Hydraulic Excavator Load Recognition Technology

The market economy prompt development and the throwing to the basis builds enlarging in our country,as one of the most important earth working construction machinery and equipment, hydraulic excavator is commonly used in house building, mining exploration, national defense construction and other infrastructure.It's a urgent need to enhance the efficiency, improve the working characteristic, decrease the energy consumption and abate steering intension, it is no doubt that robotic excavator will be the developing direction in the future. Load identification of excavator is the key to realize automatic ex cavation,also the new way to study energy saving. The method and theory of load identification is mainly studied according to the working device place posture and pressure of the hydraulic cylinder pressure signal in the paper. The main research work as follows:The development status and tendency of the excavator automatic technology and energy saving have been summarized, the necessity of research on the load identification is expounded based on the energy saving and intelligence of excavator. The characteristic of excavator and the relationship between the performance and operation are analyzed. The current methods of load identification have been discussed and compared, improved scheme proposed by introducing the working device place posture and pressure of the hydraulic cylinder as measurement.The kinematics and dynamics model of excavator working device is established with lagrange equations. Expression of the relationship between bucket tip posture and the working device angle or length of cylinder is acquired, also creat the relationship model of revolution regulation and hydraulic driving force.Dynamic parameters have been estimated with solid model for working device, The friction of hydraulic cylinder is given then reidentification of the dynamic with the new improved genetic algorithm.The dynamic model and the identification of the accuracy of the kinetic parameters if verified through the no-load experimental results, and the reliability of the work device load identification is checked on load experimental results.Based on the working device load identification, mathematical expressions of the excavator working device effective operation power is established and load capacity is analyzed.