Table 4 Results of the Broyden method calculation.
From: Intelligent control algorithms for posture and height control of four-leg hydraulic supports
Identifier | Coordinates | Initial parameters \({x}^{(0)}\) | Actual value | Calculated result |
|---|---|---|---|---|
A | (\({x}_{1}\),\({y}_{1}\)) | (2545, 3913) | (2545.5, 2012.1) | (2572.3, 2013.7) |
B | (\({x}_{2}\),\({y}_{2}\)) | (3940, 3962) | (3940.4, 2061.9) | (3967.2, 2062.1) |
C | (\({x}_{3}\),\({y}_{3}\)) | (4610, 3920) | (4610.5, 2018.8) | (4637.3, 2019.3) |
D | (\({x}_{4}\),\({y}_{4}\)) | (5640, 2565) | (6248.1, 1559.4) | (6273.2, 1554.3) |
E | (\({x}_{5}\),\({y}_{5}\)) | (5881, 2248) | (6632.3, 1451.3) | (6657.2, 1445.1) |
J | (\({x}_{6}\),\({y}_{6}\)) | (5848, 2070) | (6713.3, 1289.3) | (6737.6, 1282.6) |
K | (\({x}_{7}\),\({y}_{7}\)) | (6441, 2414) | (6979.1, 1921.3) | (7005.5, 1914) |
F | (\({f}_{1}\),\({f}_{2}\)) | (3165, 275) | Known Fixed Values | |
G | (\({g}_{1}\),\({g}_{2}\)) | (4095, 255) | Known Fixed Values | |
H | (\({h}_{1}\),\({h}_{2}\)) | (4515, 1160) | Known Fixed Values | |
I | (\({i}_{1}\),\({i}_{2}\)) | (5115, 730) | Known Fixed Values | |
\(\alpha\) | – | – | 0° | 0.02° |
\(\beta\) | – | – | 4° | 3.97° |
\(\gamma\) | – | – | 13° | 12.36° |
\(\delta\) | – | – | 25° | 24.88° |
φ | – | – | 39° | 39.58° |
\({H}_{c}\) | – | – | 2300 | 2301.6 |
Computation Time T/s | 4.83 | |||
