Kalman filtering algorithm-based loader bucket stress testing method

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...

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