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This paper proposes a base parameter identifi cation method for hydraulic arms. First, the state-space equation of hydraulic arms is converted into a linear equation with respect to base parameters which are a set of unknown parameters such as the fl ow coeffi cient, the pipeline volume and the internal leakage coeffi cient. Second, a new parameter identifi cation method is proposed based on the linear equation. Finally, the validity of the proposed method is confi rmed via the model validation using an actual arm. By the proposed method, not only the arm position, but also the pressures of the actual arm are close to those of the nonlinear model which is constructed from the identifi ed parameters. Especially, a characteristic response of the actual pressures is also generated by the nonlinear model.

A base parameter identification method and model validation for hydraulic arms