by adopting sliding time-window method. The corresponding time domain and frequency domain parameters of all waveform segments were extracted and the eigenvalue normalization was carried out. The normalized set was used as input feature set after reduction of dimensionality with principal component analysis (PCA), then state classification was conducted by adopting the SVM algorithm, and the effects of sliding time-window width and overlap rate to the recognition accuracy were discussed, respectively. Besides, a real-time correction strategy was introduced to automatically check and correct the direct recognition results; the misjudgment results against the logic rule of excavator operation was verified, and the recognition accuracy was improved from 80.85% to 89.36%. Results prove that the proposed method can realize the state recognition of each stage in a working cycle of hydraulic excavator effectively and accurately.
Jie HUANG,Dong WANG,Xin-qing WANG,Qin YIN,Fa-ming SHAO. Intelligent recognition method for working-cycle state of hydraulic excavator. Journal of ZheJiang University (Engineering Science), 2019, 53(9): 1663-1673.
Fig.2Installation diagram of two pump pressure sensors
Fig.3Diagram of hydraulic excavator’s working cycle
Fig.4Control schematic of hydraulic system
Fig.5Pressure waveform of digging stage
Fig.6Pressure waveform of lifting stage
Fig.7Identification process of working cycle state of hydraulic excavator
Fig.8Schematic diagram of time-window sliding process
Fig.9Feature set disposed by PCA
$\Delta t$/s
Q1/ %
Q2/ %
$\Delta t$/s
Q1/ %
Q2/ %
0.1
45.05
45.33
0.6
76.56
82.79
0.2
70.31
77.82
0.7
75.64
79.11
0.3
73.41
77.75
0.8
76.88
84.78
0.4
73.36
74.55
0.9
76.67
81.86
0.5
80.22
86.40
1.0
74.76
81.97
Tab.1Comparison of detailed results of direct recognition and correction when time-window width changing
$\varphi $
Q1/ %
Q2/ %
$\varphi $
Q1/ %
Q2/ %
0
80.22
86.40
0.500
76.64
82.57
0.125
80.72
88.01
0.625
75.28
82.69
0.250
81.21
88.50
0.750
76.14
82.69
0.375
78.74
85.66
?
?
?
Tab.2Detailed results of direct recognition and correction when overlap changing
实际状态
Q$/$%
N
Nr
S1
86.86
175
152
S2
77.42
62
48
S3
78.43
102
80
S4
62.32
69
43
S5
53.20
94
50
S6
88.62
167
148
S7
97.14
140
136
总计
81.21
809
657
Tab.3Direct recognition details of optimal values
w/Ne
误判状态
S1
S2
S3
S4
S5
S6
S7
实 际 状 态
S1
?
0.057 1/10
?
?
?
0.068 6/12
0.005 7/1
S2
0.012 9/8
?
?
0.080 6/5
?
0.016 1/1
?
S3
?
?
?
?
0.215 7/22
?
?
S4
0.029 0/2
0.275 4/19
?
?
?
0.058 0/4
0.014 5/1
S5
0.053 2/5
?
0.414 9/39
?
?
?
?
S6
0.060 0/10
?
0.018 0/3
0.006 0/1
?
?
0.030 0/5
S7
?
?
?
?
?
0.028 6/4
?
总计
0.030 9/25
0.035 8/29
0.051 9/42
0.007 4/6
0.027 2/22
0.025 9/21
0.008 6/7
Tab.4Misjudgment details of optimal values
Fig.10Direct recognition result and real state of typical working cycle
Fig.11Real-time correction results and real state
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