Optimization Of The Automatic Shoveling Performance Of The Loaders Based On Test Data

Wheel loaders are widely used in infrastructure construction as earth-moving machines,its operating performance has been closely concerned.Especially after giving new technologies such as artificial intelligence and automation to the loader,the automatic shoveling performance optimization of the loader has become the leading research direction.Therefore,in order to optimize the automatic shoveling performance of the loader and achieve the purpose of energy saving,emission reduction and green design.In this paper,the basic data of different shoveling trajectories in the automatic shoveling process of the loader are obtained through the automatic shoveling test,and then the theoretical analysis is combined to optimize the study of different shoveling trajectories and operational performance.Based on the loader power system retrofitted with test sensors,independently develop a loader automatic shoveling performance test platform for the operation process.Then the material characteristics of crushed stone were analyzed,and nine parallel shoveling trajectories were planned independently according to the material characteristics parameters and the matching shoveling method.Based on the parallel shoveling trajectories,the shoveling process of the loader’s automatic shoveling test was analyzed,and a large number of test trials were conducted,which laid the foundation for the next research.Analyze the change of resistance in the horizontal shoveling stage according to the dense core theory,and establish the operational resistance calculation model in the horizontal shoveling stage by applying the slip surface theory.The existence of a dense nucleus was verified by obtaining the horizontal resistance of the bucket through an automatic shoveling test of the loader.The method of avoiding dense core was then studied on the basis of experimental data,and a comparison of fuel consumption was made for the stage with and without dense core for the same range of depth of bucket insertion into the pile.Finally,the accuracy of the theoretical model of the slip surface and edem simulation was verified by experiments.The changes of cylinder length and whole vehicle displacement in the whole shoveling process were analyzed,and it was found that the changes of cylinder length and whole vehicle displacement could divide the whole shoveling process into horizontal shoveling stage,shoveling stage and lifting stage.Then find out the force formula for the bucket at each stage and the formula for calculating the energy consumption of the cylinder and the whole vehicle for the whole shoveling process.Finally,the shoveling trajectory with low energy consumption and high efficiency was found on the basis of satisfying the full bucket rate and comparing it with the manually controlled shoveling operation.The principle of parallel shoveling trajectory planning was applied to analyze the theoretical shoveling volume and the actual material volume of the loader for automatic shoveling according to this trajectory.On the basis of considering the material porosity,a full bucket rate calculation model is established.The full bucket rate of each shoveling trajectory is calculated by the full bucket rate calculation model,and the full bucket rate of each trajectory is compared and analyzed to find the trajectory with the highest full bucket rate.Then,on the basis of satisfying the full bucket rate,the operating time and operating fuel consumption of each trajectory are compared to find the trajectory with the optimal full bucket rate,and the trajectory is compared and analyzed with that of manually controlled shoveling.In this paper,the loader performance test platform developed independently and the parallel shoveling trajectory planned independently were used to carry out the automatic shoveling test of the loader,and a large number of basic performance parameters in the shoveling operation were obtained.Then combined with theoretical analysis and simulation,a method was found to avoid dense cores and solve the problem of excessive operational resistance.The shoveling trajectory with low energy consumption,good efficiency,and high full bucket rate was found,which provides a certain reference for the subsequent improvement of loader operation performance.