基于模型的装载机动态称重算法研究

发布时间：2018-08-05 20:39

【摘要】：本课题是在实现装载机自动化、智能化的大趋势背景下进行的。本文对装载机工作装置动力学进行深入分析,总结推导出其完整的动力学模型,并提出了动力学模型中关键参数的辨识算法,可以实现机构尺寸参数的实时校正。这为装载机动态称重、装载机铲斗平动举升与铲掘轨迹规划等装载机自动化、智能化应用实现提供了模型支持和算法基础。装载机装载物料称重,是本文的核心部分,本文提出的称重方案可以免去将装载机驶离现场到装有地磅的地点进行装载物料的离线测量,可以在动臂举升货物时动态地计算出物料质量,这大大提高了装载机装载物料的速度。本文主要内容概况如下:本文第一章介绍了本课题研究背景和国内外装载机称重技术与机构尺寸辨识技术的研究现状,说明了本课题研究的创新性与实际意义。本文第二章对装载机执行机构系统建立了数学模型和仿真模型,然后提出了动力学模型中关键参数的辨识算法。然后基于仿真模型对模型参数辨识算法进行了仿真验证。本章建立的该数学模型和仿真模型为装载机自动化、智能化更进一步的研究提供了模型支持。本文第三章,首先提出了工程中较容易实现的质量标定称重算法。然后将参数辨识理论应用于装载机负载质量称重。基于第二章建立的仿真模型对算法进行了仿真。通过仿真对比研究和深入分析最终提出了基于质量标定与参数辨识相结合的动态称重算法,并通过仿真证明了该算法有效性。本文第四章对本文的核心算法—基于模型的装载机动态称重算法进行了实验研究。首先,介绍了实验平台的搭建与装载机运行数据采集后的处理。然后,利用实验数据对装载工作装置关键参数的辨识算法、质量标定称重算法和质量标定与参数辨识相结合的称重算法进行了实验研究。最后,针对实验结果对本文研究的算法做进一步的分析与探究,并提出了不足之处和改进方案。本文第五章对论文进行了总结,提出了不足之处与改进的方法,对进一步可研究的内容进行了展望和思考。
[Abstract]:This subject is carried out under the background of realizing the automatization and intelligence of loader. In this paper, the dynamics of the loader's working device is deeply analyzed, its complete dynamic model is deduced, and the identification algorithm of the key parameters in the dynamic model is put forward, which can realize the real-time calibration of the mechanism's dimension parameters. This provides the model support and algorithm foundation for the automatic and intelligent application of loaders, such as dynamic weighing of loaders, vertical lift of hopper and trajectory planning of shovel, etc. The loading material weighing of loader is the core part of this paper. The weighing scheme proposed in this paper can eliminate the need for off-line measurement of loading material from the site where the loader is loaded. The material quality can be calculated dynamically when the moving arm lifts the cargo, which greatly improves the loading speed of the loader. The main contents of this paper are as follows: in the first chapter, the research background of this subject and the research status of loaders weighing technology and mechanism dimension identification technology at home and abroad are introduced, and the innovation and practical significance of this research are explained. In the second chapter, the mathematical model and simulation model of the loader actuator system are established, and then the identification algorithm of the key parameters in the dynamic model is proposed. Then the model parameter identification algorithm is simulated based on the simulation model. The mathematical model and simulation model established in this chapter provide model support for further research on automation and intelligence of loader. In the third chapter, a mass calibration weighing algorithm which is easy to realize in engineering is proposed. Then the parameter identification theory is applied to load mass weighing of loader. The algorithm is simulated based on the simulation model established in the second chapter. A dynamic weighing algorithm based on the combination of quality calibration and parameter identification is proposed through the comparative study and in-depth analysis of simulation. The simulation results show that the algorithm is effective. In the fourth chapter, the dynamic weighing algorithm of loaders based on model is studied experimentally. Firstly, the construction of the experimental platform and the processing of the loader running data acquisition are introduced. Then, the key parameters identification algorithm, mass calibration weighing algorithm and weighing algorithm combined with mass calibration and parameter identification are studied experimentally using experimental data. Finally, based on the experimental results, this paper makes further analysis and exploration of the algorithm studied in this paper, and puts forward some shortcomings and improvement schemes. In the fifth chapter, the author summarizes the thesis, puts forward the deficiency and improvement methods, and looks forward to the contents that can be further studied.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH243

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