CN117367557A - Weighing system and calculating method of heavy mining dump truck - Google Patents
Weighing system and calculating method of heavy mining dump truck Download PDFInfo
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- CN117367557A CN117367557A CN202311365310.9A CN202311365310A CN117367557A CN 117367557 A CN117367557 A CN 117367557A CN 202311365310 A CN202311365310 A CN 202311365310A CN 117367557 A CN117367557 A CN 117367557A
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- 238000005303 weighing Methods 0.000 title claims abstract description 42
- 238000005065 mining Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title abstract description 10
- 239000000725 suspension Substances 0.000 claims abstract description 61
- 238000013178 mathematical model Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 17
- 238000009826 distribution Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
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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
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Abstract
The invention relates to a weighing system and a calculating method of a heavy mining dump truck, which belong to the technical field of engineering machinery, and comprise a controller, an inclination sensor, a suspension pressure sensor and a display, wherein the inclination sensor, the suspension pressure sensor and the display are connected with the controller, and the calculating method comprises the following steps: collecting pressure data of a suspension cylinder, and calculating load data of a foundation through a load suspension algorithm; collecting gradient data, and decoupling vehicle load and gradient parameters through a load gradient algorithm; and finally, fitting the data through a load stiffness algorithm to obtain a mathematical model of the weighing system, and calculating the load of the vehicle. The invention realizes the statistics of the load data of the mining dump truck under various working conditions and various road conditions, and provides various data output requirements according to the requirements.
Description
Technical Field
The invention relates to a weighing system and a calculating method of a heavy mining dump truck, and belongs to the technical field of engineering machinery.
Background
Mining dump trucks are one of the key devices in surface mining and large-scale earthwork construction, and are mainly used for transporting various loose materials. The weighing system is a core statistical function of the mining dump truck, can provide various statistical data services related to load for users, is a basis for statistics of production information of the users, and provides the weighing system and the computing method of the heavy mining dump truck.
Disclosure of Invention
The invention provides a weighing system and a calculating method of a heavy mining dump truck, which can provide high-precision load data statistics service under all road conditions and all working conditions, including but not limited to loading, full-load transportation, unloading and load data under all working conditions of no-load driving, and production statistics data such as cyclic loading capacity, accumulated loading times, accumulated loading capacity, load distribution interval statistics, dead time, full loading time, no-load mileage, full loading mileage, total mileage, single-pass oil consumption and the like of each complete loading and unloading process, and can be accessed into a mine dispatching data system of a user, off-line output detailed operation data of each trolley and provide a plurality of data output selection schemes for the user.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the weighing system of the heavy mining dump truck comprises a controller, an inclination sensor, a suspension pressure sensor and a display, wherein the inclination sensor, the suspension pressure sensor and the display are connected with the controller; wherein,
the suspension pressure sensor is used for collecting the pressure of the suspension cylinder;
the inclination angle sensor is used for collecting road gradient;
the controller is responsible for logic operation, and calculates the load of the vehicle according to the value of the suspension pressure sensor and the horizontal inclination angle of the vehicle;
the display is responsible for data presentation.
Further, the controller calculates the load of the vehicle through a load suspension algorithm, a load gradient algorithm and a load stiffness algorithm.
Further, the inflation standard requirement of the weighing system on the suspension cylinder is as follows: the suspension cylinder can move up and down, and does not touch the bottom or the top.
Furthermore, the weighing system has functions of alarming a suspension oil cylinder sensor, alarming a vehicle overload and alarming a vehicle unbalanced load.
Further, a weighing calculation method of the heavy mining dump truck comprises the following steps: collecting pressure data of a suspension cylinder, and calculating load data of a foundation through a load suspension algorithm; collecting gradient data, and decoupling vehicle load and gradient parameters through a load gradient algorithm; and finally, fitting the data through a load stiffness algorithm to obtain a mathematical model of the weighing system, and calculating the load of the vehicle.
Further, the sprung mass mathematical calculation of the load suspension algorithm:
further, the decoupling mathematical calculation formula of the load gradient algorithm:
X＝f(θ ω )f(T)。
further, the weighing system mathematical model expression:
the invention realizes the statistics of the load data of the mining dump truck under each working condition and each road condition, realizes the system integration, the information datamation and the data visualization, can count the load data under each working condition of loading, full-load transportation, unloading and no-load driving, can count the production statistical data of the cyclic load capacity, the accumulated loading times, the accumulated load capacity, the load distribution interval statistics, the no-load time, the full-load time, the no-load mileage, the full-load mileage, the total mileage, the single-pass oil consumption and the like of each complete loading and unloading process, and provides various data output requirements according to the needs.
Drawings
FIG. 1 is a load suspension algorithm of the present invention;
FIG. 2 is a load ramp algorithm of the present invention;
fig. 3 is a load stiffness algorithm of the present invention.
Detailed Description
The following detailed description of the technical solutions of the present invention is made by the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limiting the technical solutions of the present application, and the technical features of the embodiments and embodiments of the present application may be combined with each other without conflict.
A weighing system of a heavy mining dump truck consists of a controller, an inclination angle sensor, four suspension pressure sensors and two displays. The inclination angle sensor and the suspension pressure sensor are both current type sensors and are collected and processed by the controller. And the load data are sent to a display screen for display through a CAN bus.
The load data of the vehicle is only calculated by using the values of the suspension pressure sensors of the four suspension cylinders as a calculation data source. The sprung mass of the vehicle is calculated through the data of the suspension pressure sensor and is supported by five stress points in total by two front suspension cylinders, two rear suspension cylinders and a tripod (the tripod is connected with the frame and the rear axle housing).
The inclination sensor is used to acquire a horizontal inclination of the vehicle, i.e., a road gradient. The output value of the inclination angle sensor is used as a key parameter for improving the precision of the weighing system, so that the vehicle can run on any gradient road, and the weighing system can ensure the accuracy and reliability of measurement.
The controller is responsible for logic operations to calculate the vehicle load by using the values of the suspension pressure sensors and the vehicle horizontal tilt angle.
The display is responsible for the presentation of the data.
The working principle of the weighing system of the mining dump truck is as follows: the suspension pressure sensor collects pressure data of a suspension cylinder, and basic load data are calculated through a parameter model of the vehicle; the data provided by the inclination angle sensor is subjected to decoupling calculation through a gradient algorithm, so that the accuracy and reliability of measurement precision can be ensured by a vehicle running weighing system on any gradient road; and finally, fitting the data by using a load stiffness algorithm to adapt to different states of different suspension cylinders of the mine car.
The weighing system involves three core algorithms: load suspension algorithm, load gradient algorithm, load stiffness algorithm. The load suspension algorithm is a basic algorithm, is suitable for calculating the load of the vehicle on a horizontal road surface, and is based on the principle that a mathematical model expression of the sprung mass is obtained through stress analysis of the vehicle; the load gradient algorithm is a decoupling algorithm, and the vehicle load has extremely strong correlation to the road gradient due to the unique structure of the heavy mining dump truck, and the load gradient algorithm can decouple the vehicle load from gradient parameters, so that the vehicle can realize the anti-interference capability to gradient variables on any road capable of running; the load stiffness algorithm is a fitting algorithm, and because the stiffness of the hydro-pneumatic suspension is nonlinear, the hydro-pneumatic suspension stiffness under different load tonnage, different inflation quantity and different cylinder diameter needs to be fitted.
The implementation method comprises the following steps: the weighing system of the mining dump truck calculates load data of the vehicle under various working conditions and various road conditions in real time by using a load suspension algorithm, a load gradient algorithm and a load stiffness algorithm. Specifically, the load suspension algorithm calculates the five support point stress conditions supporting the sprung mass via four pressure sensors, and then calculates the load mass. However, the algorithm is strongly related to the gradient of the road where the vehicle is located, so that the load gradient algorithm is required to perform decoupling calculation, and the anti-interference capability of the weighing system on the gradient variable is realized. In addition, in order to further enhance the adaptability of the weighing algorithm to the suspension cylinder, a load stiffness algorithm is also required to be introduced, and the algorithm reduces the limitation requirement on suspension input parameters.
As shown in fig. 1, the current value output by the suspension pressure sensor is mapped to obtain the pressure value of the suspension cylinder, and then the mathematical calculation formula of five support points of the sprung mass of the vehicle is obtained through the structural parameters of the mining dump truck:
wherein I is a current value output by the suspension pressure sensor;
p is the pressure value of the suspension cylinder;
according to the parameters of the suspension cylinder, the stress values of five supporting points can be obtained:
from this the sprung mass mathematical calculation of the load suspension algorithm can be obtained:
in the formula, theta is an included angle between the extending and contracting direction of the suspension cylinder and the vertical direction.
As shown in fig. 2, the gradient of the road on which the vehicle is located can be obtained by the current value output by the inclination sensor through the mapping function:
θ ω ＝f(I) (4)
in θ ω Is the angle between the road where the vehicle is positioned and the horizontal plane.
T＝f(L) (5)
Wherein L is the length of a moment arm between a tripod supporting point and a rear axle center point, and T is a moment expression related to the moment arm.
The decoupling mathematical calculation of the load gradient algorithm is obtainable from equations (4) (5):
X＝f(θ ω )f(T) (6)
as shown in fig. 3, to reduce the impact of suspension cylinder base parameters on the weighing algorithm, a load stiffness fitting algorithm may be introduced.
Load stiffness multiplier C:
C＝f(AP r ) (7)
load stiffness multiplier G:
wherein A is the cross section of the rod diameter of the suspension cylinder, P is the internal pressure of the cylinder, r is the gas polytropic index, and Z is a constant. The final mathematical model expression of the weighing system can be obtained by the formulas (3), (6), (7) and (8):
according to the calculation method, the values of the speed, the inclination angle sensor and the suspension pressure sensor of the vehicle are read, so that the load data of the vehicle under the working conditions of loading, full-load transportation, unloading and no-load running are calculated, and the statistical functions of load information such as circulating load capacity, accumulated loading times, accumulated load weight, load distribution interval statistics, no-load time, full-load time, no-load mileage, full-load mileage, total mileage, single-pass oil consumption and the like of each complete loading and unloading process are realized.
The weighing system has extremely low requirement on the inflation standard of the suspension cylinder, and only needs to ensure that the suspension cylinder can move up and down freely without touching the bottom or the top.
The weighing system of the invention can also provide a suspension cylinder sensor alarm, a vehicle overload alarm and a vehicle unbalanced load alarm.
The weighing system can calculate the statistical distribution of the weight of the electric shovel, the weight of the driving away, the circulating weight, the transportation times, the total tonnage of transportation and the percentage of load according to the inclination angle sensor and the vehicle speed, and automatically calculate the tare weight, the dead time, the full load time, the empty mileage and the full load mileage of the vehicle.
The weighing system can provide a data analysis function, can export all data recorded by the weighing system, and generate a corresponding statistical report.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The utility model provides a weighing system of heavy mining dump truck which characterized in that: the device comprises a controller, an inclination sensor, a suspension pressure sensor and a display, wherein the inclination sensor, the suspension pressure sensor and the display are connected with the controller; wherein,
the suspension pressure sensor is used for collecting the pressure of the suspension cylinder;
the inclination angle sensor is used for collecting road gradient;
the controller is responsible for logic operation, and calculates the load of the vehicle according to the value of the suspension pressure sensor and the horizontal inclination angle of the vehicle;
the display is responsible for data presentation.
2. The weighing system of a heavy mining dump truck of claim 1, wherein: the controller calculates the load of the vehicle through a load suspension algorithm, a load gradient algorithm and a load stiffness algorithm.
3. The weighing system of a heavy mining dump truck of claim 1, wherein: the standard requirement of the weighing system on inflation of the suspension cylinder is as follows: the suspension cylinder can move up and down, and does not touch the bottom or the top.
4. The weighing system of a heavy mining dump truck of claim 1, wherein: the weighing system has the functions of alarming by a suspension oil cylinder sensor, alarming by overload of a vehicle and alarming by unbalanced load of the vehicle.
5. A weighing calculation method of a heavy mining dump truck is characterized by comprising the following steps of: collecting pressure data of a suspension cylinder, and calculating load data of a foundation through a load suspension algorithm; collecting gradient data, and decoupling vehicle load and gradient parameters through a load gradient algorithm; and finally, fitting the data through a load stiffness algorithm to obtain a mathematical model of the weighing system, and calculating the load of the vehicle.
6. The weighing calculation method of the heavy mining dump truck as set forth in claim 5, wherein: the sprung mass mathematical calculation of the load suspension algorithm:
7. the weighing calculation method of the heavy mining dump truck as set forth in claim 5, wherein: decoupling mathematical calculation formula of load gradient algorithm:
X＝f(θ ω )f(T)。
8. the weighing calculation method of the heavy mining dump truck as set forth in claim 5, wherein: mathematical model expression of weighing system:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311365310.9A CN117367557A (en) | 2023-10-20 | 2023-10-20 | Weighing system and calculating method of heavy mining dump truck |
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| CN202311365310.9A CN117367557A (en) | 2023-10-20 | 2023-10-20 | Weighing system and calculating method of heavy mining dump truck |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117553890A (en) * | 2024-01-12 | 2024-02-13 | 三一重型装备有限公司 | Dynamic weighing method and device for vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117553890A (en) * | 2024-01-12 | 2024-02-13 | 三一重型装备有限公司 | Dynamic weighing method and device for vehicle |
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