方位感測器於農用履帶車輛導引之應用

The Application of Orientation Device to Agricultural Crawler Carrier Guidance

陳令錫(Ling-Hsi Chen) ； 林聖泉(Tshen-Chan Lin)

《臺中區農業改良場研究彙報》 73期 (2001/12) Pp. 31-41

https://doi.org/10.6956/BTDAIS.200112.0031

摘要

本研究探討農用履帶車輛裝置方位感測器之導引性能，供試車體為後輪驅動式農用履帶車，利用PC-Based控制系統達成車體自走目的。TCM2-50電子羅盤受雜訊干擾之試驗顯示，電子羅盤距車架高度140 cm以上，受車體電氣控制系統及汽油引擎干擾最小，引擎運轉確有增加雜訊干擾情形發生。履帶車行進速度15 m/min時，自走前進30 sec車體方位角有7°的變動；自走前進5 sec、左轉5 sec及轉彎後前進8 sec之試驗，車體向左轉彎33°，兩項試驗有一共同結果，為車體行進間的方位角試驗數值約有±30°之變動，此種方位角跳動現象係車體結構及行進間車體振動所致，改善車體結構，使車體之自然頻率與工作頻率避開TCM2-50電子羅盤基板上液態傾斜感測裝置標準液之自然頻率，則電子羅盤之可用性將大幅提高。另一種方位角檢測裝置是慣性量測儀IMU400CA，根據試驗結果顯示，車體行進過程中所量測之方位角無嚴重變動情形，方位角變化呈線性變動，顯示量測之穩定性較高，可作為履帶車導引之用。

關鍵字

履帶車 ； 導引 ； 電子羅盤 ； 慣性量測儀

並列摘要

This study investigated the guiding performance of agricultural crawler carrier with orientation devices. The carrier was driven by rear-wheel sprocket with 6.0 hp gasoline engine, and manipulated by a PC-based control system. The TCM2-50 electronic compass had minimum noise interference when it was fixed above the upper plate 140 cm of height. Engine running was one of interference factors. The self-propelled carrier ran forward in 30 sec when the speed of carrier was 15 m/min, and the orientation output from TCM2-50 electronic compass was deviated about 7°. The deviation was 33° when the carrier was at the same speed with 5 sec forward, 5 sec left turn and 8 sec forward. The fluctuation of orientation was about ±30° when carrier was moving, due to the structure of carrier and vibration. The natural and working frequencies of carrier should be kept away from the natural frequency of TCM2-50 electronic compass. Another tested device was the inertial measurement unit IMU400CA, its orientation output was linear without fluctuation. The result showed that IMU400CA was capable of resisting vibration and noise of crawler carrier system.

並列關鍵字

crawler carrier ； guidance ； electronic compass ； inertial measurement unit