Research On Theory And Method Of Online Estimation Of Loader Lifting Payload

The lifting payload estimation system of loaders has a wide range of applications in cargo handling occasions such as railway yards and port terminals.Accurate load estimation can not only improve production efficiency,but also effectively avoid overloading and underloading during the loading process,to achieve the goals of extending the service life of vehicles,ensuring the safety of drivers,and reducing the maintenance cost of vehicles.The system is also a key part of realizing the intelligent multi-vehicle coordinated control operation of the loader in the future.Therefore,it is of practical significance to conduct in-depth research on the estimation of loader lifting payload.In this paper,through the combination of theoretical modeling,simulation analysis,and experimental research,the loader’s payload estimation mechanism and the influence of other factors are deeply studied.Firstly,the research of relevant scholars at home and abroad is deeply analyzed.Based on the previous research results,a BPNN-based payload estimation system is proposed,which includes three modules:dynamic model prediction,optimal least-squares method,and neural network learning.Framework,the dynamic model prediction module predicts the payload in advance through the dynamic model and sensor parameters during the loader shovel transportation process,which provides a basis for optimizing the selection of the interpolation interval of the least-squares method.The data such as the result and the estimated value are used as the input layer of the neural network,and the powerful nonlinear mapping ability of the neural network is used to realize the high-precision estimation of the payload lifted by the loader through perceptual training of other factors that cannot be accurately modeled.Next,the theoretical modeling of the lifting payload estimation system of the loader is carried out.Considering the influence of the ground slope,a relatively complete dynamic model of the front-end working device of the loader is established.The friction force and inertia parameters are identified and compensated accordingly according to the angular velocity of the boom.After that,the simulation analysis of the lifting payload estimation system of the loader was carried out.The correctness of the simulation model was verified by basic experiments,and the rationality and feasibility of the optimized least squares method were further verified according to the angular acceleration curve of the boom.The effects of engine speed,ground slope,and other factors on the payload estimation system are analyzed,which provides a corresponding basis for subsequent experimental research.Finally,experimental research on the lifting payload estimation system of the loader is carried out.First,the equipment of the loader load estimation experimental platform and the signal processing method in the experimental test process are introduced;It has been fully verified,and the influence of factors such as engine speed and handle opening on the load estimation accuracy has been studied.Finally,the system overload,robustness,and fault tolerance experiments show the stability of the system,and the designed loader lifts the load.The payload estimation system has a small error and can meet the needs of different operating scenarios.