Measuring Inclination Angle of Semi–crawler Tractors Using MEMS Sensor

• Choe Jung Seob

  Department of Precision Mechanical Engineering, Kyungpook National University

• 光岡 宗司

  九州大学大学院農学研究院環境農学部門生産環境科学

• 井上 英二

  九州大学大学院農学研究院環境農学部門生産環境科学

• 岡安 崇史

  九州大学大学院農学研究院環境農学部門生産環境科学

• 平井 康丸

  九州大学大学院農学研究院環境農学部門生産環境科学

• Kim Tae Wook

  Department of Precision Mechanical Engineering, Kyungpook National University

• Kwon Soon Goo

  Department of Bioindustrial Machinery Engineering, Pusan National University

• Park Jong Min

  Department of Bioindustrial Machinery Engineering, Pusan National University

抄録

In this study, we established a method to calculate inclination angle of moving vehicles from acceleration and angular velocity measured by microelectromechanical systems (MEMS) sensor, which is becoming popular recently due to its ultra–small size and low manufacturing cost. We applied the technique to measure inclination angle of semi–crawler tractor to validate its usefulness. Results from various methods to calculate inclination angle of a vehicle from acceleration and angular velocity data showed that moving average acceleration method and wavelet acceleration method produced results that significantly deviated from the actual inclination angle, while results from angular velocity method and acceleration–angular velocity method were close to the actual inclination angle. Inclination angle calculated by acceleration method in a static state was very similar to the measurement from inclination sensor and was highly accurate, but did not demonstrate sufficient accuracy in dynamic state as the estimated inclination angle was at maximum 10˚ smaller at inclination angle of 75˚. In the meanwhile, the inclination angle calculated by angular velocity method showed only small deviation from the sensor measurement even at dynamic state. As a result of measuring inclination of semi–crawler type tractor using MEMS sensor, it was determined that the angular velocity method is the most versatile of the four methods tested as it can not only produce very accurate time series of inclination angle but also be used to easily obtain angular displacement from the angular velocity data obtained. However, error of integration was shown to increase with longer measurement times and it must be addressed by an appropriate solution. Acceleration–angular velocity method also produced similar results as experiments were performed indoors where disturbance factors were few. The inclination angle measurement system using MEMS sensor established in this study can be applied to agricultural vehicles such as tractors as well as to almost all construction and general vehicles with drive system. We expect the system to contribute to development of a safety system that can prevent rollover accidents and quickly respond to them.

収録刊行物

• Journal of the Faculty of Agriculture, Kyushu University

  Journal of the Faculty of Agriculture, Kyushu University 58 (1), 79-85, 2013-02

  Faculty of Agriculture, Kyushu University

キーワード

• acceleration–angular velocity method
• angular velocity method
• inclination angle
• MEMS sensor
• microelectromechanical systems

詳細情報

• CRID: 1390290699660604672
• NII論文ID: 120005227251
• NII書誌ID: AA00247166
• DOI: 10.5109/26164
• HANDLE: 2324/26164
• ISSN: 00236152
• 本文言語コード: en
• データソース種別:
  • JaLC
  • IRDB
  • Crossref
  • CiNii Articles
  • KAKEN