The Research On Attitude Detection System Of Excavator

With the advancement of the excavator automation and intelligent process,a convenient attitude measurement method with higher precision is badly needed for excavator control systems.The traditional attitude measurement methods such as angle sensor and displacement sensor are not able to fit for that goal because of their inconvenient to load and check,and their reduced detection accuracy along with the used years’ increase.This paper aims to design an excavator attitude detection system which contains three MEMS sensor-based inertial measurement units connected by CAN bus.The inertial measurement unit can be easily mounted on the surface of boom,stick and bucket when pitch angle detection of excavator’s working equipment is needed.Firstly,based on the attitude description method,the attitude measuring principle of MEMS sensor is analyzed which comes a conclusion that all of the three MEMS sensors including accelerometer,magnetometer and gyroscope has limitations when used alone for attitude measurement.Secondly,to make up each other’s measuring weakness,two main data fusion algorithm of MEMS sensors are introduced,and achieved according to the real inertial measurement units designed to be constituted only by accelerometer and gyroscope for pitch angle detecting.Thirdly,based on the ADXL357,a three-axis accelerometer,and the ADXRS450,a single-axis gyroscope,the schematic and PCB diagram of inertial measurement unit are designed by using Cadence.After that,the fabrication of the experimental board is completed by patching and reflow soldering.The on-board program of the inertial measurement unit is programmed by using Keil as the software development environment to complete the function of inertial measurement unit.Finally,A system test platform is built based on the data monitoring panel programmed by MFC.Under the conditions of horizontal static,horizontal motion and pitch motion,the inertial measurement unit’s raw data of sensor are taken as input of the two data fusion algorithms simulated by Matlab to pick up the better one after comparison of their result.At last,the Kalman filter is used to complete the data fusion of the sensor on the inertial measurement.Through on-site testing,the excavator attitude detection system built with MEMS sensors can adapt to the excavator working conditions quite well and achieve higher precision pitch angle measurement when excavator keeps still or in motion.The excavator attitude detection system studied in this paper can measure the elevation angle of the dynamic working device in real time and high resolution,and the installation is simple.It will have a great engineering practical impact on promoting the automation and intelligent development of the excavator.