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A platform for research: civil engineering, architecture and urbanism
Dynamic weighing calculation method and system for excavator
The invention discloses an excavator dynamic weighing calculation method and system, and the method comprises the steps: obtaining body excavation parameters of an excavator, and building a static weighing model when the excavator is in a no-load state; performing nonlinear regression on the static weighing model of the excavator in a data calibration mode to obtain an identification model coefficient; dynamic excavation parameters of the excavator are obtained, and a dynamic weighing model of the excavator is established; and according to the established static weighing model, the identification model coefficient and the dynamic weighing model of the excavator, calculating the load weight in the action process of the excavator. The influence of the change of the gravity center of the tool on the weighing precision is directly avoided; on the basis of realizing a static model, through dynamic model coefficient regression, the influence caused by parameters such as acceleration and rotational inertia in the dynamic loading process is greatly reduced; in the process of the specific loading posture range of the excavator, the stable area of the large-arm oil cylinder is automatically recognized, and the load of the large-arm oil cylinder is dynamically weighed in each stable work period.
本发明公开了一种挖掘机动态称重计算方法及系统，包括：获取挖掘机的机身挖掘参数，建立挖掘机空载时的静态称重模型；通过数据标定的方式对挖掘机的静态称重模型非线性回归，得到辨识模型系数；获取挖掘机的动态挖掘参数，建立挖掘机的动态称重模型；根据所建立挖掘机的静态称重模型、辨识模型系数和动态称重模型计算得出挖掘机动作过程中的负载重量。直接避免了工装重心变化对称重精度影响；以及在实现静态模型的基础上，在通动态模型系数回归，大大降低动态装车过程中加速度、转动惯量等参数带来的影响；在挖掘机特定装车姿态范围过程中，自动识别大臂油缸稳定区域，实现在每个稳定的工作周期下动态实现对其载重的称量。
Dynamic weighing calculation method and system for excavator
The invention discloses an excavator dynamic weighing calculation method and system, and the method comprises the steps: obtaining body excavation parameters of an excavator, and building a static weighing model when the excavator is in a no-load state; performing nonlinear regression on the static weighing model of the excavator in a data calibration mode to obtain an identification model coefficient; dynamic excavation parameters of the excavator are obtained, and a dynamic weighing model of the excavator is established; and according to the established static weighing model, the identification model coefficient and the dynamic weighing model of the excavator, calculating the load weight in the action process of the excavator. The influence of the change of the gravity center of the tool on the weighing precision is directly avoided; on the basis of realizing a static model, through dynamic model coefficient regression, the influence caused by parameters such as acceleration and rotational inertia in the dynamic loading process is greatly reduced; in the process of the specific loading posture range of the excavator, the stable area of the large-arm oil cylinder is automatically recognized, and the load of the large-arm oil cylinder is dynamically weighed in each stable work period.
本发明公开了一种挖掘机动态称重计算方法及系统，包括：获取挖掘机的机身挖掘参数，建立挖掘机空载时的静态称重模型；通过数据标定的方式对挖掘机的静态称重模型非线性回归，得到辨识模型系数；获取挖掘机的动态挖掘参数，建立挖掘机的动态称重模型；根据所建立挖掘机的静态称重模型、辨识模型系数和动态称重模型计算得出挖掘机动作过程中的负载重量。直接避免了工装重心变化对称重精度影响；以及在实现静态模型的基础上，在通动态模型系数回归，大大降低动态装车过程中加速度、转动惯量等参数带来的影响；在挖掘机特定装车姿态范围过程中，自动识别大臂油缸稳定区域，实现在每个稳定的工作周期下动态实现对其载重的称量。
Dynamic weighing calculation method and system for excavator
挖掘机动态称重计算方法及系统
ZHI ZHI (author) / YIN MANYI (author) / FU XINWEI (author) / CHEN HONGKAI (author) / LI FENG (author)
2024-06-14
Patent
Electronic Resource
Chinese
AUTOMATIC WEIGHING CALIBRATION METHOD, SYSTEM AND EXCAVATOR
| European Patent Office | 2023