基于ARM的轮式装载机称重系统

发布时间：2019-04-26 12:33

【摘要】：为了提高轮式装载机的装载效率和缩短物料的运输时间，在设计与实现轮式装载机称重系统时，必须使用高性能、高精度、能适应复杂车载环境的硬件平台和软件系统，保证短时交易中称重的准确性和系统的稳定性，从而提高货物的流通速度、减少货物在流通中占用大量的人力、物力和财力。基于上述背景，轮式装载机称重系统中使用高性能、低功耗的嵌入式ARM处理器AT91SAM9261和抢占式实时多任务操作系统μC/OS-II。为了保证采样的精度，系统选用24位AD采样芯片ADS1256对液压数据进行采集。结合该系统在实际应用中的功能要求、系统开发成本和时间因素，在硬件设计上使用核心板与底板分开设计方案。在软件设计上采样模块化设计方案，将系统程序分为设备驱动模块、功能应用模块和系统API三大模块。通过AD采样获得原始数据中存在大量噪声信号，，为了将车辆的噪声信号对称重结果的影响降低到最小，系统采用FFT变化对原始信号进行分析，采用低通滤波器将噪声信号从原始信号中滤除，最后使用最小二乘法完成液压数据与货物实际重量间的转换关系。本系统经实践证明，轮式装载机在静止状态时，该系统称重精度达到0.5%，置信区间为95%。装载机在行进过程中（速度5~10km/h）或处于斜坡地面（前后倾斜角小于10°，左右倾斜角小于5°）时，该系统称重精度达到1%，置信区间为95%。符合实际使用的精度要求。
[Abstract]:In order to improve the loading efficiency of wheel loaders and shorten the transportation time of materials, the hardware platform and software system with high performance and high precision must be used to design and realize the weighing system of wheel loaders, which can adapt to the complicated vehicle environment. To ensure the accuracy of weighing and the stability of the system in short-term trading, so as to improve the circulation speed of goods and reduce the amount of manpower, material and financial resources taken up in the circulation of goods. Based on the above background, high-performance, low-power embedded ARM processor AT91SAM9261 and preemptive real-time multitasking operating system 渭 C OS I are used in wheel loader weighing system. In order to ensure the sampling accuracy, the 24-bit AD sampling chip ADS1256 is selected to collect the hydraulic data. In combination with the functional requirements of the system in practical application, the system development cost and time factors, in the hardware design, the use of the core board and the bottom plate separate design scheme. The system program is divided into three modules: device driver module, functional application module and system API module. A large number of noise signals in the original data are obtained by AD sampling. In order to minimize the influence of symmetric weight results of vehicle noise signals, the FFT variation is used to analyze the original signals. The low pass filter is used to filter the noise signal from the original signal. Finally, the least square method is used to complete the conversion relationship between the hydraulic data and the actual weight of the cargo. It is proved by practice that the weighing accuracy of the system reaches 0.5% and the confidence interval is 95% when the wheel loader is in static state. The weighing accuracy of the system is up to 1% and the confidence interval is 95% when the loader is in the course of moving (velocity 5~10km/h) or on the slope ground (the front and back inclination angle is less than 10 掳, the left and right inclination angle is less than 5 掳). In line with the actual use of precision requirements.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH243

【参考文献】