论文总字数：24703字

摘 要

本文提出了一种基于MEMS加速度计和陀螺仪的起重机吊物轨迹检测的方法，在测量时，通过获得吊物的轨迹来确定制动下滑量，具有体积小，安装方便等优点。轨迹检测依据加速度积分计算原理，使用三轴加速度传感器测量加速度再通过积分获得位移。但是吊物在空间运动时，姿态会发生变化，加速度计测量值包含有重力加速度的分量，需要去除分量获得在绝对坐标系下的真实加速度才能积分。因此使用三轴陀螺仪检测角速度,并采用四阶毕卡算法处理三轴角速度数据，更新吊物姿态，获取相应的旋转矩阵。由加速度测量值及旋转矩阵可得到吊物在当前坐标系下真实的加速度，通过二次积分即可获得位移。针对加速度信号含有较大的随机噪声，系统采用了Kalman滤波得到了较为平滑的加速度信号。加速度信号中的直流分量，积分后会造成巨大的误差，因此采用了多项式拟合并消除了积分获得位移过程中的二次趋势项。最后通过实验实现算法，但误差较大，仍需要不断的改进才能投入实际应用。

关键词：起重机；制动下滑量；加速度计；陀螺仪；轨迹追踪

A study on the method of tracking the cargo carried by the crane

02011407 Xuyongbin

Supervised by Hujianzhong

Abstract：The Crane is one of the most important equipment in modern industrial production,which are widely used in transportation, construction, metallurgy and other basic construction and industrial field.The safety of workers and property is directly related to it’s performance. When the crane is braked,the cargo carried by it will slide down for a distance.This distance of glide is an important indicator of the crane performance.

A tracking system based on acceleration sensor and gyroscope is put forward in the paper .The trajectory of the cargo can be tracked by this system.So the distance of glide can be measured by the cargo’s trajectory.Not only the size of this system is small, but also it can be conveniently installed. The detection is based on the integral calculation of acceleration. The acceleration of the cargo is obtained by using three accelerometer mounted at three axis. Three gyroscopes are used to detect the three-axis angular velocity.Then the algorithm of fourth order Picard is applied into processing three-axis angular velocity data to update the posture and get the corresponding rotation matrix. The real acceleration of the cargo can be obtained by the original data of acceleration and rotation matrix,then the displacement can be obtained by integration. Since the signal of acceleration contains random error, the Kalman filter is used to get a relatively smooth acceleration signal. A non-ignorable error can be caused by the DC component of the signal, so polynomial is used to fit the data and eliminate trend terms caused by integration. Finally, the experimental analysis shows that the scheme is feasible, but there will be great nead to improve the system so that it can be put into practical application.

Key words: Crane; Brake; The accelerometer; gyroscope; Trajectory tracking

目 录

摘要： Ⅰ

关键词： Ⅱ

1、 绪论 1

1.1 研究背景和意义 1

1.2 国内外研究现状 2

1.2.1关于制动下滑量的测量方法 2

1.2.2轨迹追踪技术 3

1.3 课题的研究内容 4

1.4本章小结 4

2、起重机吊物轨迹追踪系统设计 5

2.1系统总体设计方案 5

2.2上位机设计 6

2.3本章小结 6

3、 基于加速度积分的吊物轨迹追踪算法 7

3.1积分原理及坐标变换 7

3.2姿态更新的四元数算法 10

3.3本章小结 13

4、基于Kalman滤波的信号处理与分析 14

4.1 轨迹追踪误差分析 14

4.2 Kalman滤波算法 14

4.3积分过程中的趋势项 16

4.4 仿真分析 17

4.5 本章小结 18

5、实验及数据处理和分析 19

5.1静态数据分析 20

5.2动态数据分析 24

5.3本章小结 26

6、结论与展望 27

6.1主要工作总结 27

6.2 未来展望 27

致 谢 28

参考文献： 29

附录 31

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