CN110705120B - Gravity center position dynamic calculation method of tunnel trackless self-propelled variable-mass platform truck - Google Patents
Gravity center position dynamic calculation method of tunnel trackless self-propelled variable-mass platform truck Download PDFInfo
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Abstract
The invention discloses a dynamic calculation method for the gravity center position of a tunnel trackless self-propelled variable-mass platform truck, which mainly comprises the following steps: establishing a coordinate system I, acquiring offset of the gravity center G of the platform truck under the coordinate system I, establishing a moment balance equation, acquiring an initial position coordinate of the gravity center G of the platform truck under the coordinate system I, establishing a coordinate system II, acquiring a position coordinate (x ', y ', z ') of the gravity center G of the platform truck under the coordinate system II, acquiring a gravity center coordinate of the gravity center G of the platform truck after the posture change, completing steps such as real-time monitoring of the gravity center G of the platform truck, adopting the moment balance equation to obtain the offset of the gravity center of the platform truck relative to the central axis of the platform truck, modeling simulation by three-dimensional software, and calculating to obtain the gravity center height, namely obtaining the coordinate of the gravity center of the platform truck relative to the tunnel center; and finally, a space three-dimensional coordinate transformation matrix is used for obtaining the barycenter coordinate of the platform truck after the posture is changed, so that the real-time monitoring of the barycenter of the platform truck is realized, the accuracy is high, and the cost is low.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a dynamic calculation method for the gravity center position of a trackless self-propelled variable-mass platform truck of a tunnel.
Background
At present, there are 5 main methods for determining the center of gravity of a vehicle at home and abroad: swing, suspension, zero, platform support reaction and mass reaction. Wherein: the swing method has the defects of complex equipment and great limitation; the suspension method is generally difficult to realize, particularly for large vehicles, because suspension points suitable for suspending the mass of the whole vehicle are difficult to select, deformation is large after suspension, and measurement accuracy cannot be ensured; the zero position method and the platform support reaction method need special equipment, so that the investment is large and the popularization rate is low; the mass reaction method has the advantages of less required test equipment, easy realization, low measurement precision due to the influence of deformation of parts, change of fit clearance and the like.
The method belongs to a static measurement method, and requires that a vehicle is stopped on a measurement platform to monitor the gravity center position of the vehicle in a static state, and a trackless self-propelled platform vehicle in the field of tunnel construction runs on a segment of a circular tunnel, and an operator carries detection and maintenance tools, construction materials and the like to work on the platform vehicle. The platform truck is on circular tunnel section of jurisdiction, and focus skew can lead to the platform truck to change in the gesture of going in-process, influences construction safety, therefore a gravity center calculation method is urgently needed to realize the dynamic monitoring to the trackless self-propelled variable mass platform truck focus position in circular tunnel, provides the basis for subway tunnel platform truck focus adjustment.
Disclosure of Invention
The invention aims to provide a dynamic calculation method for the gravity center position of a trackless self-propelled variable-mass platform truck of a tunnel, which can realize the real-time monitoring of the dynamic gravity center position of the variable-mass platform truck of a circular tunnel so as to solve the problem of the lack of the real-time monitoring of the dynamic gravity center position of the variable-mass platform truck of the circular tunnel in the prior art.
The aim of the invention is realized by the following technical scheme:
a dynamic calculation method for the gravity center position of a trackless self-propelled variable-mass platform car of a tunnel comprises the following steps:
s1, establishing a coordinate system I, wherein the center O 'of the bottom surface of the platform truck is taken as an original point, the width direction is taken as an X' axis, the length direction is taken as a Y 'axis, and the height direction is taken as a Z' axis;
s2, acquiring offset of the center of gravity G of the platform truck in a coordinate system I, and establishing a moment balance equation to obtain offset of the center of gravity G of the platform truck relative to the central axis of the platform truck;
s3, acquiring an initial position coordinate of the gravity center G of the platform truck under a coordinate system I, and modeling according to the offset to obtain an initial position coordinate (x ', y ', z ');
s4, establishing a coordinate system II, namely establishing the coordinate system II by taking a tunnel circle center O as an origin, taking a tunnel horizontal direction as an X axis, taking a tunnel axis direction as a Y axis and taking a tunnel vertical direction as a Z axis, and acquiring a position coordinate (X ', Y ', Z ') of the gravity center G of the platform truck under the coordinate system II;
s5, acquiring a barycenter coordinate of the gravity center G of the platform truck after the posture is changed, measuring a pitch angle beta, a roll angle alpha and a course angle gamma of the platform truck when the posture is changed, establishing a space three-dimensional coordinate transformation matrix, and acquiring a barycenter coordinate (x, y, z) of the gravity center G of the platform truck under a coordinate system II, thereby completing real-time monitoring of the gravity center G of the platform truck.
Further, in the step S2, the sub-step of obtaining the offset of the center of gravity G of the platform truck includes:
s210, measuring vertical distances from the gravity center G of the platform truck to the supporting legs A, B, C and D of the platform truck to be L1, L2, W1 and W2 respectively, wherein the height of the gravity center G from the bottom surface of the platform truck is delta H;
s220, installing pressure sensors on the four supporting legs, wherein the pressure sensors obtain real-time supporting reaction forces F of the supporting legs a0 、F b0 、F c0 And F d0 Establishing a moment balance equation:
wherein L is the length of the platform truck, W is the width of the platform truck, and the solution equation set can be obtained:
wherein L1, L2, W1 and W2 are the offset of the gravity center G of the platform truck in the X 'axis and Y' axis directions under the coordinate system I.
Further, in the step S3, the initial position coordinates (x ', y ', z ') of the center of gravity G of the platform truck are obtained, which specifically includes:
the gravity center height delta H of the platform truck is obtained through modeling in Solidworks, and under a coordinate system I, the initial position (x ', y ', z ') of the G point is as follows:
further, in the step S4, a position coordinate (x ", y", z ") of the center of gravity G of the platform truck in the coordinate system ii is obtained, specifically:
further, in the step S5, the pitch angle β and the roll angle α are measured by an inclination sensor mounted on the top end of the platform truck body, and the heading angle γ is measured by one-dimensional lidars mounted on the front and rear end surfaces of the platform truck.
Further, the step of obtaining the barycentric coordinates (x, y, z) of the platform truck center G after the posture change under the coordinate system II is as follows:
s510, rotating the platform truck by an angle beta along the X-axis direction, by an angle alpha along the Y-axis direction and by an angle gamma along the Z-axis direction relative to the tunnel center O, wherein the rotating sequence is X-Y-Z;
s520, establishing a coordinate transformation matrix:
converting to obtain a final coordinate transformation matrix:
s530, obtaining final coordinates (x, y, z) of the center of gravity G of the platform truck after rotation in a coordinate system II:
wherein the matrix superscript T represents a transpose;
s540, monitoring the position change of the gravity center G of the platform truck in real time, and comparing the position coordinates and the final coordinates (x, y, z) of the gravity center G of the platform truck under the coordinate system II of the gravity center G of the platform truck obtained in the steps S1 to S4 after the posture change of the platform truck.
The beneficial effects of the invention are as follows:
1) According to the dynamic calculation method for the gravity center position of the tunnel trackless self-propelled variable-mass platform truck, the logical calculation of data is realized by establishing a reasonable moment balance equation and a coordinate transformation matrix, and finally, the platform center position coordinate with high calculation structure precision is obtained, is not influenced by subjective factors, and has the characteristics of low cost, high precision and good instantaneity.
2) The gravity center position dynamic calculation method can realize dynamic calculation only by combining the pressure sensor, the one-dimensional laser radar and the inclination sensor with the modeled data logic calculation, has the advantage of low cost, and is convenient for large-scale popularization.
3) The method can effectively monitor the barycenter position of the vehicle walking in the circular tunnel so as to prevent the vehicle from tipping over, can improve the safety of vehicle walking, and thoroughly solve the problem of real-time measurement of barycenter position of the vehicle under the condition that the vehicle walks in the circular tunnel and the barycenter is uncertain.
Drawings
FIG. 1 is a schematic view of the overall structure of a platform truck according to the present invention;
FIG. 2 is a simplified model schematic diagram of the center of gravity analysis of the platform truck of the present invention;
FIG. 3 is a schematic view showing the position of the center of gravity G of the platform truck in the plane X '-Y' under the coordinate system I;
FIG. 4 is a schematic view showing the position of the center of gravity G of the platform truck in the plane Y '-Z' under the coordinate system I;
FIG. 5 is a schematic view showing the position of the center of gravity G of the platform truck in the plane X '-Z' under the coordinate system I;
FIG. 6 is a flow chart diagram of a dynamic calculation method of the center of gravity position of the present invention;
in the figure, a 1-pressure sensor, a 2-one-dimensional laser radar, a 3-inclination sensor, a 4-travelling mechanism and a 5-platform main structure.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
Example 1
The invention provides a technical scheme that:
referring to fig. 1-6, a method for dynamically calculating the gravity center position of a trackless self-propelled variable mass platform truck of a tunnel includes the following steps:
s1, establishing a coordinate system I, wherein the center O 'of the bottom surface of the platform truck is taken as an original point, the width direction is taken as an X' axis, the length direction is taken as a Y 'axis, and the height direction is taken as a Z' axis;
s2, acquiring offset of the center of gravity G of the platform truck in a coordinate system I, and establishing a moment balance equation to obtain offset of the center of gravity G of the platform truck relative to the central axis of the platform truck;
s3, acquiring an initial position coordinate of the gravity center G of the platform truck under a coordinate system I, and modeling according to the offset to obtain an initial position coordinate (x ', y ', z ');
s4, establishing a coordinate system II, namely establishing the coordinate system II by taking a tunnel circle center O as an origin, taking a tunnel horizontal direction as an X axis, taking a tunnel axis direction as a Y axis and taking a tunnel vertical direction as a Z axis, and acquiring a position coordinate (X ', Y ', Z ') of the gravity center G of the platform truck under the coordinate system II;
s5, acquiring a barycenter coordinate of the gravity center G of the platform truck after the posture is changed, measuring a pitch angle beta, a roll angle alpha and a course angle gamma of the platform truck when the posture is changed, establishing a space three-dimensional coordinate transformation matrix, and acquiring a barycenter coordinate (x, y, z) of the gravity center G of the platform truck under a coordinate system II, thereby completing real-time monitoring of the gravity center G of the platform truck.
The method comprises the steps of obtaining position coordinates of the gravity center G of the platform truck under different coordinate systems by establishing the coordinate systems, obtaining the offset of the gravity center G of the platform truck relative to the central axis of the platform truck by adopting a moment balance equation, obtaining the gravity center height by modeling simulation and calculation of three-dimensional software, and obtaining the coordinates of the gravity center G of the platform truck relative to the tunnel center; and finally, a space three-dimensional coordinate transformation matrix is used for obtaining the barycenter coordinate of the platform truck after the posture is changed, so that the real-time monitoring of the barycenter of the platform truck is realized.
Referring to fig. 3, in the step S2, the sub-step of obtaining the offset of the center of gravity G of the platform truck includes:
s210, measuring vertical distances from the gravity center G of the platform truck to the supporting legs A, B, C and D of the platform truck to be L1, L2, W1 and W2 respectively, wherein the height of the gravity center G from the bottom surface of the platform truck is delta H;
s220, installing pressure sensors 1 on four supporting legs, wherein the pressure sensors 1 obtain real-time supporting counter forces F of the supporting legs a0 、F b0 、F c0 And F d0 Establishing a moment balance equation:
wherein L is the length of the platform truck, W is the width of the platform truck, and the solution equation set can be obtained:
wherein L1, L2, W1 and W2 are the offset of the gravity center G of the platform truck in the X 'axis and Y' axis directions under the coordinate system I.
The invention takes the errors of the pressure sensor 1 and the changes of the mass and the gravity center of the whole vehicle during posture transformation into consideration, and utilizes a moment balance equation algorithm to obtain the dynamic estimation of the overall gravity center G plane position of the rescue vehicle with higher precision, and has the advantages of high precision, low cost, good real-time performance and the like.
The platform truck comprises a platform truck main structure 5 and a traveling mechanism 4, wherein the traveling mechanism 4 is arranged on four supporting legs of the platform truck, the four supporting legs are a supporting leg A, a supporting leg B, a supporting leg C and a supporting leg D respectively, pressure sensors 1 are arranged on the four supporting legs, an inclination sensor 3 is arranged at the top end of the platform truck body, and one-dimensional laser radars 2 are arranged at the front end and the rear end of the platform truck body.
Referring to fig. 3 to 5, in the step S3, initial position coordinates (x ', y ', z ') of the center of gravity G of the platform truck are obtained, which specifically includes:
the gravity center height delta H of the platform truck is obtained through modeling in Solidworks, and under a coordinate system I, the initial position (x ', y ', z ') of the G point is as follows:
and step S3, obtaining initial position coordinates of the center of gravity G of the platform truck under a coordinate system I through coordinate conversion by the offset obtained in the step S2 and the center height delta H obtained in the step S3.
In the step S4, a position coordinate (x ", y", z ") of the center of gravity G of the platform truck in the coordinate system ii is obtained, specifically:
and S4, according to the initial position coordinate of the center of gravity G of the platform truck in the coordinate system I obtained in the step S3, obtaining the position coordinate of the center of gravity G of the platform truck in the coordinate system II by establishing a coordinate conversion equation.
In the step S5, the pitch angle β and the roll angle α are measured by an inclination sensor 3 mounted on the top end of the platform truck body, and the heading angle γ is measured by one-dimensional lidar 2 mounted on the front and rear end surfaces of the platform truck.
The step of obtaining the barycentric coordinates (x, y, z) of the platform truck center G after the posture change under the coordinate system II is as follows:
s510, rotating the platform truck by an angle beta along the X-axis direction, by an angle alpha along the Y-axis direction and by an angle gamma along the Z-axis direction relative to the tunnel center O, wherein the rotating sequence is X-Y-Z;
s520, establishing a coordinate transformation matrix:
converting to obtain a final coordinate transformation matrix:
s530, obtaining final coordinates (x, y, z) of the center of gravity G of the platform truck after rotation in a coordinate system II:
wherein the matrix superscript T represents a transpose;
s540, monitoring the position change of the gravity center G of the platform truck in real time, and comparing the position coordinates and the final coordinates (x, y, z) of the gravity center G of the platform truck under the coordinate system II of the gravity center G of the platform truck obtained in the steps S1 to S4 after the posture change of the platform truck.
The final coordinates (x, y, z) obtained through the transformation of the coordinate transformation matrix in the step S5 are the coordinates of a certain determined moment after the transformation of the posture of the platform truck, and then the position coordinates under the gravity center G coordinate system II of a certain determined moment after the transformation of the posture of the platform truck are obtained through the steps S1 to S4, after the recursive calculation, the precision difference of the successive position coordinates is compared, and the position change of the gravity center G of the platform truck can be estimated and monitored dynamically in real time.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (5)
1. A dynamic calculation method for the gravity center position of a trackless self-propelled variable-mass platform truck of a tunnel is characterized by comprising the following steps:
s1, establishing a coordinate system I, wherein the center O 'of the bottom surface of the platform truck is taken as an original point, the width direction is taken as an X' axis, the length direction is taken as a Y 'axis, and the height direction is taken as a Z' axis;
s2, acquiring offset of the center of gravity G of the platform truck in a coordinate system I, and establishing a moment balance equation to obtain offset of the center of gravity G of the platform truck relative to the central axis of the platform truck;
s3, acquiring an initial position coordinate of the gravity center G of the platform truck under a coordinate system I, and modeling according to the offset to obtain an initial position coordinate (x ', y ', z ');
s4, establishing a coordinate system II, namely establishing the coordinate system II by taking a tunnel circle center O as an origin, taking a tunnel horizontal direction as an X axis, taking a tunnel axis direction as a Y axis and taking a tunnel vertical direction as a Z axis, and acquiring a position coordinate (X ', Y ', Z ') of the gravity center G of the platform truck under the coordinate system II;
s5, acquiring a barycenter coordinate of the barycenter G of the platform truck after the posture is changed, measuring a pitch angle beta, a roll angle alpha and a course angle gamma of the platform truck when the posture is changed, establishing a space three-dimensional coordinate conversion matrix, and acquiring barycenter coordinates (x, y, z) of the barycenter G of the platform truck under a coordinate system II to finish real-time monitoring of the barycenter G of the platform truck;
in the step S2, the sub-step of obtaining the offset of the center of gravity G of the platform truck includes:
s210, measuring vertical distances from the gravity center G of the platform truck to the supporting legs A, B, C and D of the platform truck to be L1, L2, W1 and W2 respectively, wherein the height of the gravity center G from the bottom surface of the platform truck is delta H;
s220, installing pressure sensors (1) on the four supporting legs, wherein the pressure sensors (1) obtain real-time supporting counter forces F of the supporting legs a0 、F b0 、F c0 And F d0 Establishing a moment balance equation:
wherein L is the length of the platform truck, W is the width of the platform truck, and the solution equation set can be obtained:
wherein L1, L2, W1 and W2 are the offset of the gravity center G of the platform truck in the X 'axis and Y' axis directions under the coordinate system I.
2. The dynamic calculation method for the gravity center position of the tunnel trackless self-propelled variable-mass platform truck according to claim 1, wherein the method comprises the following steps: in the step S3, the initial position coordinates (x ', y ', z ') of the center of gravity G of the platform truck are obtained, which specifically includes:
the gravity center height delta H of the platform truck is obtained through modeling in Solidworks, and under a coordinate system I, the initial position (x ', y ', z ') of the G point is as follows:
3. the dynamic calculation method for the gravity center position of the tunnel trackless self-propelled variable-mass platform truck according to claim 1, wherein the method comprises the following steps: in the step S4, a position coordinate (x ", y", z ") of the center of gravity G of the platform truck in the coordinate system ii is obtained, specifically:
4. the dynamic calculation method for the gravity center position of the tunnel trackless self-propelled variable-mass platform truck according to claim 1, wherein the method comprises the following steps: in the step S5, the pitch angle β and the roll angle α are measured by an inclination sensor (3) mounted on the top end of the platform truck body, and the heading angle γ is measured by one-dimensional lidars (2) mounted on the front and rear end surfaces of the platform truck body.
5. The dynamic calculation method for the gravity center position of the tunnel trackless self-propelled variable-mass platform truck according to claim 4, wherein the method comprises the following steps: the step of obtaining the barycentric coordinates (x, y, z) of the platform truck center G after the posture change under the coordinate system II is as follows:
s510, rotating the platform truck by an angle beta along the X-axis direction, by an angle alpha along the Y-axis direction and by an angle gamma along the Z-axis direction relative to the tunnel center O, wherein the rotating sequence is X-Y-Z;
s520, establishing a coordinate transformation matrix:
converting to obtain a final coordinate transformation matrix:
s530, obtaining final coordinates (x, y, z) of the center of gravity G of the platform truck after rotation in a coordinate system II:
wherein the matrix superscript T represents a transpose;
s540, monitoring the position change of the gravity center G of the platform truck in real time, and comparing the position coordinates and the final coordinates (x, y, z) of the gravity center G of the platform truck under the coordinate system II of the gravity center G of the platform truck obtained in the steps S1 to S4 after the posture change of the platform truck.
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