Abstract: Aiming at the oscillation problem of hydraulic measurement signal caused by inertial impact, working device resonance and electromagnetic interference when engineering vehicle was loaded, for real-time denoising of hydraulic system pressure signal in load estimation model,a real-time denoising method of hydraulic system pressure signal based on onedimensional total variation (1D TV) algorithm was proposed. Firstly, the basic principle of 1D TV was described.Then,a load estimation model which was mainly affected by hydraulic pressure was established,using the fmincon nonlinear programming solver embedded in MATLAB, the load estimation model was taken as the black box function, the root mean square error between the load estimate and the true value of the load was taken as the objective function value, and the parameter τ in 1D TV algorithm was taken as the optimization variable, thus the parameter τ which can approximate the true hydraulic signal curve was optimized. Finally, the load test of an enterprise telescopic handler was carried out, and the results of 1D TV algorithm processing hydraulic signal were compared with the results of empirical mode decomposition (EMD) denoising algorithm and wavelet threshold denoising algorithm.The results show that the signal to noise ratio of the one dimensional total variational algorithm optimized by parameter τ is 5.0964db higher than that of EMD  type and 0.653db higher than that of wavelet threshold type. The calculation efficiency is 113 times higher than that of EMD type and 11 times higher than that of wavelet threshold type. 1D TV algorithm with fast, noniteration,and point by point scanning is more suitable for realtime denoising of pressure signal of hydraulic system in load estimation model.

Key words: hydraulic system; engineering vehicle; telehandler; pressure signal denoising; one dimensional total variation(1D TV); parameter optimization