Dynamic balancing control method and system for a weighing scale

Abstract

The present application relates to the technical fields of dynamic balance test, and specifically includes a dynamic balance control method and system for a weighing scale, which comprises: acquiring multi-edge inclination data, pressure distribution data and vibration frequency characteristics; setting a horizontal deviation amount based on a posture matrix; determining a gravity center offset amount, and if the gravity center offset amount exceeds a preset radius range of a center of a platform, triggering a dynamic adjustment mechanism; and performing stability enhancement control based on bearing pressure of each support point. The present application solves the technical problems of relying on a fixed threshold to trigger leveling, lagging in leveling response, and insufficient running stability under dynamic load, and realizes differentiated lifting of multiple groups of hydraulic leveling units, targeted correction of imbalance at different positions, distribution of bearing pressure of each support point according to the gravity center offset amount, avoidance of local overload, adjustment of damping coefficients in combination with bearing pressure and vibration frequency characteristics, effective suppression of vibration interference, and improvement of running stability of the weighing scale under dynamic load, thereby guaranteeing the technical effects of measurement accuracy and operation safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dynamic balance testing, and particularly relates to a dynamic balance control method and system for a weighing scale. BACKGROUND

[0002] The weighing scale is widely used in industrial production, logistics transportation, trade settlement and the like. In a dynamic weighing scene (such as vehicle weighing, continuous material conveying), the weighing scale is often out of balance due to load deviation, uneven ground or vibration interference, thereby affecting the measurement accuracy.

[0003] The current balance control of the weighing scale mainly depends on fixed threshold triggering leveling, and cannot respond to load center of gravity deviation and support structure inclination change in real time. In addition, the leveling process often causes over-regulation or response lag due to insufficient coordination of the hydraulic unit, thereby further reducing the efficiency and reliability of the balance control.

[0004] In summary, the prior art has the technical problems of relying on fixed threshold triggering leveling, leveling response lag and insufficient running stability under dynamic load. SUMMARY

[0005] The present application provides a dynamic balance control method and system for a weighing scale, which aims to solve the technical problems of relying on fixed threshold triggering leveling, leveling response lag and insufficient running stability under dynamic load in the prior art.

[0006] In view of the above problems, the technical scheme of the present application is as follows:

[0007] In a first aspect, the present application provides a dynamic balance control method for a weighing scale, wherein the method comprises: acquiring multi-edge inclination data of a weighing scale support structure, pressure distribution data of a load sensor and vibration frequency characteristics; formulating a posture matrix according to the multi-edge inclination data of the weighing scale support structure, and setting a horizontal deviation amount of the weighing scale support structure; determining a center of gravity deviation amount through the pressure distribution data of the load sensor, and triggering a dynamic adjustment mechanism when the center of gravity deviation amount exceeds a preset radius range of a center of a corresponding table surface of the weighing scale support structure: driving a plurality of groups of hydraulic leveling units at the bottom of the weighing scale to perform differential lifting adjustment based on the posture matrix and the horizontal deviation amount; at the same time, dynamically distributing the load bearing pressure of each support point according to the center of gravity deviation amount; and performing stability enhancement control of the weighing scale based on the load bearing pressure of each support point.

[0008] Preferably, the platform of the weighing scale support structure is divided into M evenly distributed detection partitions, and the pressure weighted average values corresponding to the M evenly distributed detection partitions are obtained; taking the center of the platform as a reference point, the pressure center coordinates are identified by torque balance by comparing the coordinate positions of the M evenly distributed detection partitions; the barycentric offset vector value is determined by comparing the difference between the pressure center coordinates and the platform center coordinates, and the barycentric offset is the modulus value of the barycentric offset vector value.

[0009] Preferably, the bearing pressure feedback is adjusted back to the platform center corresponding to the weighing scale support structure within a preset radius range; the bearing pressure change rate of each support point in the bearing pressure feedback adjustment process is analyzed, and if the bearing pressure change rate exceeds a preset safety threshold, the adjustment action of one or more groups of hydraulic leveling units is suspended.

[0010] Preferably, the dominant vibration frequency is determined by performing frequency spectrum analysis on the vibration frequency characteristics of the load sensor, the damper is started, and the damping coefficient is dynamically adjusted according to the matching relationship with the natural frequency of the damper; based on the bearing pressure of each support point, the stability enhancement control of the weighing scale is performed in combination with the damping coefficient.

[0011] Preferably, the vibration amplitude change of the weighing scale is introduced, and if the decay speed does not reach the expected decay speed within a preset time period after adjusting the damping coefficient, the secondary dominant vibration frequency of the vibration frequency characteristics is further analyzed; the segmented adjustment strategy is configured according to the dominant vibration frequency and the secondary dominant vibration frequency.

[0012] Preferably, a three-dimensional coordinate system is established with the platform center corresponding to the weighing scale support structure as the origin, the multi-edge inclination data is converted into X-axis direction inclination angle and Y-axis direction inclination angle, and a posture matrix is constructed according to the X-axis direction inclination angle and the Y-axis direction inclination angle.

[0013] Preferably, fuzzy PID control is used to drive multiple groups of independent servo hydraulic cylinders to adjust synchronously; at the same time, based on the posture matrix and the horizontal deviation, the target lifting amount of each group of independent servo hydraulic cylinders is determined.

[0014] Preferably, the load stability level is evaluated according to the variance of the pressure distribution data; fuzzy PID control is enabled, and the fuzzy control rule is dynamically adjusted based on the load stability level, and the integral term accumulation time is positively correlated with the load stability.

[0015] In a second aspect of the present application, a dynamic balance control system for a weighing scale is provided, wherein the system comprises: a data acquisition module configured to acquire multi-edge inclination data of a weighing scale support structure, pressure distribution data of a load sensor, and vibration frequency characteristics; a matrix formulation module configured to formulate a posture matrix according to the multi-edge inclination data of the weighing scale support structure, and set a horizontal deviation amount of the weighing scale support structure; a lifting adjustment module configured to determine a gravity center offset amount based on the pressure distribution data of the load sensor, and trigger a dynamic adjustment mechanism when the gravity center offset amount exceeds a preset radius range of a center of a corresponding platform of the weighing scale support structure, wherein the dynamic adjustment mechanism is configured to drive multiple groups of hydraulic leveling units at the bottom of the weighing scale to perform differential lifting adjustment based on the posture matrix and the horizontal deviation amount; a dynamic distribution module configured to simultaneously dynamically distribute load bearing pressures of each support point according to the gravity center offset amount; and a stability enhancement module configured to perform stability enhancement control of the weighing scale based on the load bearing pressures of each support point.

[0016] In a third aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the dynamic balance control method for a weighing scale provided by the present application.

[0017] In summary, one or more technical solutions provided in the present application achieve differential lifting of multiple groups of hydraulic leveling units based on a posture matrix and a horizontal deviation amount, targeted correction of imbalance at different positions, differential and accurate leveling, distribution of load bearing pressures of each support point according to a gravity center offset amount, avoidance of local overload, adjustment of a damping coefficient in combination with the load bearing pressures and vibration frequency characteristics, effective suppression of vibration interference, improvement of running stability of the weighing scale under dynamic load, and guarantee of measurement accuracy and work safety. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of the dynamic balance control method for a weighing scale is provided in the present application.

[0019] Figure 2 A structural diagram of the dynamic balance control system for a weighing scale is provided in the present application.

[0020] Legend of reference signs: data acquisition module M100, matrix formulation module M200, lifting adjustment module M300, dynamic distribution module M400, and stability enhancement module M500. DETAILED DESCRIPTION

[0021] In Example 1, the present application is specifically described below in combination with the accompanying drawings, as shown in the drawings, the present application provides a dynamic balance control method for a weighing scale, wherein the method comprises: Figure 1

[0022] ​S1: acquiring multi-edge inclination data of the weighing scale support structure, pressure distribution data of the load sensor, and vibration frequency characteristics; S2: formulating a posture matrix according to the multi-edge inclination data of the weighing scale support structure, and setting a horizontal deviation amount of the weighing scale support structure.

[0023] Specifically, the multi-edge inclination data refers to the inclination angle information of the weighing scale support structure in multiple directions, which is acquired by multiple inclination sensors and used to comprehensively understand the spatial posture of the support structure; the pressure distribution data refers to the pressure values of each position detected by the load sensor of the weighing scale, which can reflect the distribution of the load on the weighing scale platform; the vibration frequency characteristics refer to the frequency characteristics of the vibration signals generated by the weighing scale during the working process, which are acquired by vibration sensors and used to analyze the dynamic response of the weighing scale; the posture matrix is used to describe the posture of an object in a three-dimensional space, and by converting the multi-edge inclination data into a posture matrix, subsequent leveling calculation can be more convenient; the horizontal deviation amount refers to the deviation degree of the weighing scale support structure relative to the horizontal plane, which is calculated by the posture matrix and used to guide the leveling operation.

[0024] Execution steps: through multiple inclination sensors installed on the weighing scale support structure, the multi-edge inclination data of the weighing scale support structure is acquired, at the same time, the pressure distribution data is acquired by using the load sensor, and the vibration frequency characteristics are acquired by the vibration sensor; a three-dimensional coordinate system is established with the center of the platform corresponding to the weighing scale support structure as the origin, the multi-edge inclination data is converted into the inclination angle in the X-axis direction and the inclination angle in the Y-axis direction, and the posture matrix is constructed according to the two angles; the horizontal deviation amount of the weighing scale support structure is calculated based on the posture matrix.

[0025] By acquiring the multi-edge inclination data, the pressure distribution data, and the vibration frequency characteristics, the unbalanced state of the weighing scale can be comprehensively perceived, and multi-dimensional information support is provided for differentiated leveling; the posture matrix is constructed and the horizontal deviation amount is set, so that the leveling operation can be based on an accurate mathematical model, improving the accuracy and reliability of leveling. For example, when a vehicle is weighed, if the center of gravity of the vehicle deviates to one side, it is difficult to accurately determine the unbalanced condition by relying on a single inclination sensor or pressure sensor, but by acquiring multi-dimensional data and analyzing the posture matrix, the unbalanced position and degree can be accurately determined, providing support for leveling operation and effectively improving the balance control precision of the weighing scale under dynamic load.

[0026] S3: Determine the center of gravity offset through the pressure distribution data of the load bearing sensor. When the center of gravity offset exceeds the preset radius range of the center of the weighing scale support structure, trigger the dynamic adjustment mechanism: drive multiple groups of hydraulic leveling units at the bottom of the weighing scale, and perform differential lifting adjustment based on the attitude matrix and horizontal deviation; S4: At the same time, dynamically allocate the bearing pressure of each support point according to the center of gravity offset; S5: Perform stability enhancement control of the weighing scale based on the bearing pressure of each support point.

[0027] Specifically, the center of gravity offset refers to the offset distance of the load center of gravity on the weighing scale platform relative to the center of the platform, which is calculated by analyzing the pressure distribution data and used to determine whether the load is evenly distributed; the dynamic adjustment mechanism is an automatic response mechanism that triggers the leveling operation when the center of gravity offset exceeds the preset range; the hydraulic leveling unit is an actuator for adjusting the level of the weighing scale, which controls its lifting action through a hydraulic system to achieve leveling function; differential lifting adjustment refers to independent lifting control of each hydraulic leveling unit according to the imbalance of different support points to achieve precise leveling; the bearing pressure refers to the pressure value borne by each support point, which can optimize load distribution through dynamic allocation; stability enhancement control is to suppress vibration interference by adjusting damping coefficient to improve the running stability of the weighing scale.

[0028] Execution steps: Calculate the center of gravity offset using the principle of moment balance through the pressure distribution data of the load bearing sensor; when the center of gravity offset exceeds the preset radius range, trigger the dynamic adjustment mechanism to drive multiple groups of hydraulic leveling units at the bottom of the weighing scale, and perform differential lifting adjustment based on the attitude matrix and horizontal deviation; at the same time, dynamically allocate the bearing pressure of each support point according to the center of gravity offset to avoid local overload; perform stability enhancement control based on the bearing pressure of each support point by adjusting the damping coefficient to suppress vibration interference.

[0029] By determining the center of gravity offset, the uneven load distribution can be accurately identified to provide a basis for subsequent leveling operation. Further, when a vehicle is weighed, the center of gravity of the vehicle may be biased to one side, causing the weighing scale to be unbalanced. At this time, the hydraulic leveling units are triggered by the dynamic adjustment mechanism to perform differential lifting adjustment, which can quickly correct the unbalanced state. At the same time, dynamic allocation of bearing pressure can avoid damage to the equipment caused by local overload. In addition, stability enhancement control suppresses vibration interference by adjusting the damping coefficient to further improve the running stability of the weighing scale, effectively reducing the influence of vibration on the weighing accuracy, and achieving precise leveling and stability enhancement of the weighing scale under dynamic load.

[0030] Further, the center of gravity offset is determined through the pressure distribution data of the load bearing sensor, and the method described in the application further comprises:

[0031] The table surface of the support structure of the weighing scale is divided into M evenly distributed detection partitions, and the pressure weighted average values corresponding to the M evenly distributed detection partitions are obtained; the center of the table is taken as the reference point, the coordinate positions of the M evenly distributed detection partitions are compared, and the pressure center coordinates are identified through moment balance; the pressure center coordinates and the center coordinates of the table are compared by difference, and the barycentric offset vector value is determined, and the barycentric offset is the modulus value of the barycentric offset vector value.

[0032] Specifically, the detection partition refers to dividing the table surface of the support structure of the weighing scale into multiple evenly distributed small areas for detecting the pressure distribution of each area respectively, so as to more accurately determine the barycentric position; the pressure weighted average value refers to calculating the pressure weighted average value of each detection partition according to the pressure value measured by the pressure sensor, that is, the average pressure considering the unevenness of pressure distribution; the moment balance is to determine the pressure center coordinates, that is, the barycentric position, by calculating the sum of the products of the pressure weighted average values of each detection partition and their coordinate positions according to the principle of moment balance; the barycentric offset vector value refers to calculating the difference between the pressure center coordinates and the center coordinates of the table with the center of the table as the reference point, obtaining the barycentric offset vector value, and the modulus value thereof is the barycentric offset.

[0033] The detection partition refers to dividing the table surface of the support structure of the weighing scale into M evenly distributed detection partitions, for example, dividing a rectangular table surface into 4x4=16 partitions; obtaining the pressure weighted average value refers to installing a pressure sensor in each detection partition, collecting pressure data in real time, and calculating the pressure weighted average value of each partition; identifying the pressure center coordinates refers to taking the center of the table as the reference point, calculating the pressure center coordinates according to the pressure weighted average values of each detection partition and their coordinate positions according to the principle of moment balance; determining the barycentric offset vector value refers to comparing the pressure center coordinates and the center coordinates of the table by difference, obtaining the barycentric offset vector value, and the modulus value thereof is the barycentric offset.

[0034] The execution steps are as follows: by dividing the table surface into multiple detection partitions and obtaining the pressure weighted average value, the pressure values in each partition can be weighted and averaged, and correspondingly, the weight factor is usually related to the sensitivity of the sensor or the area of the partition, which can more accurately reflect the distribution of the load on the table surface; the center of the table is taken as the reference point, the coordinate positions of the M evenly distributed detection partitions are compared, the pressure center coordinates are identified by using the principle of moment balance, the pressure center coordinates and the center coordinates of the table are compared by difference, the barycentric offset vector value is determined, and the barycentric offset is the modulus value of the barycentric offset vector value.

[0035] By dividing the platform into multiple detection partitions and calculating the pressure weighted average, the pressure distribution can be perceived more meticulously. The application of the moment balance principle makes the calculation of the pressure center coordinates more accurate, thereby accurately determining the barycentric offset vector value and the barycentric offset amount. For example, in a dynamic weighing scenario, the load of a vehicle may shift when weighed. Through the above steps, the direction and distance of the shift are accurately determined, providing accurate guidance for the differentiated lifting adjustment of the hydraulic leveling unit, thereby achieving high-precision dynamic balance control.

[0036] Further, according to the barycentric offset amount, the load bearing pressure of each support point is dynamically allocated, and the method further comprises:

[0037] The load bearing pressure feedback adjustment is adjusted back to the preset radius range of the platform center corresponding to the weighing scale support structure; the load bearing pressure change rate of each support point in the load bearing pressure feedback adjustment process is analyzed, and if the load bearing pressure change rate exceeds the preset safety threshold, the adjustment action of one or more groups of hydraulic leveling units is suspended.

[0038] Specifically, the load bearing pressure feedback adjustment refers to adjusting the action of the hydraulic leveling unit in real time according to the load bearing pressure data of each support point to adjust the load barycenter back to the preset balance range. Further, it is realized through a feedback control system to ensure the balance state of the weighing scale; the preset radius range of the platform center refers to the maximum range of the allowable load barycenter offset with the weighing scale platform center as the reference. When the barycenter offset amount exceeds this range, leveling operation is needed; the load bearing pressure change rate refers to the change speed of the load bearing pressure of each support point with time in the leveling process, which is used to evaluate the dynamic stability of the leveling process; the preset safety threshold refers to the maximum allowable value of the load bearing pressure change rate set to ensure the safety and stability of the leveling process. When the actual change rate exceeds this value, leveling operation needs to be suspended to avoid potential risks.

[0039] Execution steps: real-time load bearing pressure data is obtained through the load sensors of each support point of the weighing scale, and the barycentric offset amount is calculated. If the barycentric offset amount exceeds the preset radius range, the load bearing pressure feedback adjustment mechanism is started, and the barycenter is adjusted back to the preset range through the action of the hydraulic leveling unit. For example, assuming that the radius range of the weighing scale platform center is R, the current barycentric offset amount is d, and d>R, d needs to be adjusted back to R through the action of the hydraulic leveling unit.

[0040] In the adjustment process, the change rate of the bearing pressure of each support point is monitored in real time. Specifically, for each support point, the change rate of the bearing pressure thereof is calculated. If the change rate of the pressure of a certain support point exceeds a preset safety threshold, the adjustment action of one or more groups of hydraulic leveling units corresponding to the support point is suspended to prevent the structure of the weighing scale from being damaged or the adjustment from being out of control due to the too fast change of the pressure. In the above steps, the bearing pressure feedback adjustment is used to quickly respond to the change of the load center of gravity, timely adjust the balance state of the weighing scale, and improve the leveling efficiency. Meanwhile, by monitoring the change rate of the bearing pressure and setting the preset safety threshold, the dynamic change of the pressure distribution can be evaluated in real time during the leveling process, potential safety problems can be found and avoided in time, and thus the stable operation and work safety of the weighing scale are ensured.

[0041] Further, based on the bearing pressure of each support point, the stability enhancement control of the weighing scale is performed.

[0042] The vibration frequency characteristics of the load sensor are analyzed by spectrum analysis to determine the dominant vibration frequency, the damper is started, the damping coefficient is dynamically adjusted according to the matching relationship with the natural frequency of the damper, and based on the bearing pressure of each support point, the stability enhancement control of the weighing scale is performed in combination with the damping coefficient.

[0043] Specifically, the vibration frequency characteristics refer to the frequency characteristics of the vibration signal generated by the weighing scale during operation, which are obtained by a vibration sensor and used to analyze the dynamic response of the weighing scale. The dominant vibration frequency refers to the frequency component with the strongest energy and the greatest impact on the stability of the weighing scale in the vibration signal. The damper is a device capable of absorbing and dissipating vibration energy, which controls vibration by adjusting the damping coefficient. The natural frequency refers to the frequency of free vibration of the damper under no external force, which is an important parameter for the design and adjustment of the damper. The damping coefficient is a parameter for measuring the energy dissipation capacity of the damper, and its size directly affects the decay rate of vibration.

[0044] The execution steps are as follows: the vibration frequency characteristics of the load sensor are analyzed by spectrum analysis to determine the dominant vibration frequency. Spectrum analysis is to convert the vibration signal from time domain to frequency domain to identify the main frequency components in the signal. During the operation of the weighing scale, it will be affected by external interference or its own structure vibration to generate vibration signals of different frequencies. Through spectrum analysis, the dominant vibration frequency with the strongest energy can be accurately identified to provide a basis for subsequent vibration control.

[0045] The damper is started, and the damping coefficient is dynamically adjusted according to the matching relationship between the dominant vibration frequency and the natural frequency of the damper. For example, if the dominant vibration frequency is close to the natural frequency of the damper, it indicates that the damper can effectively absorb the vibration energy of the frequency, and at this time, the damping coefficient can be appropriately reduced to improve the vibration attenuation speed. On the contrary, if the difference between the two is large, the damping coefficient may need to be increased to enhance the damping effect. Specifically, when the weighing scale is impacted by materials or equipment vibration, the dynamic adjustment of the damping coefficient can suppress the resonance swing of the weighing scale under dynamic load and reduce the impact on the weighing accuracy.

[0046] Based on the bearing pressure of each support point and the dynamically adjusted damping coefficient, the stability enhancement control of the weighing scale is performed. The bearing pressure reflects the stress of each support point of the weighing scale. By combining the damping coefficient with the bearing pressure, more accurate stability control can be achieved. Specifically, when the bearing pressure of any one support point is large, the damping coefficient of the point can be appropriately increased to effectively prevent local vibration from being too large, thereby improving the stability of the entire weighing scale. Through vibration frequency analysis and damping coefficient adjustment, the vibration of the weighing scale is effectively suppressed, the stability of the weighing scale under dynamic load is enhanced, and the measurement accuracy of the weighing scale is improved.

[0047] Further, the damping coefficient is dynamically adjusted according to the matching relationship with the natural frequency of the damper. The method disclosed in the present application includes:

[0048] The vibration amplitude variation of the weighing scale is introduced. If the attenuation speed does not reach the expected attenuation speed within the preset time period after adjusting the damping coefficient, the secondary dominant vibration frequency of the vibration frequency characteristic is further analyzed. According to the dominant vibration frequency and the secondary dominant vibration frequency, a segmented adjustment strategy is configured.

[0049] Specifically, the vibration amplitude variation refers to the change of the amplitude of the vibration signal over time. The amplitude reflects the intensity of the vibration. The attenuation speed refers to the speed of the vibration amplitude attenuation over time, which is usually represented by the change amount of the vibration amplitude per unit time. The secondary dominant vibration frequency refers to the frequency component with the second strongest energy in the vibration signal, which usually has a certain influence on the stability of the vibration. The segmented adjustment strategy refers to dividing the adjustment process of the damping coefficient into multiple stages according to different vibration frequency components, and optimizing the adjustment of each stage for specific frequency components.

[0050] The execution step: introduce the change of the vibration amplitude of the weighing scale, monitor the decay rate of the vibration amplitude in the preset time period after adjusting the damping coefficient; if the decay rate does not reach the expected value, it means that the current damping adjustment strategy cannot effectively suppress the vibration, at this time, it is necessary to further analyze the secondary dominant vibration frequency in the vibration frequency characteristics, for example, during the operation of the weighing scale, even if the dominant vibration frequency is effectively controlled, but due to the existence of the secondary dominant vibration frequency, the vibration amplitude may still not decay to the expected level quickly.

[0051] According to the dominant vibration frequency and the secondary dominant vibration frequency, a segmented adjustment strategy is configured, which adjusts the damping coefficient for the vibration characteristics of different frequency components. Specifically, the adjustment process is divided into two stages: the first stage is for rapid decay adjustment of the dominant vibration frequency, and the second stage is for fine adjustment of the secondary dominant vibration frequency. In the first stage, the damping coefficient is quickly adjusted to rapidly decay the vibration amplitude of the dominant vibration frequency. In the second stage, the damping coefficient is fine-tuned according to the characteristics of the secondary dominant vibration frequency to further reduce the vibration amplitude.

[0052] In the above steps, by introducing the monitoring of the vibration amplitude change and the analysis of the secondary dominant vibration frequency, the characteristics of the vibration can be more comprehensively understood, so that a more effective damping adjustment strategy can be developed. Through the segmented adjustment strategy, the vibration of different frequency components can be controlled specifically, further optimizing the vibration suppression effect of the weighing scale, ensuring the stable operation of the weighing scale under complex working conditions, and improving the measurement accuracy and equipment reliability.

[0053] Further, the attitude matrix is determined according to the multi-edge inclination data of the weighing scale support structure, and the method comprises:

[0054] A three-dimensional coordinate system is established with the center of the corresponding platform of the weighing scale support structure as the origin, the multi-edge inclination data is converted into X-axis direction inclination angle and Y-axis direction inclination angle, and the attitude matrix is constructed according to the X-axis direction inclination angle and the Y-axis direction inclination angle.

[0055] Specifically, the three-dimensional coordinate system is a coordinate system established with the center of the corresponding platform of the weighing scale support structure as the origin, which usually includes X-axis, Y-axis and Z-axis, and is used to describe the spatial attitude and position relationship of the weighing scale. The multi-edge inclination data refers to the inclination angle information of the weighing scale support structure in different directions obtained by multiple inclination sensors. The X-axis direction inclination angle and the Y-axis direction inclination angle are specific inclination angle values of the multi-edge inclination data decomposed to the X-axis and the Y-axis, which are used to describe the inclination state of the weighing scale in the horizontal plane. The attitude matrix is used to describe the attitude of an object in three-dimensional space, and by converting the inclination angles of the X-axis and the Y-axis into matrix form, subsequent leveling calculation can be conveniently performed.

[0056] Execution step: Establish a three-dimensional coordinate system with the center of the scale support structure's platform as the origin; obtain multi-edge inclination data of the scale support structure through multiple inclination sensors; convert these multi-edge inclination data into X-axis direction inclination angle and Y-axis direction inclination angle, such as the multi-edge inclination data measured by the inclination sensor and , directly as the X-axis and Y-axis direction inclination angles, and construct a pose matrix according to the X-axis direction inclination angle and the Y-axis direction inclination angle is the X-axis direction inclination angle, is the Y-axis direction inclination angle.

[0057] By establishing a three-dimensional coordinate system and constructing a pose matrix, complex multi-edge inclination data can be converted into a matrix form that is easy to handle, thereby achieving accurate description of the tilt state of the scale support structure, providing a basis for subsequent differential lifting adjustment based on the pose matrix, and enabling leveling operations to more accurately correct imbalances at different positions, improving the balance control precision of the scale.

[0058] Further, based on the pose matrix and the horizontal deviation, the method of the present application includes:

[0059] Using fuzzy PID control to drive multiple independent servo hydraulic cylinders to adjust synchronously; at the same time, based on the pose matrix and the horizontal deviation, determining the target lifting amount of each group of independent servo hydraulic cylinders.

[0060] Specifically, fuzzy PID control is an intelligent control method that combines fuzzy logic and PID control, which dynamically adjusts the parameters (proportion, integral, and derivative) of the PID controller through fuzzy rules to adapt to the nonlinearity and dynamic changes of the system; multiple independent servo hydraulic cylinders refer to multiple hydraulic cylinders at the bottom of the scale for leveling, each of which can be independently controlled to achieve precise lifting adjustment. Synchronous adjustment refers to the coordinated action of multiple hydraulic cylinders during the leveling process to ensure the overall balance of the scale. The target lifting amount refers to the lifting height that each hydraulic cylinder needs to reach calculated based on the pose matrix and the horizontal deviation, which is used to correct the tilt state of the scale.

[0061] Execution step: Use fuzzy PID control algorithm to drive multiple independent servo hydraulic cylinders to adjust synchronously; the fuzzy PID controller adjusts the PID parameters (Kp, Ki, Kd) dynamically through fuzzy rules according to the input error (such as the horizontal deviation) and the error change rate, thereby optimizing the lifting action of the hydraulic cylinders, such as in the process of leveling the scale, if a large inclination angle is detected at a certain position, the fuzzy PID controller will adjust the lifting speed and amplitude of the hydraulic cylinders according to this deviation, so that it quickly and smoothly reaches the target position.

[0062] At the same time, based on the attitude matrix and the horizontal deviation, the target lifting amount of each group of independent servo hydraulic cylinders is calculated; the attitude matrix describes the spatial attitude of the weighing scale, and the height of each hydraulic cylinder that needs to be adjusted can be accurately determined through matrix operation to realize the overall horizontal state. In the above steps, the fuzzy PID control can effectively cope with the nonlinear characteristics of the hydraulic system, such as friction, dead zone, etc., improve the response speed and accuracy of the leveling, and at the same time, the target lifting amount calculation based on the attitude matrix ensures the scientificity and accuracy of the leveling operation, so that the weighing scale can maintain stability under dynamic load and improve the measurement accuracy and equipment operation efficiency.

[0063] Further, the method comprises the following steps:

[0064] According to the variance of the pressure distribution data, the load stability level is evaluated; the fuzzy PID control is enabled, and the fuzzy control rule is dynamically adjusted based on the load stability level; the integral term accumulation time is positively correlated with the load stability.

[0065] Specifically, the variance of the pressure distribution data refers to the dispersion degree of the pressure values of each support point of the weighing scale, which reflects the uniformity of the load distribution. The larger the variance, the more uneven the load distribution, and the worse the stability. The load stability level is a stability index evaluated according to the variance of the pressure distribution data, which is used to quantify the load stability state of the weighing scale. The fuzzy control rule is a set of rules in the fuzzy PID controller for adjusting the PID parameters, which makes decisions through fuzzy logic according to the input error and error rate. The integral term accumulation time refers to the length of time that the integral term in the PID controller acts, which is used to adjust the response speed of the controller to error accumulation.

[0066] The execution steps are as follows: obtain the variance of the pressure distribution data of each support point of the weighing scale; according to the size of the variance, evaluate the load stability level, and divide the stability level into three levels: high, medium and low. The smaller the variance, the higher the stability level. Enable the fuzzy PID control and dynamically adjust the fuzzy control rule according to the load stability level. If the load stability level is low (i.e. the variance is large), it means that the load distribution is uneven, and a more aggressive control strategy is needed to adjust the action of the hydraulic cylinder to quickly restore stability. At this time, the fuzzy control rule can increase the weights of the proportional term and the differential term to improve the response speed and stability of the system. At the same time, the integral term accumulation time is positively correlated with the load stability, i.e. when the load stability level is low, the integral term accumulation time is appropriately extended to enhance the compensation effect of the integral term on error accumulation, thereby more effectively eliminating errors.

[0067] By evaluating the variance of the pressure distribution data, the uniformity of the load distribution can be understood in real time, thereby providing accurate input information for the fuzzy PID controller; the fuzzy control rules and the integral term accumulation time are dynamically adjusted, so that the controller can flexibly adjust the control strategy according to different load stability states, improve the leveling efficiency and stability, and specifically, when the vehicle is weighed, if the vehicle center of gravity is deviated to one side, causing uneven load distribution, the action of the hydraulic cylinder is quickly adjusted to make the weighing scale return to a stable state, ensuring the accuracy of measurement and safe operation of the equipment, and in the above steps, the parameters of the fuzzy PID controller are dynamically adjusted according to the actual situation of the load distribution, to realize precise leveling and stability control of the weighing scale.

[0068] In summary, the beneficial effects of the embodiments of the present application are:

[0069] Due to the adoption of obtaining the multi-edge inclination data of the weighing scale support structure, the pressure distribution data of the load sensor and the vibration frequency characteristics; the attitude matrix is determined according to the multi-edge inclination data of the weighing scale support structure, and the horizontal deviation amount of the weighing scale support structure is set; the center of gravity offset amount is determined through the pressure distribution data of the load sensor, and when the center of gravity offset amount exceeds the preset radius range of the center of the corresponding platform of the weighing scale support structure, the dynamic adjustment mechanism is triggered: driving the multiple groups of hydraulic leveling units at the bottom of the weighing scale to perform differential lifting adjustment based on the attitude matrix and the horizontal deviation amount; at the same time, the load bearing pressure of each support point is dynamically distributed according to the center of gravity offset amount; and the stability enhancement control of the weighing scale is performed based on the load bearing pressure of each support point. The present application provides a dynamic balance control method and system for a weighing scale. The multiple groups of hydraulic leveling units are driven to perform differential lifting based on the attitude matrix and the horizontal deviation amount, the imbalance at different positions is corrected, differential precise leveling is realized, the load bearing pressure of each support point is distributed according to the center of gravity offset amount, local overload is avoided, the damping coefficient is adjusted in combination with the load bearing pressure and the vibration frequency characteristics, vibration interference is effectively suppressed, and the running stability of the weighing scale under dynamic load is improved, thereby guaranteeing the measurement accuracy and operation safety.

[0070] Embodiment two, based on the same inventive concept as the dynamic balance control method for a weighing scale in the foregoing embodiments, as shown in Figure 2 The present application provides a dynamic balance control system for a weighing scale, wherein the system comprises:

[0071] The data acquisition module M100 acquires the multi-edge inclination data of the weighing scale support structure, the pressure distribution data of the load sensor and the vibration frequency characteristics.

[0072] The matrix determination module M200 determines an attitude matrix according to the multi-edge inclination data of the weighing scale support structure, and sets a horizontal deviation amount of the weighing scale support structure.

[0073] Lifting adjustment module M300: through the pressure distribution data of the load sensor, the center of gravity offset is determined, and when the center of gravity offset exceeds the preset radius range of the center of the corresponding table surface of the load cell support structure, a dynamic adjustment mechanism is triggered: a plurality of groups of hydraulic leveling units at the bottom of the load cell are driven, and differential lifting adjustment is performed based on the attitude matrix and the horizontal deviation.

[0074] Dynamic allocation module M400: at the same time, the bearing pressure of each support point is dynamically allocated according to the center of gravity offset.

[0075] Stability enhancement module M500: stability enhancement control of the load cell is performed based on the bearing pressure of each support point.

[0076] Further, the lifting adjustment module M300 is further used to perform the following method:

[0077] The table surface of the load cell support structure is divided into M evenly distributed detection partitions, and the pressure weighted average values corresponding to the M evenly distributed detection partitions are obtained; taking the center of the table surface as a reference point, the pressure center coordinates are identified by moment balance by comparing the coordinate positions of the M evenly distributed detection partitions; the center of gravity offset vector value is determined by difference comparison between the pressure center coordinates and the center coordinates of the table surface, and the center of gravity offset is the modulus value of the center of gravity offset vector value.

[0078] Further, the dynamic allocation module M400 is further used to perform the following method:

[0079] The bearing pressure feedback adjustment is adjusted back to the preset radius range of the center of the corresponding table surface of the load cell support structure; the bearing pressure change rate of each support point in the bearing pressure feedback adjustment process is analyzed, and if the bearing pressure change rate exceeds the preset safety threshold, the adjustment action of the corresponding one or more groups of hydraulic leveling units is suspended.

[0080] Further, the stability enhancement module M500 is used to perform the following method:

[0081] The dominant vibration frequency is determined by performing frequency spectrum analysis on the vibration frequency characteristics of the load sensor, the damper is started, the damping coefficient is dynamically adjusted according to the matching relationship with the natural frequency of the damper, and the stability enhancement control of the load cell is performed based on the bearing pressure of each support point and the damping coefficient.

[0082] Further, the stability enhancement module M500 is further used to perform the following method:

[0083] The vibration amplitude change of the load cell is introduced, if the decay speed does not reach the expected decay speed within the preset time period after adjusting the damping coefficient, the secondary dominant vibration frequency of the vibration frequency characteristics is further analyzed; and the segmented adjustment strategy is configured according to the dominant vibration frequency and the secondary dominant vibration frequency.

[0084] Further, the matrix preparation module M200 is configured to perform the following method:

[0085] A three-dimensional coordinate system is established with the center of the platform corresponding to the weighing scale support structure as the origin, the multi-edge inclination data is converted into X-axis direction inclination angle and Y-axis direction inclination angle, and a posture matrix is constructed according to the X-axis direction inclination angle and the Y-axis direction inclination angle.

[0086] Further, the lifting adjustment module M300 is configured to perform the following method:

[0087] The fuzzy PID control is adopted to drive the multiple groups of independent servo hydraulic cylinders to be synchronously adjusted, and meanwhile, the target lifting amount of each group of independent servo hydraulic cylinders is determined based on the posture matrix and the horizontal deviation amount.

[0088] Further, the lifting adjustment module M300 is further configured to perform the following method:

[0089] The load stability level is evaluated according to the variance of the pressure distribution data, the fuzzy PID control is enabled, the fuzzy control rule is dynamically adjusted based on the load stability level, and the integral term cumulative time is positively correlated with the load stability.

[0090] In the third embodiment, based on the dynamic balance control method for the weighing scale in the foregoing embodiments, the same inventive concept is provided, and the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program implements the steps of the method in any one of the first embodiment when executed.

[0091] It should be noted that the above-mentioned sequence of the embodiments of the application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above describes a specific embodiment of the present application. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0092] The above only describes the preferred embodiments of the application and does not limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

[0093] The present application and the drawings are only exemplary descriptions of the application, and are considered to cover any and all modifications, changes, combinations or equivalents within the scope of the application. Obviously, those skilled in the art can make various modifications and changes to the application without departing from the scope of the application. Thus, if these modifications and changes of the application belong to the scope of the application and its equivalents, the application intends to include these modifications and changes.

Claims

1. A method for dynamic balance control of a weighing scale, characterized in that, The method comprises: Obtaining multi-edge inclination data of the weighing scale support structure, pressure distribution data of the load sensor, and vibration frequency characteristics; Formulating a posture matrix according to the multi-edge inclination data of the weighing scale support structure, and setting a horizontal deviation amount of the weighing scale support structure; Determining a gravity center offset amount through the pressure distribution data of the load sensor, and triggering a dynamic adjustment mechanism when the gravity center offset amount exceeds a preset radius range of a center of a corresponding platform of the weighing scale support structure: driving multiple groups of hydraulic leveling units at the bottom of the weighing scale to perform differential lifting adjustment based on the posture matrix and the horizontal deviation amount; Meanwhile, dynamically distributing load bearing pressures of each support point according to the gravity center offset amount; Performing stability enhancement control of the weighing scale based on the load bearing pressures of each support point; The differential lifting adjustment based on the posture matrix and the horizontal deviation amount comprises: Using fuzzy PID control to drive multiple groups of independent servo hydraulic cylinders to perform synchronous adjustment, and a fuzzy PID controller dynamically adjusts PID parameters through fuzzy rules according to input horizontal deviation amounts and error change rates, thereby optimizing lifting actions of the hydraulic cylinders; Meanwhile, determining target lifting amounts of each group of independent servo hydraulic cylinders based on the posture matrix and the horizontal deviation amount, and determining heights that each hydraulic cylinder needs to adjust according to the posture matrix. The synchronous adjustment of the multiple groups of independent servo hydraulic cylinders driven by the fuzzy PID control comprises: Evaluating a load stability level according to a variance of the pressure distribution data; Enabling fuzzy PID control, dynamically adjusting fuzzy control rules based on the load stability level, and integrating time is positively correlated with the load stability.

2. The dynamic balance control method for a weighing scale as claimed in claim 1, characterized in that, Determining the gravity center offset amount through the pressure distribution data of the load sensor, the method further comprises: Dividing a platform of the weighing scale support structure into M evenly distributed detection partitions, and obtaining pressure weighted average values corresponding to the M evenly distributed detection partitions; Taking the center of the platform as a reference point, comparing coordinate positions of the M evenly distributed detection partitions, and identifying a pressure center coordinate through moment balance; Differentially comparing the pressure center coordinate and a platform center coordinate to determine a gravity center offset vector value, and the gravity center offset amount is a modulus value of the gravity center offset vector value.

3. The dynamic balance control method for a weighing scale as claimed in claim 2, wherein, Dynamically distributing the load bearing pressures of each support point according to the gravity center offset amount, the method further comprises: Adjusting back to within the preset radius range of the center of the corresponding platform of the weighing scale support structure through load bearing pressure feedback adjustment; Analyzing load bearing pressure change rates of each support point in the load bearing pressure feedback adjustment process, and pausing adjustment actions of one or more groups of hydraulic leveling units if the load bearing pressure change rate exceeds a preset safety threshold.

4. The dynamic balance control method for a weighing scale as claimed in claim 3, wherein, Performing stability enhancement control of the weighing scale based on the load bearing pressures of each support point, the method comprises: Performing frequency spectrum analysis on the vibration frequency characteristics of the load sensor to determine a dominant vibration frequency, starting a damper, and dynamically adjusting a damping coefficient according to a matching relationship with an inherent frequency of the damper; Performing stability enhancement control of the weighing scale based on the load bearing pressures of each support point and the damping coefficient.

5. The dynamic balance control method for a weighing scale as claimed in claim 4, wherein, Dynamically adjusting the damping coefficient according to the matching relationship with the inherent frequency of the damper, the method comprises: The vibration amplitude of the weighing scale is introduced to change, and if the decay speed does not reach the expected decay speed within a preset time period after adjusting the damping coefficient, the sub-dominant vibration frequency of the vibration frequency characteristics is further analyzed; According to the dominant vibration frequency and the sub-dominant vibration frequency, a segmented adjustment strategy is configured.

6. The dynamic balance control method for a weighing scale as claimed in claim 1, wherein, According to the multi-edge inclination data of the weighing scale support structure, a posture matrix is formulated, and the method comprises: Taking the center of the corresponding platform of the weighing scale support structure as the origin, a three-dimensional coordinate system is established, and the multi-edge inclination data is converted into X-axis direction inclination angle and Y-axis direction inclination angle; According to the X-axis direction inclination angle and the Y-axis direction inclination angle, a posture matrix is constructed.

7. A dynamic balancing control system for a weighing scale, characterized by The system for implementing the steps of the dynamic balance control method for the weighing scale according to any one of claims 1-6, the system comprises: A data acquisition module: acquiring multi-edge inclination data of the weighing scale support structure, pressure distribution data of the load sensor, and vibration frequency characteristics; A matrix formulation module: formulating a posture matrix according to the multi-edge inclination data of the weighing scale support structure, and setting the horizontal deviation amount of the weighing scale support structure; A lifting adjustment module: determining the gravity center offset amount through the pressure distribution data of the load sensor, and triggering a dynamic adjustment mechanism when the gravity center offset amount exceeds the preset radius range of the platform center corresponding to the weighing scale support structure: driving multiple groups of hydraulic leveling units at the bottom of the weighing scale to perform differential lifting adjustment based on the posture matrix and the horizontal deviation amount; A dynamic allocation module: simultaneously, dynamically allocating the load bearing pressure of each support point according to the gravity center offset amount; A stability enhancement module: performing stability enhancement control of the weighing scale based on the load bearing pressure of each support point.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the dynamic balance control method for the weighing scale according to any one of claims 1-6.

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