装载机工作装置载荷识别模型与载荷测取方法

为了研究装载机铲装作业时所受外载荷大小及变化特性,根据铲斗铰点力与斗尖力关系建立工作装置外载荷识别模型。以国产LW900K装载机为试验样机,提出了三向力销轴传感器法和动臂截面弯矩法两种载荷制取方法,进行典型作业姿态下的载荷验证和铁矿粉物料下的载荷测试试验。结果表明:提出的三向力销轴传感器法和动臂截面弯矩法都能够准确获取外载荷识别所需要的铰点载荷,销轴传感器法结果精度高于动臂截面弯矩法;试验样机工作装置所受大载荷出现在物料铲掘和卸载时刻,测得卸料时的惯性冲击载荷峰值约为400kN;通过雨流计数得到外载荷合力的均值服从正态分布,幅值服从三参数威布尔分布。载荷测试和分析结果能够有效解决装载机工作装置外载荷难以获取的问题,为载荷谱编制和疲劳特性分析提供依据。     

船体结构冰载荷反演方法及试验验证

冰载荷是影响船舶冰区航行期间结构安全的重要环境载荷。船舶的冰压监测通常采用应变传感器，合理地布放传感器是识别冰载荷的基础。通过对比船体外板结构试验中的冲击载荷和不同测试方案下的应变信号，确定了最佳应变传感器布放方案；采用Green核函数方法建立了船体外板结构应变冲击载荷间的响应关系，并对采集信号在噪声影响下反演的不适定性进行了分析；采用Tikhonov正则化方法克服了载荷反演过程中出现的数值不稳定问题；最后将试验中的响应用到载荷识别分析中，反演的载荷可以较为准确地反映冲击载荷的时域特征并且载荷识别精度良好。     

梁型应变式载荷传感器弹性体设计

本文对梁型应变式载荷传感器弹性体进行设计，分别按解析法与有限元法进行了计算，传感器可用于液压万能材料试验机的载荷电量输出。     

旋转叶轮动态载荷测量传感器的设计与分析

针对采用定子式测量方法,测量叶轮动态载荷误差较大、且难以保证叶轮旋转工作状态时的动态特性,设计了一种布置在叶轮和轴间的叶轮动态测量传感器结构,可实现对叶轮轴向力和径向力分量的独立测量。采用有限元分析方法对测量传感器进行了线性分析、谐响应分析以及维间耦合分析。结果表明,传感器结构对轴向力和径向力测量均具有良好的线性度,线性相关系数为1;两测量方向上动态频率响应范围分别达到0～8.5 kHz和0～1.0 kHz;传感器结构具有较小的维间耦合影响。标定试验数据进一步验证传感器应变输出与载荷间的相关系数超过0.99,验证了传感器结构的合理性。论文研究为旋转叶轮动态载荷的测量提供了一种新思路,也为开展叶轮动态载荷传感器的设计提供了理论依据和参考。     

新型抗漂移载荷传感器的设计与应用

藏荷传感器的漂移问题是影响示功图测试精度的关键因素,而传统载荷传感器都有一定的缺点,不能满足油田生产的要求.从改变弹性体材料、增加应力感应范围以及消除电路温度漂移等角度进行了新型抗漂移载荷传感器的设计.现场试验的分析结果表明,该载荷传感器的非线性误差很小,对功图的形状、载荷的测量没有影响,完全满足现场要求,在胜利油田应用中已取得良好的效果.     

二维轴承载荷传感器弹性体结构优化设计

首先利用Pro/E软件对剪切梁式二维轴承载荷传感器弹性体进行了灵敏度分析,确定了影响传感器性能的主要设计参数;然后建立了二维轴承载荷传感器弹性体的优化参数模型、有限元模型以及优化数学模型,并基于ANSYS软件平台,用一阶优化方法对传感器弹性体的结构进行了优化设计.分析结果表明,优化后的传感器灵敏度有了显著提高.     

时间序列载荷法的桁架式车架疲劳分析

桁架式车架因具有刚度大、质量小等优点,已在高性能车辆上得到广泛使用。为确保车辆安全性和耐久性,对其进行疲劳分析、预测疲劳危险点具有重要意义。根据该类车辆的特性,规划了测试路线,并通过加速度传感器获得加速度载荷谱;分析了车架系统特性和载荷变化频率,确定采用时间序列载荷法;使用雨流计数法对载荷谱进行计数,并对比分析了几种常用的平均应力修正理论;对车架进行疲劳分析,获得车架预测寿命与疲劳危险点的位置。     

电梯振动加速度监测装置的设计

基于EVA的振动加速度传感器和自行设计的电梯载荷量传感器,提出一种电梯振动加速度监测装置的设计。通过对电梯在不同载荷状况下的振动加速度值的采集,与标准规定的振动加速度的最大允许峰峰值进行比较,从而达到动态监测电梯运行稳定性的目的。     

电子衡器称重传感器载荷分配的调整

电子衡器称重传感器载荷分配的调整十分重要,直接影响衡器的计量特性和其他性能、文章介绍了电子衡器采用支承安装、并联使用多个称重传感器载荷分配的调整方法。     

装载机连杆载荷测试与载荷谱编制方法研究

为了研究装载机连杆载荷与疲劳可靠性试验所需载荷谱特性,提出一种连杆载荷测试与载荷谱编制方法。设计连杆力测试传感器,在大石方、黏土、砂子和小石方4种物料工况下进行连杆载荷测试试验。利用峰谷抽取和小波处理实现了实测数据的压缩编辑,通过雨流计数获得了合成工况下连杆载荷均值频次和幅值频次分别服从正态分布和三参数威布尔分布的拟合数学模型,且载荷均值分布和幅值分布相互独立,编制了连杆二维载荷谱和疲劳试验程序谱,为连杆结构疲劳可靠性分析提供依据。     

孔辐剪切应变式动态负荷传感器的研制

本文论证了剪切应变式负荷传感器更适用于动态负荷测量,推导出传感器的设计计算公式。用实测数据展示了孔辐剪切式负荷传感器优异的动态性能。     

便携式汽车负荷传感器的研制

本文叙述便携式汽车负荷传感器主要特点及软硬件系统，并给出测量原理的数学模型。在研制出样机的基础上，对数学模型的验证，起重传感器测量系统的标定，以及现场测试等方面进行了全面系统的实验研究。     

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.     

梁式测力传感器的计算机辅助优化设计

本文以平行梁式传感器为例，在力学分析和有限元分析的基础上，建立了梁式测力传感器的数学模型，并对梁的结构参数进行ＣＡＤ优化设计。     

Measurement method of six-axis load sharing based on the Stewart platform

In this paper, a measurement method of six-axis load sharing based on the Stewart platform is presented. The force Jacobin matrix of the Stewart platform, the solution of forward kinematics of the Stewart platform and the deep beam element stiffness matrices were combined in the decoupling algorithm. The FEM model was established, and the results of FEM analysis agreed well with the calculation results from proposed method, which proves the effectiveness of the method of six-axis load sharing. Moreover, a six-axis heavy force sensor based on the Stewart platform was demonstrated in order to investigate the reasonability and validity of the six-axis load sharing model. And the experiment results verified the feasibility of the method.     

第二十七章基于数据吞吐量的WIA网络混合式负载均衡算法

负载均衡对于能量严重受限的无线传感器网络来说，是延长网络寿命的重要手段，本文提出了一种基于数据吞吐量的混合式负载均衡算法HLBDT。HLBDT在统筹全网资源的基础上，结合分流机制和迂回机制，改善汇聚型数据采集网络中固有的漏斗效应和网络的不对称性，解决负载不均衡问题。HLBDT分布式采集网络信息，由节点本身收集自身的负载情况，将信息汇集到网关，从全局的角度进行拓扑控制，实现子树的负载均衡。实验结果表明，在WIA协议框架下使用该算法能大大提高网络的性能。     

无线传感网基于梯度的非均匀分簇算法研究

为了缓解在无线传感网“多对一”的数据收集流量模式下,产生的近SINK的“热区”问题,提出一种基于梯度的非均匀分簇算法。首先,分析此种数据汇集模式的数据流量特性,给出节点至Sink跳数（梯度）与其负担的流量的关系,接着,从不同梯度的簇头负载与相同梯度的负载两方面着手,设计了负载平衡的非均匀分簇调整算法（WUC）,节点依据自身的梯度确定分簇的规模,以多权值优化的方式成簇。仿真结果表明,在本文的仿真场景设置下,网络中不同梯度的簇头的流量负载标准差降低了9倍左右。网络的负载平衡有了显著的改善。     

起落架载荷测量与标定试验研究

以飞机主起落架为例，探讨结构部件载荷标定试验的力学模型，通过结构部件直接进行应变桥路传感器设计和标定加载试验的现场实施以及对试验数据的分析处理，建立以飞机起落架为例的载荷输入与应变输出关系方程，以此获得起落架在实际工作过程中的载荷－时间历程，为其寿命估算、可靠性设计和结构优化等提供重要依据。     

Two strategies for handling unknown loads of two coordinating robots

In real situations, a robotic system can work in an unstructured environment in which the load is often unknown. This problem is an under-studied one, especially for multi-robot systems. In this paper we solve this problem by the ‘Unknown Load Distribution’ method for two coordinated industrial robots Two methods are proposed for the distribution of an unknown load. The first method is called “load estimated method’, in which the parameters associated with the load are estimated using the information provided by two wrist force sensors. As a result, the load becomes known, and conventional optimal load distribution methods can then be applied to distribute the force. The second method is called the ‘force compensation method’, in which one of the robots (the leader) takes the major role of carrying the load to the exact location and the other robot (the follower) follows the leader with a specified force. The load is compensated by the follower using force control until the leader can carry the load to follow a satisfactory trajectory. To verify the force compensation method, a computer simulation is conducted.     

Dynamic compensation of load cell response: A time-varying approach

This paper presents a new method for dynamic compensation of the load cell response using linear time-varying continuous-time filter. Load cells have an oscillatory response which always needs time to settle down. Therefore, it is justified to search a technique for an effective improvement of the sensor response. The paper describes a theoretical implementation of the proposed time-varying filter, and suggests the implementation technique with the aid of which this kind of filter can be implemented in practice. Simulation results verifying the effectiveness of the proposed filter are presented and compared to the traditional time-invariant configuration.