Kalman filtering algorithm-based loader bucket stress testing method

A technology of Kalman filter and testing method, applied in the field of construction machinery testing

Active Publication Date: 2019-09-27
JILIN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies in the above-mentioned prior art, the present invention provide

Method used

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  • Kalman filtering algorithm-based loader bucket stress testing method
  • Kalman filtering algorithm-based loader bucket stress testing method
  • Kalman filtering algorithm-based loader bucket stress testing method

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specific Embodiment approach

[0125] In order to further illustrate the technical solution of the present invention, in conjunction with the accompanying drawings, the specific implementation of the present invention is as follows:

[0126] Such as figure 1 As shown, the loader bucket working device adopting the test method of the present invention is composed of a front frame 1, a boom 6, a boom cylinder 3, a rocker 7, a rocker cylinder 5, a connecting rod 8 and a bucket 9, Wherein, the cylinder end of the boom cylinder 3 is hinged with the bottom of the front frame 1, the push rod end of the boom cylinder 3 is hinged with the middle and upper part of the boom 6, and the rear end of the boom 6 is hinged with the top of the front frame 1 , the middle part of the boom 6 is hinged with the middle part of the rocker 7, the front end of the boom 6 is hinged with the rear side of the bucket 9, the cylinder end of the rocker cylinder 5 is hinged with the top of the front frame 1, and the rocker cylinder 5 and t...

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Abstract

The invention discloses a Kalman filtering algorithm-based loader bucket stress testing method. The method includes the following steps that: the output force of a movable arm cylinder and the output force of a rocker arm cylinder are measured and calculated; the displacement of the movable arm cylinder and the rocker arm cylinder is measured, and the working position attitude of a bucket is calculated; and finally, a moment balance set is established, and the stress of the bucket in a vertical direction and the stress of the bucket in a horizontal advancing direction are deduced through a Kalman filtering algorithm. According to the Kalman filtering algorithm-based loader bucket stress testing method of the invention, the pressure sensors of a hydraulic system are adopted; the stroke of a hydraulic cylinder is measured wirelessly through laser sensors; the stress condition of the bucket of a loader is calculated in real time through the Kalman filtering algorithm; and therefore, the Kalman filtering algorithm-based loader bucket stress testing method can adapt to complex and harsh working environments, and can decrease influence caused by system noises and environmental noises. A loader applicable to the testing method disclosed by the invention does not need to be refitted, and a testing process is simple and feasible.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery testing, and in particular relates to a loader bucket force testing method based on a Kalman filter algorithm. Background technique [0002] Loaders are widely used in road construction, construction, mining and other fields. The test of loader bucket force, on the one hand, can provide distribution basis for torque distribution of distributed drive loader, and on the other hand, can provide data basis for loader load spectrum test, so it is efficient, reliable and convenient to measure loader The force of the bucket is a necessary condition for the intelligent design and reliability design of the loader. [0003] In the existing loader bucket force test technology, such as the patent "reproduced loader bucket force test device", "Patent No.: ZL201520539630.6", a special pin force sensor is required, and the modification is complicated and costly. Another example is the patent "loa...

Claims

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Application Information

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IPC IPC(8): G01L5/00G06F17/11G06F17/16
CPCG01L5/0061G06F17/11G06F17/16
Inventor 王继新高广宗韩云武
Owner JILIN UNIV
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