Chaos-based support vector regression for load power forecasting of excavators

The accurate prediction of digging load serves as a fundamental cornerstone for advancing the development of intelligent and unmanned excavators. Given the complex nonlinear dynamics of digging load, this paper proposes a novel prediction model for excavator load power based on the chaos theory and support vector regression (SVR). The presence of chaos in the dynamic digging load system is detected through phase space reconstruction. SVR is utilized for nonparametric modeling and prediction, with the reconstructed phase space capturing the essential characteristics of excavator load and serving as inputs for SVR. To optimize the hyperparameters, an improved particle swarm optimization (IPSO) algorithm is presented. Excavation experiments conducted under two typical load conditions demonstrate the superiority of the proposed chaos-based IPSO-SVR model in terms of prediction accuracy. This research lays a solid foundation for practical load prediction in industrial excavator settings.