| 摘要 |
<p>A method for estimating weight of a payload held by a load lifting machine, where the load lifting machine comprises a lifting linkage with a boom pivotably connected to a machine chassis, a stick pivotably connected to the boom and a load holder for a payload pivotably connected to the stick, the boom, stick and load holder being moveable into a range of boom, stick and load holder angles, is disclosed. The method comprises the steps of: a) determining first, second, and third torque parameters, which are indicative of torque between the boom and the chassis during boom movement, torque generated by acceleration of the centre of mass of the lifting linkage when the load holder has a first payload, and torque generated by acceleration of the centre of mass of the lifting linkage when the load holder has a second payload respectively, b) determining a current boom angle, a current stick angle, and a current load holder angle, c) estimating a payload weight by determining a relationship between the first torque parameter and at least two corresponding calibration torque parameters determined during a calibration process, where each corresponding calibration torque parameter is a torque or a parameter indicative of torque between the boom and the chassis at the current boom, stick and load holder angles, and d) using the relationship and a mass of a calibration payload to calculate a payload weight estimation.</p> |
