Table 5 Calculation results for different initial coordinate parameters.
From: Intelligent control algorithms for posture and height control of four-leg hydraulic supports
\({x}^{(0)}\) | Stroke value/mm | Measured value | Newton–Raphson method | Secant method | Broyden method | |
|---|---|---|---|---|---|---|
\({x}^{(0-1)}\) | A(1,5) B(2,3) C(3,8) D(4,10) E(5,15) J(6,16) K(7,17) | Case 1: \({l}_{1}=2305\) \({l}_{2}=2335\) \({l}_{19}=1009\) | \(\alpha\):1°,\(\beta\):15°, \(\gamma\):20°,\(\delta\):31.4°, φ:37,\({H}_{c}\):2815 mm | \(\alpha\):1.04°,\(\beta\):16.5°, \(\gamma\):23.1°,\(\delta\):34.2°, φ:26.1,\({H}_{c}\):2178 mm T: 2.85 s | Error, memory overflow | Error, memory overflow |
Case 2: \({l}_{1}=2550\) \({l}_{2}=2285\) \({l}_{19}=956\) | \(\alpha\):10.7°,\(\beta\):11°, \(\gamma\):18.2°,\(\delta\):30°, φ:39,\({H}_{c}\):3529 mm | \(\alpha\):11.4°,\(\beta\):13.1°, \(\gamma\):19.7°,\(\delta\):31°, φ:22.7,\({H}_{c}\):3552 mm T: 2.85 s | Error, memory overflow | Error, memory overflow | ||
Case 3: \({l}_{1}=2100\) \({l}_{2}=2298\) \({l}_{19}=1001\) | \(\alpha\):−9°,\(\beta\):15°, \(\gamma\):22°,\(\delta\):33°, φ:39,\({H}_{c}\):2170 mm | \(\alpha\):11.4°,\(\beta\):13.1°, \(\gamma\):19.7°,\(\delta\):31°, φ:22.7,\({H}_{c}\):3552 mm T: 1.89 s | Error, memory overflow | Error, memory overflow | ||
\({x}^{(0-2)}\) | A(2545,3913) B(3940,3962) C(4610,3920) D(5940,2965) E(5881,2248) J(5848,2070) K(6441,2414) | Case 1: \({l}_{1}=2305\) \({l}_{2}=2335\) \({l}_{19}=1009\) | \(\alpha\):1°,\(\beta\):15°, \(\gamma\):20°,\(\delta\):31.4°, φ:37,\({H}_{c}\):2815 mm | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 0.91 s | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 15.16 s | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 3.1 s |
Case 2: \({l}_{1}=2550\) \({l}_{2}=2285\) \({l}_{19}=956\) | \(\alpha\):10.7°,\(\beta\):11°, \(\gamma\):18.2°,\(\delta\):30°, φ:39,\({H}_{c}\):3529 mm | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 0.9 s | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 15.13 s | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 5.1 s | ||
Case 3: \({l}_{1}=2100\) \({l}_{2}=2298\) \({l}_{19}=1001\) | \(\alpha\):−9°,\(\beta\):15°, \(\gamma\):22°,\(\delta\):33°, φ:39,\({H}_{c}\):2170 mm | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 0.89 s | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 15.1 s | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 3.3 s | ||
\({x}^{(0-3)}\) | A(2545,2012) B(3940,2062) C(4610,2019) D(6248,1560) E(6632,1451) J(6713,1290) K(6980,1921) | Case 1: \({l}_{1}=2305\) \({l}_{2}=2335\) \({l}_{19}=1009\) | \(\alpha\):1°,\(\beta\):15°, \(\gamma\):20°,\(\delta\):31.4°, φ:37,\({H}_{c}\):2815 mm | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 0.67 s | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 14.9 s | \(\alpha\):1.14°,\(\beta\):14.3°, \(\gamma\):20.8°,\(\delta\):32.1°, φ:37.9,\({H}_{c}\):2849 mm T: 1.62 s |
Case 2: \({l}_{1}=2550\) \({l}_{2}=2285\) \({l}_{19}=956\) | \(\alpha\):10.7°,\(\beta\):11°, \(\gamma\):18.2°,\(\delta\):30°, φ:39,\({H}_{c}\):3529 mm | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 0.63 s | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 0.77 s | \(\alpha\):11.5°,\(\beta\):10.6°, \(\gamma\):17.5°,\(\delta\):29.1°, φ:39.1,\({H}_{c}\):3560.1 mm T: 2.19 s | ||
Case 3: \({l}_{1}=2100\) \({l}_{2}=2298\) \({l}_{19}=1001\) | \(\alpha\):−9°,\(\beta\):15°, \(\gamma\):22°,\(\delta\):33°, φ:39,\({H}_{c}\):2170 mm | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 0.67 s | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 14.67 s | \(\alpha\):−8.1°,\(\beta\):15.1°, \(\gamma\):21.6°,\(\delta\):32.8°, φ:39.5,\({H}_{c}\):2231.5 mm T: 1.73 s | ||
