Determination of Mobile Machine Wheel Dynamics

Abstract

To determine the wheel dynamics of the mobile machine, a sensor has been developed, which consists of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The sensor is connected to the microcontroller, which transmits the data received via the 2.4 GHz channel. It is attached coaxially to the center of the wheel. In the first step of processing data from the accelerometer and gyroscope, their values are corrected. The corrected acceleration signal and angular velocities are processed using a Butterworth filter. Madgwick filter determines the angles of orientation of the sensor in space. In the next step, the authors deduct the centrifugal component from accelerations. Further, the gravitational component is subtracted from the accelerations to get its real value. The wheel speed is obtained by integrating accelerations. Angular wheel speed and accelerations are processed with a Kalman filter. The outcomes of experimental studies of the proposed method and sensor to determine the wheel dynamics on the tractors with 4x4 wheel formula have been analyzed.