液压挖掘机动态称重方法的研究

发布时间：2019-03-04 13:36

【摘要】：液压挖掘机是铁路、房地产等基础设施建设的重要工具之一。传统的挖掘机在作业过程中没有配备在线计量装置,其所铲装物料的称重大多依赖于货车转运过秤或离线地磅称重,这些称重方式不仅受限于挖掘机恶劣的工作环境,而且不利于称重数据的进一步处理和管理。将动态称重方法应用于液压挖掘机称重领域,目前国内尚无公开的相关研究。动态称重的应用,能够提高挖掘机的工作效率,是挖掘机称重行业的发展方向,实现挖掘机高度智能化的重要环节。结合以上背景,本文对液压挖掘机动态称重方法进行研究。首先,通过分析比较国内外各种工程机械的动态称重技术现状,在分析不同工程机械的称重方式和称重系统性能需求的基础上,提出液压挖掘机动态称重方法研究的意义,引出课题研究的主要内容。其次,在分析液压挖掘机动态称重理论的基础上,提出一套有效针对液压挖掘机的动态称重方案,并结合挖掘机的机构特性和工作环境的特殊性,基于Kane动力学理论的动力学分析和运动学分析构建动态称重数学模型。然后,为了验证动态称重数学模型的准确性,文中结合挖掘机的机构参数,利用ADAMS平台搭建液压挖掘机虚拟样机模型,通过模型的仿真采集动态称重数学模型所需要的输入参数,用于后续验证。最后,为了验证动态称重数学模型,利用MATLAB编译数学模型的算法程序和基于递推最小二乘法(RLS)的称重结果参数辨识程序,通过分析比较所辨识的物料质量和真实质量,确定动态称重方案的可行性和准确性。本文利用ADAMS和MATLAB两大仿真平台,完成了液压挖掘机虚拟样机模型的搭建和动态称重程序的编译,针对两种不同的实验条件进行仿真数据的采集和称重算法的解算,并采用递推最小二乘估计法进行称重结果的辨识,结果表明已达到项目预期的收敛性和准确性。这套针对液压挖掘机的动态称重方案为实现液压挖掘机高度智能化控制提供了新的思路和方向,对液压挖掘机工作效率提升的研究有重大的意义。
[Abstract]:Hydraulic excavator is one of the important tools of railway, real estate and other infrastructure construction. Traditional excavators are not equipped with on-line metering devices in the process of operation, and most of the weighing of their shovel-loaded materials depends on truck transit scales or off-line ground weights. These weighing methods are not only limited to the harsh working environment of excavators. And it is not conducive to the further processing and management of weighing data. The dynamic weighing method is applied to hydraulic excavator weighing field, there is no public relevant research at present. The application of dynamic weighing can improve the working efficiency of excavator. It is the development direction of excavator weighing industry and the important link of realizing highly intelligent excavator. Combined with the above background, the dynamic weighing method of hydraulic excavator is studied in this paper. Firstly, by analyzing and comparing the present situation of the dynamic weighing technology of various kinds of construction machinery at home and abroad, on the basis of analyzing the weighing modes and the performance requirements of the weighing system of different construction machinery, this paper puts forward the significance of the research on the dynamic weighing method of hydraulic excavators. Draw out the main content of the subject research. Secondly, on the basis of analyzing the dynamic weighing theory of the hydraulic excavator, a set of effective dynamic weighing scheme for the hydraulic excavator is put forward, and combined with the mechanical characteristics and the particularity of the working environment of the excavator, Based on the dynamic analysis and kinematics analysis of Kane dynamics theory, a mathematical model of dynamic weighing is constructed. Then, in order to verify the accuracy of the mathematical model of dynamic weighing, the virtual prototype model of hydraulic excavator is built by using ADAMS platform according to the mechanical parameters of excavator. Through the simulation of the model, the input parameters required for the dynamic weighing mathematical model are collected for subsequent verification. Finally, in order to verify the dynamic weighing mathematical model, the algorithm program of MATLAB compiling mathematical model and the parameter identification program of weighing result based on recursive least square method (RLS) are used to analyze and compare the identified material quality and real quality. Determine the feasibility and accuracy of the dynamic weighing scheme. In this paper, the virtual prototype model of hydraulic excavator is built and the dynamic weighing program is compiled by using two simulation platforms, ADAMS and MATLAB. According to two different experimental conditions, the simulation data collection and the calculation of the weighing algorithm are carried out. The recursive least square estimation method is used to identify the weighing results. The results show that the convergence and accuracy of the project have been achieved. This dynamic weighing scheme for hydraulic excavator provides a new idea and direction for realizing the highly intelligent control of hydraulic excavator, and it is of great significance to the study of improving the working efficiency of hydraulic excavator.
【学位授予单位】：华侨大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU621

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