The mathematical apparatus of the data measurement system dynamics and power of mobile machines

Abstract

Considered mathematical data processing unit of the measuring system dynamics and power of mobile machines. Investigation of the dynamics of mobile machine operation requires new methods and means of research and used for this measuring system dynamics and power of mobile machines. The signals of the measuring system of sensors consist of four components: the actual acceleration, the angle of the car relative to the horizon, the vibrations created by the environment with motion sensor and its own noise. The algorithm separates the listed components of the signal. Analyzed signal processing algorithms accelerations machines, Fourier methods. The first stage is a correction signal values of accelerometers and gyroscopes. Processing Butterworth filter. Determination of angles of inclination of the machine relative to the horizon. Compensation of centrifugal force and the Earth's gravity. Machine speed in three axes is determined by integration. For the synthesis of a Butterworth filter with a cutoff frequency of 3 Hz used GNU Octave. The received data speed, acceleration, inclination angle and angular velocity in conjunction with the GPS navigation signals are processed by a Kalman filter the receiver. It works in two stages: the first - and second this prediction - correction. A reduced graphic image data processing algorithm of the measuring system. Checking the quality of the measurement system of mathematical data processing apparatus held on the results of experimental studies of the tractor John Deere 8345R in the composition of the seed unit and tractor ХТЗ-17224 on the circle.