The Research On Dynamic Weighting Algorithm In Loader Based On Model

This research is processed in the background of the automation of the loader.The working device of the loader is researched deeply in this paper.Then the dynamic model of the working device of the loader is deduced.And the identification of the parameter in the working device is also proposed in this paper.By means of the parameter identification my algorithm can rectify the dimensions of the linkage in the loader which is very important for the dynamic weighting strategy,translational lifting and the trajectory planning of the bucket of the loader.The dynamic weighting strategy of the loader can calculate the weight of the material in the processing of lift.So loader drivers need not to drive away to the weighbridge so that they can weight the cargo.In this way,the work efficiency will be improved dramatically.The main content of this paper are as follows:In chapter 1.The research background of the issue are introduced firstly,and the paper generally discusses technical state about the dynamic weighting of the loader and the identification of dimensions of the linkage in loader.Then this chapter proposes the research content and solutions.Finally this chapter explain the significance of the research.In chapter 2.The models of the actuator of loader are built,which include mathematic model and simulation model.The mathematic model is the base of the dynamic weighting strategy and identification of the dimensions of the linkage in loader.And based on the simulation model,simulation of the algorithm of the parameter identification of the model is proposed.In chapter 3.Firstly the calibration strategy of the weighting which was used widely is proposed.Contrary to the calibration strategy,this paper applied the parameter identification to the weighting of the cargo in loader.After a lot of simulations and analysis,this paper take the advantage of both calibration and parameter identification,and proposed a new weighting strategy which is very useful proved by the simulation.All the design of the algorithm and all the simulation in this chapter are based on the models proposed in the chapter 2.In chapter 4.The experiments of all the algorithms proposed in this paper are conducted in this chapter.This chapter introduces the platform of the experiments,which is based on the software of labview and can example the data of the angle and pressure.At the end of this chapter,many analysis are conducted and the improving strategy is proposed to get a better experiment result.In chapter 5.Some conclusions of the paper are shown,and the further research content are proposed.