Gao Bingtuan, Zhu Zhenyu, Zhao Jianguo, Huang Boran
School of Electrical Engineering, Southeast University, No. 2, Sipailou, Nanjing 210096, China.
Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA.
Sensors (Basel). 2014 Nov 27;14(12):22595-612. doi: 10.3390/s141222595.
Feasible real-time swing angle measurement is significant to improve the efficiency and safety of industrial crane systems. This paper presents a wireless microelectromechanical system (MEMS)-based swing angle measurement system. The system consists of two attitude heading reference system (AHRS) sensing units with a wireless communication function, which are mounted on the hook (or payload) and the jib (or base) of the crane, respectively. With a combination of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, the standard extended Kalman filter (EKF) is used to estimate the desired orientation of the payload and the base. Wireless ZigBee communication is employed to transmit the orientation of the payload to the sensing unit mounted on the base, which measures the orientation of the base. Because several physical parameters from the payload to the base can be acquired from the original crane control system, the swing angles of the payload can be calculated based on the two measured orientation parameters together with the known physical parameters. Experiments were performed to show the feasibility and effectiveness of the proposed swing angle measurement system.
可行的实时摆动角度测量对于提高工业起重机系统的效率和安全性具有重要意义。本文提出了一种基于无线微机电系统（MEMS）的摆动角度测量系统。该系统由两个具有无线通信功能的姿态航向参考系统（AHRS）传感单元组成，分别安装在起重机的吊钩（或负载）和悬臂（或基座）上。结合三轴加速度计、三轴陀螺仪和三轴磁力计，采用标准扩展卡尔曼滤波器（EKF）来估计负载和基座的期望方向。利用无线ZigBee通信将负载的方向传输到安装在基座上的传感单元，该传感单元测量基座的方向。由于可以从原始起重机控制系统获取从负载到基座的多个物理参数，因此可以基于两个测量的方向参数以及已知的物理参数来计算负载的摆动角度。进行了实验以证明所提出的摆动角度测量系统的可行性和有效性。
