挖掘机铲斗土方动力学参数辨识方法研究
Identification of dynamic parameters of an excavator's bucket with earth inside
吕磊 1闫家铭 1徐玉兵 1宋士超1
作者信息
- 1. 徐州徐工挖掘机械有限公司,江苏 徐州 221121
- 折叠
摘要
为实现挖掘机的节能降耗,进行负载识别并据此进行发动机-泵-负载匹配控制是一条重要的技术途径.为此研究了一种可以对挖掘机铲斗及其土方所构成复合体的质量、质心位置和转动惯量进行辨识的方法.首先基于挖掘机工作装置构型及各执行机构液压缸压力,通过拉格朗日法构建了工作装置的动力学方程;采集挖掘机工作装置动态运行过程中的相关数据构建大的系统方程;运用牛顿迭代法求解非线性方程组,实现对参数的辨识.通过仿真生成的数据对辨识方法进行了检验,并研究了数据量及信号噪音对辨识结果的影响.
Abstract
In order to reduce the fuel consumption of excavators,a practical approach is to perform payload identification and carry out matched control of engine-pump-payload.In this paper,a method is developed to identify the dynamic parameters of the complex of the bucket and the contained earth,i.e.the payload.The to-be-identified parameters include the mass,the position of the mass center and the moment of inertia of the payload.Firstly,the dynamic equations are constructed by using the LaGrange method based on the profile of the working device and the pressure at both ends of the hydraulic cylinders.The systematic equations are constructed based on relevant data of the excavator during operation.Newton iteration method is ap-plied to solve the nonlinear equations and realize parameter identification.Simulations are carried out to verify the identifica-tion method,and the effect of data size and data noise on the identification results are studied.
关键词
挖掘机/参数识别/非线性方程组/动力学/牛顿迭代法Key words
excavator/parameter identification/nonlinear equations/dynamics/Newton iteration method引用本文复制引用
基金项目
国家重点研发计划项目(2020YFB1709905)
出版年
2024
NETL
NSTL
维普
万方数据