The Research Of The Excavator Attitude Detection System Based On MEMS Sensor

With the expansion of human activities and the higher level of mechanization in rescue and relief work, functional requirement of excavator tends to automatic and intelligent. The importance of attitude detection system, which is a key part of the excavator automation, gradually prominent. In order to achieve the attitude detection of excavator, an attitude detection system of excavator was developed using MEMS sensors.The research status of intelligent excavators and attitude detection system both at home and abroad was analyzed and compared, and the basic principle of the excavator attitude detection technical was introduced. Methods of measurement on the existing excavator attitude detection system were described and analyzed in detail, the existing problems and development trend in the future were also pointed out. The significance of research on the excavator attitude detection system based on MEMS sensor was described.The basic theory of attitude detection system of excavator was introduced. According to the rigid body kinematics and the working characteristics of MEMS sensor the transformation between quaternion, Euler angles and the rotation matrix was researched. The kinematics model of excavator was established using DH coordinate method, and the attitude detection algorithm was researched. Considering the assembly error of measurement device, measurement device calibration algorithm with recursive least square was designed. The algorithm simulation is programmed by MATLAB to verify the accuracy of the algorithm.The relationship between the attitude detection system and the excavator intelligent electric control system was expounds. The hardware and software overall design scheme of attitude detection system was proposed according to the motion characteristics of the body and the actual needs of the intelligent excavator. Using the STM32 processor and the MPU9150 sensor the hardware platform of attitude detection system was built, and the function and design principles of each part of the circuit was described. The schematic and PCB circuit diagram drawing was completed with Cadence software. The drivers for hardware circuit and the interface program was programmed according to the features of each part of circuit and the driving principle of the controller. The main program of the measuring equipment and resolver was designed based on the description of attitude detection system.The test program of the computer was designed by LabVIEW, and the attitude detection system debugging was completed using the experimental platform.The excavator attitude detection system was designed with MEMS sensor in this paper, excavator attitude detection algorithm and measuring equipment calibration algorithm were also explored. This study is helpful to improve the stability and reliability of excavator attitude detection system, it expands the application field of the MEMS sensors. There is a high research value for promoting the development of the intelligent excavator.