装载机铲装物料动态称重数据处理方法研究

Data processing method for dynamic weighing of materials shoveled by loader

传统的装载机称重方法存在测量不稳定、不准确,以及测量操作不便捷等缺陷,为此,提出了一种针对装载机铲装物料动态称重数据的快速、准确处理方法。首先,根据装载机铲装机构动力学模型分析出需要采集的关键变量,对采集到的变量数据进行了预处理,即对变量原始数据进行了小波降噪,结合经验模态分解二级降噪,得到了连续性好、精度高、光滑度高的有效信号;然后,将其代入动力学方程中进行了物料重量的求解,以实现装载机现场单次举升即可准确称量出物料重量的目的;最后,在装载机现场铲装过程中,选择几种不同的物料分别进行了动态称重实验。研究结果表明:采用物料动态称重方法,测量的最小误差为6.36%,单次铲装、多次称重的平均误差最小为8.01%;所提出的动态称重数据处理方法在实际称重中是有效的,该方法可以为装载机动态称重数据的处理方法研究提供思路。

Aiming at the disadvantages of traditional loader weighing methods,such as unstable measurement,inaccurate measurement and inconvenient operation,a fast and accurate data processing method for dynamic weighing of shovel loaded materials was proposed.First,the key variables to be collected were analyzed according to the dynamic model of loader shovel mechanism.The variable data were pre-processed.The wavelet noise reduction on variable raw data was performed,combining with empirical modal decomposition,two-level noise reduction,to obtain effective signals with good continuity,high precision,and high smoothness.Then,the material weight was solved by the dynamic equation,and the material weight could be weighed accurately by a single lift on site.Finally,several different materials were selected to carry out dynamic weighing test during field shovel loading.The results indicate that the minimum error of measurement is 6.36%.The minimum average error of multiple weighing for single shovel loading is 8.01%.Therefore,the proposed dynamic weighing data processing method is effective in actual weighing and provides an idea for the research of loader dynamic weighing data processing method.