CN106289642B - Lift by crane the method for dynamic estimation of relief car entirety gravity plane position under operating condition - Google Patents
Lift by crane the method for dynamic estimation of relief car entirety gravity plane position under operating condition Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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Abstract
The invention discloses a kind of method for dynamic estimation of relief car entirety gravity plane position under lifting operating condition, by relief car itself and boom center of gravity and the plan-position by the plan-position of breakdown lorry center of gravity by the whole center of gravity of combined method acquisition, then the estimation of dynamic whole gravity plane position is obtained using Kalman filtering algorithm, this method can be used for relief car security monitoring and dangerous working condition early warning, have the remarkable advantages such as precision is high, at low cost, real-time is good.
Description
Technical field
The present invention relates to a kind of method for dynamic estimation of relief car entirety gravity plane position under lifting operating condition, can be used for rescuing
Obstacles removing car attitude monitoring and dangerous posture early warning are helped, rescue obstacles removing car safe early warning field is belonged to.
Background technique
According to the statistics made by the departments concerned, relief car overturn accident in recent years takes place frequently, and often occurs failing to rescue safely in rescue operations
It rises and is rescued vehicle, and rollover or overthrow accident (second accident) occur for relief car itself.To find out its cause, making in addition to operator is violating the regulations
Outside the subjective factors such as industry, experience are insufficient and manage improperly, relief car lacks safety monitoring device, can not provide standard for operator
True relief car real time status information is also an important objective factor.
According to the work characteristics of relief car, relief car carries out breakdown lorry by boom the operation of suing and labouring such as to lift by crane, and considers
To the influence for being rescued the boom that vehicle and relief car are propped, relief car entirety center of gravity (relief car and boom and is rescued vehicle
Whole center of gravity) may exceed safe range the case where, and then cause relief car itself occur rollover or overthrow accident.If
Real-time estimation and prison can be carried out for (relief car carry out lifting operation) relief car entirety position of centre of gravity information under lifting operating condition
Control gives the corresponding information warning of driver when it exceeds safe range, then can be avoided a large amount of overthrow accident, but at present
The relevant technologies have not yet to see research.So this patent proposes relief car entirety center of gravity dynamic plane under a kind of lifting operating condition
Location estimation method (estimation that this method only considers the plan-position of center of gravity), with good excellent of low cost, high-precision, real-time
Point prevents occurring second accident in rescue operations, has important practical significance.
Summary of the invention
The invention proposes the method for dynamic estimation of relief car entirety gravity plane position under lifting operating condition, have solved at present
The problem of lacking to relief car overall dynamics center of gravity real time monitoring, method for early warning under operating condition is lifted by crane.
Coordinate system uses plane coordinate system in this method, using relief car turntable shaft core position as the origin o (0 of mark system
0), ox axis is directed toward the front of vehicle along the vehicle longitudinal axis, and oy axis is directed toward the left side of vehicle along vehicle horizontal axis.This method is useful in road surface
Under horizontal, spacious environment, to the plan-position dynamic estimation of whole center of gravity when relief car carries out lifting operation.
This method uses an angular transducer, a tension sensor, an acceleration transducer, a set of length and passes
Sensor.The installation site of each sensor is as follows: angular transducer is mounted on boom turntable, wherein the axle center of sensor with turn
Platform center of rotation is always；Acceleration transducer is mounted on boom, and installation direction is consistent with boom direction；Tension sensor peace
Mounted in suspension hook and boom junction；Linear transducer is mounted on boom and consistent with boom direction.
The invention discloses a kind of method for dynamic estimation of relief car entirety gravity plane position under lifting operating condition, will rescue
Vehicle itself and boom center of gravity and the plane by the plan-position of breakdown lorry center of gravity by combined method acquisition relief car entirety center of gravity
Position.In view of the noise generated in the error and rescue operations of sensor, the present invention is obtained using Kalman filtering algorithm
The dynamic estimation of the higher relief car entirety gravity plane position of precision, this method can be used for relief car security monitoring and dangerous work
Condition early warning has the remarkable advantages such as precision is high, at low cost, real-time is good.
The weight and gravity plane position acquisition mode of specific various pieces are as follows:
1, the weight of relief car and gravity plane position
The weight and horizontal location of the center of gravity (not including boom) of relief car, can pass through the product manual or static state of relief car
The modes such as measurement obtain, and the weight of relief car is M0, the plan-position of center of gravity is S0(x0 y0)。
2, weight and the gravity plane position of vehicle are lifted
It is lifted vehicle weight M1It is measured by boom top tension sensor.It is lifted due to being rescued vehicle, according to outstanding
The plan-position of extension method center of gravity is identical as the plan-position of suspension hook.The plan-position of suspension hook, can be by the angle on relief car boom
Sensor, acceleration transducer, tension sensor, linear transducer obtain boom posture information, further calculate suspension hook
Plan-position.
Wherein boom posture information includes: (the revolution angular region of boom: 0≤α≤360 °, α are to hang to the angle of revolution α of boom
Arm and the angle of bodywork reference frame ox axis in the counterclockwise direction), elevation angle β (the boom elevation coverage: 0≤β of boom and xoy plane
≤ 90 °), length L (the length of boom L of boommin≤L≤Lmax), wherein LminFor length of boom minimum value, LmaxFor length maximum
It is worth (Lmin、LmaxIt is obtained by the product manual of boom).Wherein the angle of revolution α of boom can directly be obtained by angular transducer
It takes；The length L of boom is directly measured by linear transducer.In view of boom remains static during lifting, boom
Elevation angle β can be resolved by the component A of boom direction gravity that acceleration transducer acquires, specific formula is as follows:
In formula, g indicates acceleration of gravity constant, sin-1Indicate the inverse function of SIN function.
Vehicle's center of gravity is to sum up lifted in the coordinate S of xoy plane1(x1 y1) specific formula for calculation it is as follows:
x1=cos β × L × cos α (2)
y1=cos β × L × sin α (3)
3, the weight and position of centre of gravity of boom
The mass M of boom2It can be obtained by specification or static measurement.Boom center of gravity is away from boom starting point (boom
With breakdown lorry turntable junction) distance D changes with the variation of the length L of boom.This method takes into account the complexity of calculating
The precision of degree and fitting selects distance D of the conic fitting boom center of gravity away from boom starting point with the letter of the length L of boom
It counts D=A (L), wherein S (L)=A2L2+A1L+A0.It is L that length of boom is obtained by way of static measurementmin、Lmid、LmaxWith
And distance D of the corresponding boom center of gravity away from boom starting pointmin、Dmid、Dmax, wherein Lmid=0.5 × (Lmin+Lmax).Then lead to
Cross the coefficient A that data calculation achieved above goes out conic section2、A1、A0Value, can be obtained and hang according to the length L for measuring boom
The value of distance D of the arm center of gravity away from boom starting point.
Therefore coordinate S of the center of gravity of boom in xoy plane2(x2 y2) specific formula for calculation is as follows:
x2=cos β × D × cos α (4)
y2=cos β × D × sin α (5)
Wherein, α, β meaning and consistent above, indicates angle of revolution and the pitch angle of boom.
Using known relief car and boom and the gravity plane position for the object being lifted, weight, pass through combined method
The plan-position S of whole center of gravity can be calculatedm(xm ym), specific formula for calculation is as follows:
In view of under lifting operation breakdown lorry be in dynamic, sensor data obtained there are biggish error with
Machine, and then influence to obtain the dynamic estimation precision of whole gravity plane position, so this method is by the whole of relief car calculated
The plan-position S of the weight heartm(xm ym) it is used as observed quantity, the higher whole weight of precision is obtained using Kalman filtering algorithm
The estimated value of the heart.
Kalman filtering algorithm is the optimal State Estimation filtering algorithm using Minimum Mean Square Error as criterion, it does not need to store
Past measured value only carries out recurrence calculation according to the estimated value of current observation and previous moment, can realize to real-time
The estimation of signal has the characteristics that data storage capacity is small, algorithm is easy.This method is applied under rescue obstacles removing car lifting operating condition
Whole center of gravity estimation when, while guaranteeing real-time, can effectively improve estimated accuracy.
The state equation and observational equation of Kalman filtering is established below.
The matrix form of the state equation of Kalman filtering after discretization indicates are as follows:
X (k)=F (k, k-1) X (k-1)+W (k-1) (8)
In formula, k indicates the discretization moment；System mode vector is that wherein p1 is whole under plane coordinate system to X=[p1 p2]
The position coordinates in the direction weight heart ox, p2 be bodywork reference frame under the direction whole center of gravity oy position coordinates, the present invention on
Footmark ' it indicates to matrix transposition；The system white Gaussian noise vector and W=[w of W expression zero-mean1 w2], wherein w1、w2Respectively
Indicate two systems white Gaussian noise component, the corresponding system noise covariance battle array of WWhereinPoint
It Biao Shi not system white Gaussian noise w1、w2Corresponding variance；State-transition matrix isThis is because rescue is removed obstacles
Vehicle whole position of centre of gravity under operating condition is slowly varying, it is believed that the whole barycentric coodinates of a upper sampling instant are equal to next
The whole barycentric coodinates of sampling instant.
The discretization matrix form of Kalman filtering observational equation are as follows:
Z (k)=H (k) X (k)+V (k) (9)
In formula, Z is observation vector, and H is observation battle array, and V indicates to observe white noise vector with W irrelevant zero-mean.It sees
Measurement takes combined method to calculate whole center of gravity ox, oy axis direction coordinate value xm、ym,Due to observation vector and state to
Amount all refers to whole center of gravity ox, oy axis direction coordinate value, soIndicate whole center of gravity
The observation noise and mean value of the direction ox coordinate are 0, variance isWhite Gaussian noise,It indicates to calculate the entirety obtained by formula
The observation noise of the direction center of gravity oy coordinate value and mean value is 0, variance isWhite Gaussian noise；The corresponding observation noise variance of V
Battle array R is represented by
Above-mentioned described system state equation and measurement equation are established following with kalman filtering theory
Standard filter recursive process, the recursive process include the time update and measurement updaue, below recursive process first two steps be the time
It updates, remaining three step is measurement updaue.
Time update includes:
State one-step prediction equation
One-step prediction error covariance matrix
P (k, k-1)=F (k, k-1) P (k-1) F ' (k, k-1)+Q (k-1) (11)
Measurement updaue includes:
Filtering gain matrix
K (k)=P (k, k-1) H ' (k) [H (k) P (k, k-1) H ' (k)+R (k)]-1 (12)
State estimation
Estimation error variance battle array
P (k)=[I-K (k) H (k)] P (k, k-1) (14)
After above-mentioned recurrence calculation, the plane of obstacles removing car entirety center of gravity can be rescued in real time, under dynamic estimation lifting operating condition
Position.
Detailed description of the invention
Fig. 1 for the mentioned method of the present invention flow chart
Fig. 2 is institute's lifting revolution of arm of the present invention angle schematic diagram
Fig. 3 is institute's lifting arm of the present invention elevation angle schematic diagram
Fig. 4 is institute's lifting arm elevation estimate model schematic of the present invention
Specific embodiment
According to the statistics made by the departments concerned, relief car overturn accident in recent years takes place frequently, and often occurs failing to rescue safely in rescue operations
It rises and is rescued vehicle, and rollover or overthrow accident (second accident) occur for relief car itself.To find out its cause, making in addition to operator is violating the regulations
Outside the subjective factors such as industry, experience are insufficient and manage improperly, relief car lacks safety monitoring device, can not provide standard for operator
True relief car status information is also an important objective factor.
According to the work characteristics of relief car, relief car carries out breakdown lorry by boom the operation of suing and labouring such as to lift by crane, and considers
To the influence for being rescued the boom that vehicle and relief car are propped, relief car entirety center of gravity (relief car and boom and is rescued vehicle
Whole center of gravity) may exceed safe range the case where, and then cause relief car itself occur rollover or overthrow accident.If
Real-time estimation and prison can be carried out for (relief car carry out lifting operation) relief car entirety position of centre of gravity information under lifting operating condition
Control gives the corresponding information warning of driver when it exceeds safe range, then can be avoided a large amount of overthrow accident, but at present
The relevant technologies have not yet to see research.So this patent proposes relief car entirety center of gravity dynamic plane position under a kind of lifting operating condition
Estimation method (estimation that this method only considers the plan-position of center of gravity) is set, with good excellent of low cost, high-precision, real-time
Point prevents occurring second accident in rescue operations, has important practical significance.
Coordinate system uses plane coordinate system in this method, using relief car turntable shaft core position as the origin o (0 of mark system
0), ox axis is directed toward the front of vehicle along the vehicle longitudinal axis, and oy axis is directed toward the left side of vehicle along vehicle horizontal axis.This method is useful in road surface
Under horizontal, spacious environment, to the plan-position dynamic estimation of whole center of gravity when relief car carries out lifting operation.
This method uses an angular transducer, a tension sensor, an acceleration transducer, a set of length and passes
Sensor.The installation site of each sensor is as follows: angular transducer is mounted on boom turntable, wherein the axle center of sensor with turn
Platform center of rotation is always；Acceleration transducer is mounted on boom, and installation direction is consistent with boom direction；Tension sensor peace
Mounted in suspension hook and boom junction；Linear transducer is mounted on boom and consistent with boom direction.
The invention discloses a kind of method for dynamic estimation of relief car entirety gravity plane position under lifting operating condition, will rescue
Vehicle itself and boom center of gravity and the plane by the plan-position of breakdown lorry center of gravity by combined method acquisition relief car entirety center of gravity
Position.In view of the noise generated in the error and rescue operations of sensor, the present invention is obtained using Kalman filtering algorithm
The dynamic estimation of the higher relief car entirety gravity plane position of precision, this method can be used for relief car security monitoring and dangerous work
Condition early warning has the remarkable advantages such as precision is high, at low cost, real-time is good.
The weight and gravity plane position acquisition mode of specific various pieces are as follows:
1, the weight of relief car and gravity plane position
The weight and horizontal location of the center of gravity (not including boom) of relief car, can pass through the product manual or static state of relief car
The modes such as measurement obtain, and the weight of relief car is M0, the plan-position of center of gravity is S0(x0 y0)。
2, weight and the gravity plane position of vehicle are lifted
It is lifted vehicle weight M1It is measured by boom top tension sensor.It is lifted due to being rescued vehicle, according to outstanding
The plan-position of extension method center of gravity is identical as the plan-position of suspension hook.The plan-position of suspension hook, can be by the angle on relief car boom
Sensor, acceleration transducer, tension sensor, linear transducer obtain boom posture information, further calculate suspension hook
Plan-position.
Wherein boom posture information includes: (the revolution angular region of boom: 0≤α≤360 °, α are to hang to the angle of revolution α of boom
Arm and the angle of bodywork reference frame ox axis in the counterclockwise direction), elevation angle β (the boom elevation coverage: 0≤β of boom and xoy plane
≤ 90 °), length L (the length of boom L of boommin≤L≤Lmax), wherein LminFor length of boom minimum value, LmaxFor length maximum
It is worth (Lmin、LmaxIt is obtained by the product manual of boom).Wherein the angle of revolution α of boom can directly be obtained by angular transducer
It takes；The length L of boom is directly measured by linear transducer.In view of boom remains static during lifting, boom
Elevation angle β can be resolved by the component A of boom direction gravity that acceleration transducer acquires, specific formula is as follows:
In formula, g indicates acceleration of gravity constant, sin-1Indicate the inverse function of SIN function.
Vehicle's center of gravity is to sum up lifted in the coordinate S of xoy plane1(x1 y1) specific formula for calculation it is as follows:
x1=cos β × L × cos α (2)
y1=cos β × L × sin α (3)
3, the weight and position of centre of gravity of boom
The mass M of boom2It can be obtained by specification or static measurement.Boom center of gravity is away from boom starting point (boom
With breakdown lorry turntable junction) distance D changes with the variation of the length L of boom.This method takes into account the complexity of calculating
The precision of degree and fitting selects distance D of the conic fitting boom center of gravity away from boom starting point with the letter of the length L of boom
It counts D=S (L), wherein S (L)=A2L2+A1L+A0.It is L that length of boom is obtained by way of static measurementmin、Lmid、LmaxWith
And distance D of the corresponding boom center of gravity away from boom starting pointmin、Dmid、Dmax, wherein Lmid=0.5 × (Lmin+Lmax).Then lead to
Cross the coefficient A that data calculation achieved above goes out conic section2、A1、A0Value, can be obtained and hang according to the length L for measuring boom
The value of distance D of the arm center of gravity away from boom starting point.
Therefore coordinate S of the center of gravity of boom in xoy plane2(x2 y2) specific formula for calculation is as follows:
x2=cos β × D × cos α (4)
y2=cos β × D × sin α (5)
Wherein, α, β meaning and consistent above, indicates angle of revolution and the pitch angle of boom.
Using known relief car and boom and the gravity plane position for the object being lifted, weight, pass through combined method
The plan-position S of whole center of gravity can be calculatedm(xm ym), specific formula for calculation is as follows:
In view of under lifting operation breakdown lorry be in dynamic, sensor data obtained there are biggish error with
Machine, and then influence to obtain the dynamic estimation precision of whole gravity plane position, so this patent is by the whole of relief car calculated
The plan-position S of the weight heartm(xm ym) it is used as observed quantity, the higher whole weight of precision is obtained using Kalman filtering algorithm
The estimated value of the heart.
Kalman filtering algorithm is the optimal State Estimation filtering algorithm using Minimum Mean Square Error as criterion, it does not need to store
Past measured value only carries out recurrence calculation according to the estimated value of current observation and previous moment, can realize to real-time
The estimation of signal has the characteristics that data storage capacity is small, algorithm is easy.This method is applied under rescue obstacles removing car lifting operating condition
When whole center of gravity estimation, while guaranteeing real-time, estimated accuracy can effectively improve.
The state equation and observational equation of Kalman filtering is established below.
The matrix form of the state equation of Kalman filtering after discretization indicates are as follows:
X (k)=F (k, k-1) X (k-1)+W (k-1) (8)
In formula, k indicates the discretization moment；System mode vector is that wherein p1 is whole under plane coordinate system to X=[p1 p2]
The position coordinates in the direction weight heart ox, p2 be bodywork reference frame under the direction whole center of gravity oy position coordinates, the present invention on
Footmark ' it indicates to matrix transposition；The system white Gaussian noise vector and W=[w of W expression zero-mean1 w2], wherein w1、w2Respectively
Indicate two systems white Gaussian noise component, the corresponding system noise covariance battle array of WWhereinPoint
It Biao Shi not system white Gaussian noise w1、w2Corresponding variance；State-transition matrix isThis is because rescue is removed obstacles
Vehicle whole position of centre of gravity under operating condition is slowly varying, it is believed that the whole barycentric coodinates of a upper sampling instant are equal to next
The whole barycentric coodinates of sampling instant.
The discretization matrix form of Kalman filtering observational equation are as follows:
Z (k)=H (k) X (k)+V (k) (9)
In formula, Z is observation vector, and H is observation battle array, and V indicates to observe white noise vector with W irrelevant zero-mean.It sees
Measurement takes combined method to calculate whole center of gravity ox, oy axis direction coordinate value xm、ym,Due to observation vector and state to
Amount all refers to whole center of gravity ox, oy axis direction coordinate value, soIndicate whole center of gravity
The observation noise and mean value of the direction ox coordinate are 0, variance isWhite Gaussian noise,It indicates to calculate the entirety obtained by formula
The observation noise of the direction center of gravity oy coordinate value and mean value is 0, variance isWhite Gaussian noise；The corresponding observation noise variance of V
Battle array R is represented by
Above-mentioned described system state equation and measurement equation are established following with kalman filtering theory
Standard filter recursive process, the recursive process include the time update and measurement updaue, below recursive process first two steps be the time
It updates, remaining three step is measurement updaue.
Time update includes:
State one-step prediction equation
One-step prediction error covariance matrix
P (k, k-1)=F (k, k-1) P (k-1) F ' (k, k-1)+Q (k-1) (11)
Measurement updaue includes:
Filtering gain matrix
K (k)=P (k, k-1) H ' (k) [H (k) P (k, k-1) H ' (k)+R (k)]-1 (12)
State estimation
Estimation error variance battle array
P (k)=[I-K (k) H (k)] P (k, k-1) (14)
After above-mentioned recurrence calculation, the plane of obstacles removing car entirety center of gravity can be rescued in real time, under dynamic estimation lifting operating condition
Position.
Technical effect
(1) it is flat that the invention proposes relief car entirety centers of gravity under the good lifting operating condition of a kind of low cost, high-precision, real-time
Face location estimation method can be used for the needs of relief car security monitoring and danger early warning；
(2) present invention carries out Rational Simplification to center of gravity model whole in rescue operations according to rescue obstacles removing car work characteristics,
And the estimation of relief car entirety position of centre of gravity is carried out using Kalman filtering, ensure its estimated accuracy and real-time；
(3) present invention only needs inexpensive an angular transducer, a tension sensor, acceleration transducer, one
Cover length sensor, have the advantages that it is at low cost, convenient for large-scale promotion.
Claims (1)
1. the method for dynamic estimation of relief car entirety gravity plane position under a kind of lifting operating condition, using plane coordinate system, to rescue
Origin o (0 0) of the vehicle turntable shaft core position as plane mark system is helped, ox axis is directed toward the front of vehicle, oy axis edge along the vehicle longitudinal axis
The left side of vehicle horizontal axis direction vehicle；
Using an angular transducer, a tension sensor, an acceleration transducer, a set of linear transducer；Angle passes
Sensor is mounted on boom turntable, and wherein the axle center of sensor is consistent with turntable center of rotation；Acceleration transducer, which is mounted on, to be hung
On arm, and installation direction is consistent with boom direction；Tension sensor is mounted on suspension hook and boom junction；Linear transducer installation
It is on boom and consistent with boom direction；
Relief car itself and boom center of gravity are obtained into relief car entirety by combined method with by the plan-position of breakdown lorry center of gravity
The plan-position of center of gravity；Show that the dynamic of the higher relief car entirety gravity plane position of precision is estimated using Kalman filtering algorithm
Meter；
The weight and gravity plane position acquisition mode of specific various pieces are as follows:
(1) weight of relief car and gravity plane position
Remove boom, product manual or static measurement of the weight and horizontal location of the center of gravity of relief car remainder by relief car
Mode obtain, the weight of relief car is M0, the plan-position of center of gravity is S0(x0 y0)；
(2) weight and the gravity plane position of vehicle are lifted
It is lifted vehicle weight M1It is measured by boom top tension sensor；It is lifted due to being rescued vehicle, according to suspension method weight
The plan-position of the heart and the plan-position of suspension hook are identical；The plan-position of suspension hook, by relief car boom angular transducer, plus
Velocity sensor, tension sensor, linear transducer obtain boom posture information, further calculate the plan-position of suspension hook
S1(x1 y1)；
Wherein boom posture information includes: the angle of revolution α of boom, the elevation angle β of boom and xoy plane, the length L of boom；Wherein
The angle of revolution α of boom is directly acquired by angular transducer；The length L of boom is directly measured by linear transducer；In view of hanging
Arm remains static during lifting, the boom direction gravity that the elevation angle β of boom is acquired by acceleration transducer
Component A resolves, specific formula is as follows:
In formula, g indicates acceleration of gravity constant, sin-1Indicate the inverse function of SIN function；
Vehicle's center of gravity is to sum up lifted in the coordinate S of xoy plane1(x1 y1) specific formula for calculation it is as follows:
x1=cos β × L × cos α (2)
y1=cos β × L × sin α (3)
(3) weight and position of centre of gravity of boom
The mass M of boom2It is obtained by way of product manual or static measurement；Boom center of gravity is away from boom starting point, that is, boom
Change with breakdown lorry turntable junction distance D with the variation of the length L of boom, selects conic fitting boom weight
Distance D of the heart away from boom starting point is with the function D=S (L) of the length L of boom, wherein S (L)=A2L2+A1L+A0；By quiet
It is L that the mode of state measurement, which obtains length of boom,min、Lmid、LmaxAnd distance D of the corresponding boom center of gravity away from boom starting pointmin、
Dmid、Dmax, wherein Lmid=0.5 × (Lmin+Lmax)；Go out the coefficient A of conic section by data calculation achieved above2、A1、A0
Value, can be obtained the value of distance D of the boom center of gravity away from boom starting point according to the length L for measuring boom；
Therefore, coordinate S of the center of gravity of boom in xoy plane2(x2 y2) specific formula for calculation is as follows:
x2=cos β × D × cos α (4)
y2=cos β × D × sin α (5)
Wherein, α, β indicate angle of revolution and the pitch angle of boom；
Using known relief car and boom and the gravity plane position for the object being lifted, weight, pass through combined method
Calculate the plan-position S of whole center of gravitym(xm ym), specific formula for calculation is as follows:
By the plan-position S of the whole center of gravity of relief car calculatedm(xm ym) it is used as observed quantity, utilize Kalman filtering algorithm
In the hope of obtaining the estimated value of the higher whole center of gravity of precision；
The matrix form of the state equation of Kalman filtering after discretization indicates are as follows:
X (k)=F (k, k-1) X (k-1)+W (k-1) (8)
In formula, k indicates the discretization moment；System mode vector is that wherein p1 is the entirety under plane coordinate system to X=[p1 p2] '
The position coordinates in the direction center of gravity ox, p2 are the position coordinates in the direction whole center of gravity oy under bodywork reference frame, superscript ' expression pair
Matrix transposition；The system white Gaussian noise vector and W=[w of W expression zero-mean1 w2] ', wherein w1、w2Respectively indicating two is
System white Gaussian noise component, the corresponding system noise covariance battle array of WWhereinRespectively indicate system
White Gaussian noise w1、w2Corresponding variance；State-transition matrix isRescue obstacles removing car whole center of gravity under operating condition
Position be it is slowly varying, the whole barycentric coodinates of a upper sampling instant are equal to the whole barycentric coodinates of next sampling instant；
The discretization matrix form of Kalman filtering observational equation are as follows:
Z (k)=H (k) X (k)+V (k) (9)
In formula, Z is observation vector, and H is observation battle array, and V indicates to observe white noise vector with W irrelevant zero-mean；Observed quantity
Combined method is taken to calculate whole center of gravity ox, oy axis direction coordinate value xm、ym,All due to observation vector and state vector
Refer to whole center of gravity ox, oy axis direction coordinate value, soIndicate the whole center of gravity side ox
To the observation noise and mean value of coordinate be 0, variance isWhite Gaussian noise,It indicates to calculate the whole center of gravity obtained by formula
The observation noise and mean value of the direction oy coordinate value are 0, variance isWhite Gaussian noise；The corresponding observation noise variance matrix R of V
It is represented by
Standard filtering recursive process is established with kalman filtering theory for above system state equation and measurement equation, it should
Recursive process includes time update and measurement updaue, and the first two steps of recursive process are time update, and remaining three step is to measure more
Newly；
Time update includes:
State one-step prediction equation
One-step prediction error covariance matrix
P (k, k-1)=F (k, k-1) P (k-1) F ' (k, k-1)+Q (k-1) (11)
Measurement updaue includes:
Filtering gain matrix
K (k)=P (k, k-1) H ' (k) [H (k) P (k, k-1) H ' (k)+R (k)]-1 (12)
State estimation
Estimation error variance battle array
P (k)=[I-K (k) H (k)] P (k, k-1) (14)
After above-mentioned recurrence calculation, the plan-position of obstacles removing car entirety center of gravity is rescued in real time, under dynamic estimation lifting operating condition.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844197.6A CN106289642B (en) | 2016-09-23 | 2016-09-23 | Lift by crane the method for dynamic estimation of relief car entirety gravity plane position under operating condition |
Applications Claiming Priority (1)
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