无需额外操作即可实时估测挖掘机受力与载荷，精度达1%。
Calibrated Dynamic Modeling for Force and Payload Estimation in Hydraulic Machinery
- 基于优化算法动态建模，仅需压力与惯性数据。
- 载荷估计误差仅1%，力矢量方向误差13°，大小误差383N。
- 适配多类挖掘机，优于传统方法与商用系统。
液压挖掘机末端执行器交互力的精确实时估计是重型机械自动化的重要基础。准确掌握这些力可提升平整与挖掘作业的精度。本文提出一种高精度、可改造的二维力与载荷估计算法，不依赖操作员轨迹、加速度或回转关节使用。该方法适用于改造安装，校准简单，无需了解具体机器的动力学特性。我们提出一种用于识别动态模型的方法，可在正常作业中同时估计末端交互力与铲斗载荷。基于优化的载荷估计在25吨级标准挖掘机上实现全量程1%的精度。在线力测量（基于压力与惯性数据）达到方向精度13°，大小精度383N。在两种不同型号和重量级别的挖掘机上验证了方法的准确性和泛化能力。与经典准静态方法及商用系统对比，本系统在精度和稳定性上均表现更优。
原文摘要 · Abstract (English)
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers. To address these challenges, we introduce a high-accuracy, retrofittable 2D force- and payload estimation algorithm that does not impose additional requirements on the operator regarding trajectory, acceleration or the use of the slew joint. The approach is designed for retrofittability, requires minimal calibration and no prior knowledge of machine-specific dynamic characteristics. Specifically, we propose a method for identifying a dynamic model, necessary to estimate both end effector interaction forces and bucket payload during normal operation. Our optimization-based payload estimation achieves a full-scale payload accuracy of 1%. On a standard 25 t excavator, the online force measurement from pressure and inertial measurements achieves a direction accuracy of 13 degree and a magnitude accuracy of 383 N. The method's accuracy and generalization capability are validated on two excavator platforms of different type and weight classes. We benchmark our payload estimation against a classical quasistatic method and a commercially available system. Our system outperforms both in accuracy and precision.
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