CN107884045B - A kind of wheel loader load-carrying measuring method based on vibration - Google Patents
A kind of wheel loader load-carrying measuring method based on vibration Download PDFInfo
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- CN107884045B CN107884045B CN201711006372.5A CN201711006372A CN107884045B CN 107884045 B CN107884045 B CN 107884045B CN 201711006372 A CN201711006372 A CN 201711006372A CN 107884045 B CN107884045 B CN 107884045B
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- swing arm
- scraper bowl
- loading machine
- acceleration
- hinge joint
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/086—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles wherein the vehicle mass is dynamically estimated
Abstract
A kind of measurement method of the wheel loader loading capacity based on vibration of the present invention, the measurement method includes: to set idling mode for loading machine, and scraper bowl is placed in normal place, obtains the acceleration of three points；According to the composition principle of movement, scraper bowl is calculated in certain time around the acceleration of swing arm cylinder and the hinge joint of swing arm；The peak value of power spectral density plot and the relationship of loading machine loading capacity are sought, and the relationship based on the two establishes neural network；Scraper bowl in certain time is inputted into neural network around the peak value that the accelerating curve of swing arm cylinder and the hinge joint of swing arm converts resulting power spectral density plot, the loading capacity of loading machine is calculated.The present invention need to only obtain the acceleration of three points, without to loading machine swing arm cylinder and its structure be transformed, remain the integrality and flexibility of loading machine structure, have the advantages that installation is simple, convenient disassembly.It can be applicable in the loading machine or vehicle of various models, had the advantages that versatile.
Description
Technical field
The present invention relates to engineering machinery fields, measure in particular to a kind of wheel loader load-carrying based on vibration
Amount method.
Background technique
Loading machine is the machinery for being widely used in the engineering constructions such as highway, railway, building, water power, harbour, mine, with it
The advantages that operating speed is fast, high-efficient, mobility is good, operation is light, becomes the important machine of restoration in earth-rock construction in engineering construction.
The groundwork of loading machine is spading material and pours to material in haulage vehicle, when loading machine is loaded with excessive material,
The possibility tumbled side is increased under complicated working condition.Meanwhile haulage vehicle being easy to cause to overload, reduce haulage vehicle
Service life but will lead to the punishment of road supervision aspect.When the material of loading machine dress is very few, it is unable to give full play loading machine
Performance, reduce working efficiency.Meanwhile the number of transport is increased so as to cause the production cost increases, it is unfavorable for improving warp
Ji benefit.In order to avoid above situation, in practical engineering applications, it would be desirable to be able to obtain the loading capacity of loading machine.
Existing loading machine loading capacity mode mainly measures oil cylinder working-pressure check weighing.Using measurement boom cylinder output pressure
The mode that power surveys load-carrying is needed in hydraulic cylinder oil inlet and oil outlet installation oil pressure module, by calculating oil inlet and oil outlet
Pressure difference obtains the pressure that swing arm applies oil cylinder, is finally converted into the loading capacity of loading machine.This mode needs to be transformed dynamic
The structure of arm cylinder, installation is inconvenient, and can directly destroy the integrality of mechanism of wheel loaders and reduce the flexibility of loading machine.
Summary of the invention
The present invention provides a kind of wheel loader load-carrying measuring method based on vibration, it is intended to solve how not change
In the case where making swing arm cylinder, the problem of retaining the flexibility of loading machine.
The present invention is implemented as follows:
A kind of wheel loader load-carrying measuring method based on vibration, the measurement method include:
Idling mode is set by loading machine, and scraper bowl is placed in normal place, obtain scraper bowl mass center, preceding in certain time
The acceleration of axis center and scraper bowl mass center with respect to the symmetric points of front axle center；
According to the composition principle of movement, scraper bowl is calculated in certain time around the acceleration of swing arm cylinder and the hinge joint of swing arm；
PSD is carried out around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time to convert to obtain power
Spectrum density curve；
The peak value of power spectral density plot and the relationship of loading machine loading capacity are sought, and the relationship based on the two establishes nerve
Network；
Scraper bowl in certain time is converted into resulting power spectrum around the accelerating curve of swing arm cylinder and the hinge joint of swing arm
Write music line peak value input neural network, the loading capacity of loading machine is calculated.
Further, in preferred embodiments of the present invention, it is described to scraper bowl in certain time around swing arm cylinder and swing arm
The accelerating curve of hinge joint carry out PSD convert to obtain power spectral density plot and, seek the peak value of power spectral density plot
With the relationship of loading machine loading capacity, comprising:
By carrying out PSD transformation around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time, obtain
Corresponding power spectral density plot is obtained, show that there are approximately linears between the peak value of power spectral density plot and loading machine loading capacity
Relationship；
Loading machine virtual prototype is established based on ADAMS, set the parameter of virtual prototype and carries out emulation experiment,
Verify the relationship between the peak value and loading machine loading capacity of power spectral density plot.
Further, in preferred embodiments of the present invention, the peak value of the power spectral density plot inputs neural network,
The loading capacity of loading machine is calculated, comprising:
Pass through the training sample of system acquisition, training neural network；
The peak value for the power spectral density plot being calculated is input to neural network after training, loading is calculated
The loading capacity of machine.
Further, in preferred embodiments of the present invention, the scraper bowl mass center, front axle center and scraper bowl mass center are opposite
The symmetric points of front axle center are separately installed with accelerometer.
Further, described around the acceleration of swing arm cylinder and the hinge joint of swing arm in preferred embodiments of the present invention
Expression formula are as follows:
aAFor the resultant acceleration of scraper bowl mass center tangentially；aBFor the acceleration of front axle center；aCIt is scraper bowl mass center with respect to front axle
The resultant acceleration of the symmetric points at center tangentially；Indicate the hinge joint two o'clock line and water of scraper bowl mass center, swing arm cylinder and swing arm
Square to angle；β indicate scraper bowl mass center, front axle center and scraper bowl mass center with respect to front axle center 3 lines of symmetric points and
The angle of horizontal direction；
β can be regarded as constant, therefore, table of the scraper bowl around swing arm cylinder and the acceleration of the hinge joint of swing arm
Simplify up to formula are as follows:
ao=C [(aA-aB)-(aB-aC)]；
C is constant.
The beneficial effects of the present invention are: measurement method provided by the invention, comprising: obtain scraper bowl mass center, front axle center with
And scraper bowl mass center is with respect to the acceleration of the symmetric points of front axle center；And then calculate scraper bowl adding around the hinge joint of swing arm cylinder and swing arm
Speed；PSD is carried out around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time to convert to obtain power spectrum
Density curve；The relationship of peak value and loading machine loading capacity based on power spectral density plot establishes neural network；Pass through the nerve
The loading capacity of loading machine is calculated in network.The present invention need to only obtain the acceleration of three points, without the swing arm cylinder to loading machine
And its structure is transformed, and the integrality and flexibility of loading machine structure are remained, and has the advantages that install simple, convenient disassembly.
The loading capacity of loading machine can be calculated by neural network, the loading machine or vehicle of various models can be applicable in, had
Versatile advantage.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the embodiment of the present invention, accelerometer installation site figure；
Fig. 2 is the embodiment of the present invention, the block diagram of measuring system；
Fig. 3 is the peak value (× 10 of power spectral density plot under different tire pressure6(mm2/Hz*s4)) and loading machine loading capacity
(N) relational graph；
Fig. 4 is the embodiment of the present invention, and acceleration decomposes and synthesis schematic diagram.
Icon: 1- accelerometer；2- loading machine；The hinge joint of 3- swing arm cylinder and swing arm；A- scraper bowl mass center；In B- front axle
The heart；C- symmetric points.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, claimed invention is not intended to limit to the detailed description of embodiments of the present invention below
Range, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, ordinary skill
Personnel's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
Method And Principle of the invention are as follows: the components such as swing rod, swing arm, connecting rod of loading machine 2 and non-rigid, but have certain
The flexible body of elasticity.Wherein, the shape of swing arm is more long and narrow, undertakes the main function of support scraper bowl, the effect shadow of other components
It is loud then smaller.Therefore, present invention application swing arm influence flexible.
Due to swing arm influence flexible, 2 scraper bowl of loading machine can be vibrated around swing arm supporting-point, and the characteristic of vibration is loaded
The influence of 2 loading capacity of machine.Therefore, before obtaining scraper bowl mass center A, front axle center B and scraper bowl mass center A relatively by accelerometer 2
3 points of symmetric points C of the vibration (i.e. acceleration) of axis center B；Then calculate scraper bowl because swing arm flexibility influence generate around swing arm
After centainly handling, as the input data of neural network, loading machine 2 is calculated in the vibration of cylinder and swing arm hinge joint
Loading capacity.
A kind of wheel loader load-carrying measuring method based on vibration, comprising:
(1) idling mode is set by loading machine 2, and scraper bowl is placed in normal place, obtains scraper bowl mass center in certain time
A, the acceleration of symmetric points C of the front axle center B and scraper bowl mass center A with respect to front axle center B.
Specifically, perhaps other vehicles and being arranged on loading machine 2 or other vehicles firstly the need of loading machine 2 is prepared
Position sensor.After 2 spading material of loading machine, so that the bucket motions of loading machine 2 are to normal place.
Three in the symmetric points C of scraper bowl mass center A, front axle center B and scraper bowl mass center A with respect to front axle center B of loading machine 2
Accelerometer 1 is set on point, and wherein accelerometer 1 refers to the instrument of detection acceleration.Then loading machine 2 is placed in idling shape
State obtains above-mentioned 3 points of acceleration by accelerometer 1.Measuring system includes the module of data storage, communication and display,
Can collected acceleration information be carried out the pretreatment such as signal amplification, shaping filter, analog-to-digital conversion and do other places
Reason.
(2) according to the composition principle of movement, scraper bowl is calculated in certain time around the acceleration of swing arm cylinder and the hinge joint 3 of swing arm
Degree, and form corresponding accelerating curve.
Concrete analysis: after 2 spading material of loading machine, vehicle mass center biased forwards, front-wheel is pressurized and bounces, and vehicle body is around front axle
Rotation, so the movement of certain location point other than front axle is synthesized by the rotation around front axle with upper and lower movement.Wherein:
The tangential acceleration a of scraper bowl mass center At1It indicates are as follows:
D θ indicates any moment car body around the unit angle of front axis；α indicates to accelerate around the angle that front axle center B is rotated
Degree；R indicates the radius that scraper bowl mass center A is rotated around front axle center B；at2Indicate symmetric points C of the scraper bowl mass center A with respect to front axle center B
Tangential acceleration；
Further, the resultant acceleration a tangentially of scraper bowl mass center AAIt indicates are as follows:
The resultant acceleration of front axle center B indicates are as follows:
aB=an；
The resultant acceleration of symmetric points C of the scraper bowl mass center A with respect to front axle center B tangentially indicates are as follows:
aC=at2+cosβ·an；
Further,
aB-aC=-at2+(1-cosβ)·an≈-at2；
Around the expression formula of swing arm cylinder and the acceleration of the hinge joint 3 of swing arm are as follows:
In formula, aoIndicate scraper bowl around the acceleration of swing arm and the hinge joint of swing arm cylinder；Indicate scraper bowl mass center A, swing arm cylinder with
The hinge joint two o'clock line of swing arm and the angle of horizontal direction；β indicates scraper bowl mass center A, front axle center B and scraper bowl mass center A phase
To the angle of symmetric points C 3 lines and horizontal direction of front axle center B, numerical value is smaller；anIndicate scraper bowl around swing arm and swing arm
The acceleration of the hinge joint of cylinder
β can be regarded as constant, and the value of β is smaller, and therefore, the scraper bowl is around the hinge joint 3 of swing arm cylinder and swing arm
The expression formula of acceleration simplifies are as follows:
ao=C [(aA-aB)-(aB-aC)]；
C is constant.
(3) PSD is carried out around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time to convert to obtain
Power spectral density plot.
There are certain relationships around the mounted mass of the acceleration and loading machine 2 of swing arm cylinder and the hinge joint of swing arm for scraper bowl, need
Seek the mounted mass of numerical value and loading machine 2 around the acceleration of hinge joint of swing arm cylinder and swing arm itself or after treatment
Between relationship.By the way that scraper bowl in certain time is carried out PSD transformation around the accelerating curve of swing arm cylinder and the hinge joint of swing arm
Obtain power spectral density plot.
(4) peak value of power spectral density plot and the relationship of 2 loading capacity of loading machine are sought, and the relationship based on the two is established
Neural network.
By carrying out PSD transformation around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time, obtain
Corresponding power spectral density plot is obtained, show that there are approximate lines between the peak value of power spectral density plot and 2 loading capacity of loading machine
Sexual intercourse；
2 virtual prototype of loading machine is established based on ADAMS, set the parameter of virtual prototype and carries out emulation in fact
It tests, has obtained the relationship of 2 loading capacity of peak value and loading machine (N) of power spectral density plot under different tire pressure, verify power spectrum
The relationship write music between 2 loading capacity of peak value and loading machine of line.
In addition to the loading capacity of loading machine 2, the other factors such as tire pressure of loading machine 2 also will affect the vibration of loading machine 2,
To influence the peak value of power spectral density plot.Therefore, by corresponding simulation results show tire pressure to power spectral density
The influence of the peak value of curve is smaller.
In this step, by the scraper bowl that obtains in advance around the acceleration of swing arm cylinder and the hinge joint of swing arm and loading machine 2
Loading capacity mass data sample, seek the relationship of the peak value of power spectral density plot and the loading capacity of loading machine 2.
In order to fully consider, various factors bring is non-linear and uncertain under actual conditions, and the method for the present invention selection is adopted
With non-linear, containing uncertain factor between 2 loading capacity of peak value and loading machine of neural network power spectral density plot
Relationship, it is final to realize the loading capacity for passing through neural computing loading machine 2.
(4) resulting power spectrum will be converted around the accelerating curve of swing arm cylinder and the hinge joint 3 of swing arm in certain time
Write music line peak value input neural network, the loading capacity of loading machine 2 is calculated.
Specifically, by the enough training samples of system acquisition, training neural network；Then the power spectrum that will be calculated
The peak value of density curve is input to neural network after training, and the loading capacity of loading machine 2 is calculated.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of measurement method of the wheel loader loading capacity based on vibration, which is characterized in that the measurement method includes:
Loading machine is set as idling mode, and scraper bowl is placed in normal place, obtain in certain time scraper bowl mass center, front axle center with
And scraper bowl mass center is with respect to the acceleration of the symmetric points of front axle center；
According to the composition principle of movement, the acceleration of scraper bowl in certain time around swing arm cylinder and the hinge joint of swing arm, and shape are calculated
At corresponding accelerating curve；
PSD is carried out around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time to convert to obtain power spectrum
It writes music line；
The peak value of power spectral density plot and the relationship of loading machine loading capacity are sought, and the relationship based on the two establishes nerve net
Network；
Scraper bowl in certain time is converted resulting power spectrum around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to write music
The peak value of line inputs neural network, and the loading capacity of loading machine is calculated.
2. measurement method according to claim 1, which is characterized in that described around swing arm cylinder and to be moved to scraper bowl in certain time
The accelerating curve of the hinge joint of arm carry out PSD convert to obtain power spectral density plot and, seek power spectral density plot
The relationship of peak value and loading machine loading capacity, comprising:
By carrying out PSD transformation, acquisition pair around the accelerating curve of swing arm cylinder and the hinge joint of swing arm to scraper bowl in certain time
The power spectral density plot answered show that there are approximately linear passes between the peak value of power spectral density plot and loading machine loading capacity
System；
Loading machine virtual prototype is established based on ADAMS, set the parameter of virtual prototype and carries out emulation experiment, is verified
Relationship between the peak value and loading machine loading capacity of power spectral density plot.
3. measurement method according to claim 1, which is characterized in that the peak value of the power spectral density plot inputs nerve
The loading capacity of loading machine is calculated in network, comprising:
Pass through the training sample of system acquisition, training neural network；
The peak value for the power spectral density plot being calculated is input to neural network after training, loading machine is calculated
Loading capacity.
4. measurement method according to claim 1, which is characterized in that the scraper bowl mass center, front axle center and scraper bowl matter
The heart is separately installed with accelerometer with respect to the symmetric points of front axle center.
5. measurement method according to claim 1, which is characterized in that the scraper bowl is around the hinge joint of swing arm cylinder and swing arm
The expression formula of acceleration are as follows:
aAFor the resultant acceleration of scraper bowl mass center tangentially；aBFor the acceleration of front axle center；aCIt is scraper bowl mass center with respect to front axle center
Symmetric points resultant acceleration tangentially；Indicate hinge joint two o'clock line and the level side of scraper bowl mass center, swing arm cylinder and swing arm
To angle；β indicates 3 lines of symmetric points of scraper bowl mass center, front axle center and scraper bowl mass center with respect to front axle center and level
The angle in direction；
β can be regarded as constant, and therefore, the scraper bowl is around swing arm cylinder and the letter of the expression formula of the acceleration of the hinge joint of swing arm
It turns to:
ao=C [(aA-aB)-(aB-aC)]；
C is constant.
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| CN109374099B (en) * | 2018-11-23 | 2023-12-08 | 北京科技大学 | High-precision dynamic intelligent weighing system of scraper |
| CN110414077B (en) * | 2019-07-08 | 2023-01-10 | 中国铁路上海局集团有限公司科学技术研究所 | Load weighing method and system of loader |
| CN112477877B (en) * | 2019-09-11 | 2022-03-04 | 北汽福田汽车股份有限公司 | Method and device for acquiring vehicle load, storage medium and vehicle |
| CN112766056B (en) * | 2020-12-30 | 2023-10-27 | 厦门大学 | Method and device for detecting lane lines in low-light environment based on deep neural network |
| CN116657695B (en) * | 2023-08-01 | 2023-10-03 | 徐工集团工程机械股份有限公司科技分公司 | Control method, device and system for loader working device |
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| CN102889917B (en) * | 2012-10-11 | 2015-03-11 | 中钢集团衡阳重机有限公司 | Electric excavator weighing method |
| CN103217307B (en) * | 2013-03-26 | 2015-09-23 | 武汉科技大学 | A kind of traffic spectra method of testing of hydraulic digger operating device |
| CN103900669B (en) * | 2014-03-20 | 2016-07-20 | 华侨大学 | A kind of excavator bucket material dynamic weigher and method thereof |
| US9464403B2 (en) * | 2014-06-09 | 2016-10-11 | Caterpillar Inc. | Method and system for estimating payload weight with tilt position compensation |
| CN104132721A (en) * | 2014-07-29 | 2014-11-05 | 昆山三一数字科技有限公司 | Automatic material weighing method for mine excavator |
| CN204422043U (en) * | 2015-02-11 | 2015-06-24 | 北京石油化工学院 | A kind of shovel loader dead weight capacity Weighing system |
| CN105258771B (en) * | 2015-08-31 | 2019-02-01 | 南京梅山冶金发展有限公司 | A kind of any weight lifting angle self weighing device of scraper and its weighing method |
| KR102479557B1 (en) * | 2015-11-09 | 2022-12-20 | 현대두산인프라코어(주) | Load weighing method and system for wheel loader |
| CA3006780A1 (en) * | 2016-01-12 | 2017-07-20 | Mwi Veterinary Supply Co. | System and method for weighing animal feed ingredients |
| CN106225896A (en) * | 2016-08-18 | 2016-12-14 | 厦门海普智能科技有限公司 | A kind of forklift truck automatic weighing system and method thereof |
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