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A Loader Bucket Force Test Method Based on Kalman Filter Algorithm

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

Active Publication Date: 2021-01-29
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a loader bucket stress test method based on the Kalman filter algorithm. Stress Test Questions

Method used

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  • A Loader Bucket Force Test Method Based on Kalman Filter Algorithm
  • A Loader Bucket Force Test Method Based on Kalman Filter Algorithm
  • A Loader Bucket Force Test Method Based on Kalman Filter Algorithm

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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 loader bucket force test method based on Kalman filtering algorithm, firstly measure and calculate the output force of the boom cylinder and the output force of the rocker cylinder, then measure the displacement of the boom cylinder and the rocker cylinder, and calculate The attitude of the working position of the bucket, and finally establish a moment balance group, and use the Kalman filter algorithm to deduce the force of the bucket in the vertical direction and the force in the horizontal direction. The invention is based on the pressure sensor of the hydraulic system, combined with the wireless laser sensor measurement of the stroke of the hydraulic cylinder, and uses the Kalman filter algorithm to calculate the force of the loader bucket in real time, which can not only cope with complex and harsh working environments, but also reduce system noise and environment In addition, the loader applicable to the test method of the present invention does not need to be refitted, and the test process is simple and easy.

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 filtering algorithm. Background technique [0002] Loaders are widely used in road construction, construction, mining and other fields. The test of loader bucket force can provide distribution basis for distributed drive loader torque distribution on the one hand, and data basis for loader load spectrum test on the other hand, 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 shaft force sensor is required, and the modification is complicated and costly. Another example is the patent "loader bucke...

Claims

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Application Information

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