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http://dx.doi.org/10.5302/J.ICROS.2007.13.9.861

Spreader Pose Control Using Dual-electric Compasses  

Han, Sun-Sin (부산대학교 전자공학과)
Jeong, Hee-Seok (부산대학교 전자공학과)
Lee, Jang-Myung (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.9, 2007 , pp. 861-867 More about this Journal
Abstract
A spreader pose control system using dual-electric compasses has been implemented by measuring the skew angle of the spreader with dual-electric compasses. In the conventional spreader pose measurement, CCD cameras, laser sensors or tilt sensors are mostly used. However those sensors are not only sensitive to the weather and disturbances but also expensive to build the system. To overcome the shortcomings, an inexpensive and efficient system to control the spreader pose has been implemented using the dual-magnetic compasses. Since the spreader iron-structures are noise sources to the magnetic compass, it is not considered to use the magnetic compass to measure the orientation of the spreader. An algorithm to eliminate the interferences of metal structures to the dual compasses has been developed in this paper. The 10:1 reduction model of a spreader control system is implemented and the control performance is demonstrated to show the effectiveness of the dual-magnetic compasses proposed in this research.
Keywords
magnetic compass; dual-compass; electronic compass; spreader; skew-angle;
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Times Cited By KSCI : 2  (Citation Analysis)
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