CN111445083B - Transferring transportation loading method for large-scale transporter - Google Patents
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Abstract
The invention discloses a transition transportation loading method for a large-scale transporter, which comprises the following steps: establishing a transfer field database; acquiring information to be loaded by a transition task and information of a conveyor, calling data in a transition task database according to the transition task, and adjusting specific data information; extracting specific information of equipment to be loaded and materials from a transfer yard database; determining loading space information of a conveyor; formulating a loading scheme according to the information to be loaded and the loading space information of the conveyor; carrying out weight balance control loading optimization on the conveyer; and drawing a loading diagram according to the optimized loading scheme, and loading the equipment and the goods. The invention provides a loading space utilization rate and ensures the transportation safety and stability.
Description
Technical Field
The invention relates to a transition transportation loading method for a large-scale transporter, and belongs to the field of air transportation loading.
Background
The large-scale transport plane is a main tool for realizing quick response and remote maneuvering in our army, and the air transportation station is undoubtedly the first choice for emergency transportation by virtue of the advantages of high speed, small influence of geographical conditions and the like. The requirements of rapidity and accuracy are met in transition loading, the transportation capacity can be fully utilized by the optimized loading scheme of the large-scale transport plane, the preparation time is shortened, and the loading efficiency is improved. Because the quantity of the materials of the transition is large, the specification and the size are complex, a large quantity of containers are needed, when the containers are packed, how to improve the loading efficiency of the containers and reduce the quantity of the used containers is realized, and therefore, the problem of optimizing the loading of the large-scale transporter is solved by reducing the number of the transition racks. In addition, because the center of gravity of the airplane has a crucial influence on the steering stability and the flight safety of the airplane, when the center of gravity exceeds the design range, the airplane cannot be balanced or is difficult to operate, the flight safety is caused, a flight accident is possibly caused, the safety and the performance stability of airplane transportation are ensured while the loading efficiency is improved, and the method is a core problem formulated by a large-scale transporter transportation loading scheme.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for transferring, transporting and loading a large-scale transporter, which uses an air transportation and loading optimization method based on integer programming for designing a container loading scheme of cargos, has high utilization rate of loading space, and simultaneously optimizes the weight balance control of the transporter after loading the formulated loading scheme so as to ensure the transportation safety and stability.
The purpose of the invention is realized by the following technical scheme:
a transition transportation loading method for a large-scale transporter comprises the following steps:
step one, establishing a transfer field database;
step two, acquiring information to be loaded of the transition task and information of the conveyor: according to the transition task, calling data in a transition task database, and adjusting specific data information; extracting specific information of equipment to be loaded and materials from a transfer yard database; determining loading space information of a conveyor;
step three, according to the information to be loaded and the loading space information of the conveyor obtained in the step two, a loading scheme is formulated:
3.1, making a boxing loading scheme for goods to be loaded;
3.2 to the goods box and the equipment of waiting to load that accomplish the loading scheme and formulate whole loading scheme: respectively counting the sizes of equipment to be loaded and a cargo box body, calculating the loading space of a conveyor, and formulating an integral loading scheme;
step four, controlling and loading optimization by the weight balance of the conveyor:
4.1 determining the center of gravity limit of the loading of the conveyer;
4.2 calculate the center of gravity of the load: sequentially calculating the gravity center of each cargo and the total gravity center of the loaded cargo, and finally determining the gravity center of the whole machine after the cargo is loaded;
and step five, drawing a loading diagram according to the optimized loading scheme in the step four, and loading equipment and goods.
Further, the first step of establishing a transfer yard database comprises the following steps:
1.1, establishing a transfer yard equipment and material database, counting transfer yard equipment information and material information, and storing the information and the information in the database in a classified manner;
1.2, establishing a transition task database according to the common types of the transition tasks;
1.3, linking the data in the transfer site equipment and the material database established in the step 1.1 into each corresponding data module in the transfer task database;
1.4 database update: and after each specific transition task, updating and perfecting the data in the transition task database.
Further, the step 3.1 of formulating a boxing loading scheme for the goods to be loaded comprises the following steps:
3.1.1 classifying and grouping the cargos, namely grouping the cargos according to the maximum stacking number of each cargo according to the box packing height, and finally recording the residual number of the cargos which are not enough;
3.1.2 choose one side of the box to do integer programming, the mathematical description is as follows:
wherein L is the length of the planned edge, Z represents an integer, L i ,x i Respectively corresponding to the size and the number of groups of the ith kind of goods in the direction during horizontal loading, w i ,y i Respectively corresponding to the size and the number of groups of the ith kind of goods in the direction when the goods are sequentially loaded, m i The number of groups remained for the ith cargo;
3.1.3 drawing a box loading diagram according to the integer programming result, simulating loading, selecting the next edge of the box to perform integer programming again after the size of the remaining space is updated, and repeating the step 3.1.2 until the remaining goods cannot be placed.
Further, said step 4.1 when determining the centre of gravity limitation of the transporter loading comprises:
4.1.1 average aerodynamic chord
The average aerodynamic chord of the airplane is the reference chord length of the wing, the length of the average aerodynamic chord is 16.42m, and the coordinate of the leading edge point of the average aerodynamic chord is 118.094m;
the conversion relation between the X coordinate of the gravity center of the airplane and the average aerodynamic chord percentage (% MAC) is as follows:
the conversion from the average aerodynamic chord percentage to the X coordinate of the aircraft center of gravity is:
4.1.2 cargo loading limits:
the gravity center of the whole machine must be positioned in the range of the gravity center envelope;
4.1.3 cargo center of gravity restriction:
(1) The weight center of gravity of the whole airplane after the airplane is loaded with goods must meet the requirement of the center of gravity envelope;
(2) The position of the total center of gravity of the goods in the goods compartment cannot exceed the range of a ridge-shaped goods loading limiting area;
(3) When the airplane is loaded with double rows of cargos, the total weight difference between the left-side cargos and the right-side cargos cannot exceed 15t.
Further, said step 4.2 of calculating the loading barycenter comprises the steps of:
4.2.1 calculation formula:
weight x center of gravity = moment;
airplane total moment ÷ airplane total weight = airplane center of gravity;
4.2.2 cargo center of gravity calculation method:
(1) Determining the weight of the cargo;
(2) Determining the center of gravity by calculation;
for large cargo, the following formula is calculated:
wherein X is the horizontal distance from the supporting point to the center of gravity;
l is the horizontal distance between the two support points;
W 1 -the weight measured at one end of the goods;
W 2 -the weight measured at the other end of the goods;
w-total weight of cargo, W = (W) 1 +W 2 )；
4.2.3 Total center of gravity for cargo Loading calculation:
assuming that the weight of each cargo and the gravity center of the cargo are known, determining the total gravity center coordinate of the mixed loading configuration in a full-machine coordinate system, and solving the following steps:
(1) Knowing the gravity center of each cargo, and calculating the gravity center coordinate of each cargo in a full-machine coordinate system;
(2) Multiplying the weight of each cargo by the gravity center coordinate under the whole machine coordinate system to calculate the moment;
(3) Summing all the torque results of step (2);
(4) Dividing the result of the step (3) by the sum of the weight of each cargo to obtain the X-direction total barycentric coordinate of the mixed configuration cargo;
4.2.4 determination of center of gravity of the whole machine after loading the goods:
calculating the center of gravity of the whole machine after loading the goods by the following formula:
wherein X cg -the coordinates of the centre of gravity of the aircraft on the X-axis, m;
W i -weight, kg;
X i -the coordinates of the center of gravity on the X axis, m.
The invention has the advantages that:
the invention establishes a database, classifies and stores the equipment information and the material information, and is convenient for calling and statistical management; meanwhile, the invention provides an integer programming-based container loading scheme optimization method, which can be used for container loading scheme design of cargos and has high utilization rate of loading space; moreover, the invention performs weight balance control on the loading scheme of the conveyor, ensures the stable gravity center of the conveyor after loading, prevents flight transportation accidents and ensures safety.
Drawings
FIG. 1 is a flow chart of a transition transportation loading method of a large-scale transporter according to the present invention;
FIG. 2 is a loading diagram of a packing scheme for goods to be loaded according to embodiment 1 of the present invention;
FIG. 3 is a schematic illustration of the apparatus of the present invention and the clearance requirements between the cargo and the cargo compartment walls;
FIG. 4 is a schematic diagram of the method for determining the center of gravity of a large cargo according to the present invention;
fig. 5 is a loading diagram of the invention after carrying out the weight balance control loading optimization of the transporter.
Detailed Description
The technical scheme of the invention is further described by combining the accompanying drawings as follows:
as shown in fig. 1, a method for loading a large transport plane by transition transportation includes the following steps:
step one, establishing a transfer field database:
1.1, a transfer yard equipment and material database is established, and transfer yard equipment information and material information are counted and stored in the database in a classified manner:
the equipment information includes information such as equipment type, equipment size, equipment weight, equipment transportation requirements, etc. in the transit yard. For common military supplies, because the types of the supplies loaded by the troops in the air transportation mode frequently do not change greatly, the data of the supplies can be classified and counted according to the types and the quantity of the common supplies of the supply transfer tasks and the common types of the supplies, the information of the supplies is counted before the supplies are put in storage in the transfer field, then the information of the supplies is stored in the database, and the supplies are classified and put in storage. The material information comprises material type data which comprises common type marks of military materials, such as living materials, war and training materials, daily maintenance materials and the like; material size and weight data, which comprises the counted material size, material packing box size, material net weight and material packing weight; the remark data comprises transportation notice items of specific types of materials, specific labels and other data.
1.2, establishing a transition task database according to the common types of the transition tasks:
the transition task database includes: the system comprises a transition task category data module, a material variety data module, a personnel demand data module, an equipment variety data module and an information remarking module, wherein information among the modules can be mutually called and crossly stored; the transition task type data module comprises common task type identification of military transition transportation; the material variety data module comprises the types of materials required under each task type and the quantity of the materials of each type; the personnel demand data module comprises personnel attributes and quantity required under each task type; the equipment type data module comprises the types and the quantity of the equipment required under each task type; the information remarking module is used for temporarily supplementing information or specifically marking.
1.3, linking the data in the transfer site equipment and material database established in the step 1.1 to each corresponding data module in the transfer task database.
And 1.4, updating the database, and updating and perfecting the data in the transition task database after each specific transition task. For example, the type of the transition task is increased or refined, and the data in the data module is changed according to the adjustment condition of equipment or materials in the transition field.
Step two, acquiring information to be loaded of the transition task and information of the conveyor: according to the transition task, calling data in a transition task database, and adjusting specific data information; extracting specific information of equipment to be loaded and materials from a transfer yard equipment and material database; determining loading space information of a conveyor;
step three, according to the information to be loaded and the loading space information of the conveyor obtained in the step two, a loading scheme is formulated:
3.1, a packing and loading scheme is formulated for goods to be loaded:
in order to prevent the materials from being damaged in the transportation process, the materials need to be packed and boxed, so the air transportation loading problem can be simplified into the problem that a plurality of cuboid (packing boxes) with different types and quantities are loaded into one packing box/container/square cabin, and the aim is to achieve the maximum volume utilization rate under a plurality of constraint conditions.
The invention provides a packing and loading optimization method based on integer programming, which comprises the following steps:
3.1.1 categorizing the goods into groups, i.e. grouping the goods into groups according to the packing height by the maximum stacking number of each kind of goods, and finally recording the residual number of the goods which are not less than one group. If the size difference of the goods is large, the goods need to be classified firstly, the large goods are arranged to be boxed firstly, and then the small goods are arranged to be placed in an empty state.
3.1.2 integer programming: according to the principle, one side of the packing box/container/square cabin is selected for integer programming, and the mathematical description is as follows:
wherein L is the length of the planned edge, Z represents an integer, L i ,x i Respectively corresponding to the size and the number of groups of the ith kind of goods in the direction during horizontal loading, w i ,y i Respectively corresponding to the size and the number of groups m of the ith kind of goods in the direction during sequential loading i The number of groups remaining for the ith cargo.
3.1.3 drawing a space loading diagram according to the integer programming result, simulating loading, selecting the next side of the packing box/container/square cabin to perform integer programming again after updating the size of the residual space, namely repeating the step (2) until the residual goods cannot be placed. The repeated iteration presents the effect that goods are placed along the periphery of the packaging box/container/shelter as much as possible, so that the integrity of the residual space is kept, and the reduction of the utilization rate caused by space fragmentation is effectively avoided.
The process can be realized by a program, and can also be realized by only using a computer to assist in integer programming, and manual arrangement and selection are carried out, so that the feasibility of adopting the method by the base-level troops is greatly improved.
(3) And (6) observing and correcting. And after all the loading schemes are optimized, correcting the loading scheme of the residual space.
3.2 to the goods box (containing packing box, container, shelter) and the equipment of waiting to load that accomplish the scheme of loading and formulate, formulate whole loading scheme:
respectively counting the sizes of the equipment to be loaded and the cargo box body, calculating the loading space of the conveyor, and formulating an integral loading scheme.
Enough gaps are reserved between the equipment and the goods and the wall of the cargo hold, for example, the distance between the goods and the side wall of the cargo hold is not less than 150mm, and the distance between the ceiling and the goods is not less than 150mm; the distance between the air-drop mechanic workbench and the goods is not less than 500mm; the distance between the goods and the sealing cabin door is not less than 500mm. The clearance between the cargo and the hold is required as shown in figure 3.
The loading layout of the equipment and the goods is required to follow the following principles:
(1) the large-scale equipment is distributed in bulk. A plurality of bulky devices (seat cranes, engine trailers and the like) are arranged in the transition materials, and the devices are scattered on different transport machines with different numbers in a planned way, so that the phenomenon that the carrier of one transport machine is too heavy to influence the take-off of the transport machine can be avoided; and the transportation center of gravity can be ensured to be within an allowable range.
(2) And filling the small equipment in a blank space. The goods and materials for the transition are provided with a plurality of small-sized devices (tires, drogues, wheel shelves and the like), and the devices and the large-sized goods and materials are arranged on the same-level conveyer in a planned way, so that the loading capacity of the conveyer can be improved, and the center of gravity of the conveyer can be ensured to be within an allowable range.
(3) Heavy equipment is positioned and adorned. The transition materials contain a plurality of heavy devices (engines, square cabins, shipping containers and the like), and the devices are planned to be loaded within the allowed range of the gravity center of the transporter, so that the gravity center of the transporter is prevented from exceeding the allowed range.
Step four, controlling and loading optimization by the weight balance of the conveyor:
the gravity center of the airplane has a crucial influence on the maneuvering stability and the flight safety of the airplane, and when the gravity center exceeds the design range, the airplane cannot be balanced or is difficult to maneuver, so that the flight safety is caused, and a flight accident is possibly caused.
Therefore, the loading control optimization of the weight of the large-scale transport plane is required to be carried out on the loading scheme established by the large-scale transport plane, so as to ensure that the center of gravity of the plane is always positioned in the center of gravity envelope, namely, the center of gravity of the whole plane is positioned in the center of gravity envelope in all loading configurations in various using states such as flying, landing and the like.
4.1 when determining the conveyor loading scheme, it should be made to meet the center of gravity constraint:
4.1.1 mean aerodynamic chord
The aircraft Mean Aerodynamic Chord (MAC) is a reference chord length of the wing, the length of the reference chord length is 16.42m, and the coordinates of the leading edge point of the mean aerodynamic chord are 118.094m.
The conversion relation between the X coordinate of the gravity center of the airplane and the average aerodynamic chord percentage (% MAC) is as follows:
in contrast, the conversion from the average aerodynamic chord percentage to the X coordinate of the aircraft center of gravity is:
4.1.2 cargo load limits
In order to ensure safety requirements, the center of gravity of the whole aircraft must be located within the range of the center of gravity envelope, so that strict development of the cargo loaded on the aircraft is necessary.
4.1.3 cargo center of gravity limits
(1) The gravity center of the whole weight of the airplane loaded with cargos must meet the requirement of the gravity center envelope;
(2) The position of the total center of gravity of the goods in the goods compartment does not exceed the range of a 'goods loading limit diagram' of a ridge shape;
(3) When the aircraft is loaded with double rows of cargo, the difference between the total weight of the left-hand cargo and the right-hand cargo (as determined by the position of the center of gravity of the cargo) must not exceed 15t.
4.2 Loading center of gravity calculation
4.2.1 calculation formula
Weight x center of gravity = moment;
airplane total moment ÷ airplane total weight = airplane center of gravity;
(rear wheel weight × wheel base)/total vehicle weight = distance between the center of gravity of the vehicle and the front wheels.
4.2.2 cargo center of gravity calculation method
The cargo gravity center calculation method can be divided into two steps:
(1) Determining the weight of the cargo;
(2) The center of gravity is determined by calculation.
For large cargo, as shown in fig. 4, the following formula is calculated:
wherein X is the horizontal distance from the supporting point to the center of gravity;
l is the horizontal distance between the two support points;
W 1 -the weight measured at one end of the goods;
W 2 -the weight measured at the other end of the goods;
w-total weight of cargo, equal to (W) 1 +W 2 )。
4.2.3 Total center of gravity calculation for cargo Loading
Assuming that the weight of each cargo and the gravity center of the cargo are known, determining the total gravity center coordinate of a mixed loading configuration (at least two of a square cabin, large equipment, a container and an aircraft are loaded simultaneously in a transport plane) in a full-plane coordinate system, and solving the following steps:
(1) Knowing the gravity center of each cargo, and calculating the gravity center coordinate of each cargo in a full-machine coordinate system;
(2) Multiplying the weight of each cargo by a gravity center coordinate (in a full-machine coordinate system), and calculating a moment;
(3) Summing all the torque results of step (2);
(4) And (4) dividing the result of the step (3) by the sum of the weight of each cargo to obtain the X-direction total barycentric coordinate of the mixed configuration cargo.
4.2.4 determination of center of gravity of full aircraft after Loading cargo
(1) Computing data preparation
The data is prepared by calculating the center of gravity of the whole machine after loading the goods, and the data is shown in a table 1.
TABLE 1 Whole computer gravity center calculation preparation data
| Serial number | Name of item | Weight (Kg) | X center of gravity (m) |
| 1 | Use the empty machine | W a | X a |
| 2 | Loading device | W b | X b |
| 3 | Load goods | Wc | Xc |
| 4 | Fuel oil | W d | X d |
(2) Calculating the center of gravity of the whole machine after loading goods by a formula
Wherein, X cg -the coordinates of the centre of gravity of the aircraft on the X-axis, m;
W i -weight (weight data from the branch device), kg;
X i the coordinates of the center of gravity on the X axis (data of the center of gravity taken from the separate devices), m.
And step five, drawing a loading diagram according to the loading scheme optimized in the step four, as shown in fig. 5, loading equipment and goods, observing and adjusting after loading, and manually completing loading utilization of the residual space.
Example 1
The container specification is 5905mm long, 2350mm wide, and 2392mm high, and the goods information of waiting to adorn is shown as table 2, and every face of goods can all place as the bottom surface.
TABLE 2 specification and number of items to be loaded
Goods of type 1 and 4 are of the same size and are combined to simplify the problem, and the combined components are shown in table 3.
Table 3 cargo grouping table
By adopting the loading optimization method based on integer programming, 8 groups of No. 1 and No. 4 goods, 28 groups of No. 2 goods, 69 groups of No. 3 goods, 27 groups of No. 5 goods and 10 groups of No. 6 goods can be loaded, and a loading plane diagram is shown in FIG. 3. Because No. 1 (contain No. 4) goods is less than 8 groups, scattered goods is 11, and therefore 4 goods positions are vacant, and the same reason, no. 2 goods are vacant 4 goods positions, and No. 6 goods are vacant 1 goods position. However, there are 2 No. 3 items and 5 No. 5 items that are not boxed.
As no limitation is placed on the stacking of large and small goods, and the length and width values of the No. 3 goods are small, the height value is large, after the goods are grouped and boxed, the residual height in the container is not enough to put down the No. 3 goods, and after the goods are grouped and boxed, the residual height of the container is 250mm, 1 No. 5 goods can be put on the container, namely on the left side of the figure 2, 1 No. 5 goods can be stacked on every 2 groups of No. 3 goods, and 30 groups of No. 3 goods can be put down at least 15 No. 5 goods, so that the No. 5 goods can be completely loaded. And 2 goods No. 3 can be completely put in 4 empty positions of goods No. 1. So far, the goods are all loaded into the container, and the container has surplus space, so that the goods can be continuously loaded, and the packing rate reaches 100%.
The result shows that the air transportation loading optimization method based on integer programming can be used for the design of a cargo container loading scheme, and the utilization rate of the loading space is high. Moreover, the method does not relate to a complex algorithm, is simple to operate and is suitable for basic-level troops.
Example 2
Assuming that the weight of the loading device in the mixed loading configuration is 3539.6Kg, the gravity center in the X direction is 17.70m, the weight of the empty machine is 85000Kg, the gravity center in the X direction is 20.59m, and the coordinates of the gravity center in the X direction of the whole machine are obtained, and the process is detailed in Table 4.
Table 4 hybrid configuration weight center of gravity data
Claims (5)
1. A transition transportation loading method of a large-scale transporter is characterized by comprising the following steps:
step one, establishing a transfer field database;
step two, acquiring information to be loaded of the transition task and information of the conveyor: according to the transition task, calling data in a transition task database, and adjusting specific data information; extracting specific information of equipment to be loaded and materials from a transfer yard database; determining loading space information of a conveyor;
step three, according to the information to be loaded and the loading space information of the conveyor obtained in the step two, a loading scheme is formulated:
3.1, formulating a boxing and loading scheme for goods to be loaded;
3.2 to the goods box and the equipment of waiting to load that accomplish the scheme of loading and formulate whole loading scheme: respectively counting the sizes of equipment to be loaded and a cargo box body, calculating the loading space of a conveyor, and formulating an integral loading scheme;
step four, controlling and loading optimization by the weight balance of the conveyor:
4.1 determining the center of gravity limit of the loading of the conveyer;
4.2 calculate the loading center of gravity: sequentially calculating the gravity center of the goods and the total gravity center of the loaded goods, and finally determining the gravity center of the whole machine after the goods are loaded;
and step five, drawing a loading diagram according to the loading scheme optimized in the step four, and loading equipment and goods.
2. The method for transferring, transporting and loading a large transport airplane according to claim 1, wherein the step one of establishing a transfer yard database comprises the steps of:
1.1, establishing a transfer yard equipment and material database, counting transfer yard equipment information and material information, and storing the information and the information in the database in a classified manner;
1.2, establishing a transition task database according to the common types of the transition tasks;
1.3, linking the data in the transfer station equipment and the material database established in the step 1.1 to each corresponding data module in the transfer task database;
1.4 database update: and after each specific transition task, updating and perfecting the data in the transition task database.
3. The method for transferring, transporting and loading the large-scale transport plane according to claim 1, wherein the step 3.1 of formulating the packing and loading scheme for the goods to be loaded comprises the following steps:
3.1.1 classifying and grouping the cargos, namely grouping the cargos according to the maximum stacking number of each cargo according to the box packing height, and finally recording the residual number of the cargos which are not enough;
3.1.2 choose one side of the box to do integer programming, the mathematical description is as follows:
wherein L is the length of the planned edge, Z represents an integer, L i ,x i Respectively corresponding to the size and the number of groups of the ith kind of goods in the direction during horizontal loading, w i ,y i Respectively corresponding to the size and the number of groups m of the ith kind of goods in the direction during sequential loading i The number of groups remained for the ith cargo;
3.1.3, drawing a box body loading graph according to an integer programming result, simulating loading, selecting the next side of the box body to perform integer programming again after the size of the residual space is updated, and repeating the step 3.1.2 until the residual goods cannot be placed.
4. A method of transferring, transporting and loading a large transport according to claim 1, wherein said step 4.1 of determining the centre of gravity limit of the transport loading comprises:
4.1.1 mean aerodynamic chord
The average aerodynamic chord of the airplane is the reference chord length of the wing, the length of the average aerodynamic chord is 16.42m, and the coordinate of the leading edge point of the average aerodynamic chord is 118.094m;
the conversion relation between the X coordinate of the gravity center of the airplane and the average aerodynamic chord percentage (% MAC) is as follows:
the conversion from the average aerodynamic chord percentage to the X coordinate of the aircraft center of gravity is:
4.1.2 cargo loading limits:
the gravity center of the whole machine must be positioned in the range of the gravity center envelope;
4.1.3 cargo center of gravity restriction:
(1) The gravity center of the whole weight of the airplane loaded with cargos must meet the requirement of the gravity center envelope;
(2) The total center of gravity of the cargo in the cargo hold must not exceed the range of the ridge cargo loading limit area.
5. The method for transferring, transporting and loading a large transport airplane according to claim 1, wherein the step 4.2 of calculating the loading center of gravity comprises the following steps:
4.2.1 calculation formula:
weight x center of gravity = moment;
airplane total moment ÷ airplane total weight = airplane center of gravity;
4.2.2 cargo center of gravity calculation method:
(1) Determining the weight of the cargo;
(2) Determining the center of gravity by calculation;
for large cargo, the following formula is used for calculation:
wherein X is the horizontal distance from the supporting point to the center of gravity;
l is the horizontal distance between the two support points;
W 1 -the weight measured at one end of the goods;
W 2 -the weight measured at the other end of the goods;
w-total weight of cargo, W = (W) 1 +W 2 )；
4.2.3 Total center of gravity for cargo Loading calculation:
knowing the weight of each cargo and the gravity center of the cargo, determining the total gravity center coordinate of the mixed loading configuration in a full-machine coordinate system, and solving the following steps:
(1) Knowing the gravity center of each cargo, and calculating the gravity center coordinate of each cargo in a full-machine coordinate system;
(2) Multiplying the weight of each cargo by the gravity center coordinate under the whole machine coordinate system to calculate the moment;
(3) Summing all the torque results of step (2);
(4) Dividing the result of the step (3) by the sum of the weight of each cargo to obtain the X-direction total gravity center coordinate of the mixed configuration cargo;
4.2.4 determination of center of gravity of the whole machine after loading the goods:
calculating the center of gravity of the whole machine after loading the goods by the following formula:
wherein, X cg -the coordinates of the centre of gravity of the aircraft on the X axis, m;
W i -weight, kg;
X i the coordinates of the center of gravity on the X axis, m.
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