The goal of this work was to calculate the mass in the bucket of a underground loaderfrom pressure data in the cylinders. Three different approaches to using a Kalman filter toestimate the loaded mass were tried and evaluated in MATLAB simulations. Of these, twogave promising results when tried on real data and a combination of the two methods issuggested as solution to the problem. The filters required a model for the mechanics of themachine which was also derived.
Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-186540 |
Date | January 2022 |
Creators | Ståhlbom, Axel |
Publisher | Linköpings universitet, Institutionen för systemteknik |
Source Sets | DiVA Archive at Upsalla University |
Language | English |
Detected Language | English |
Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
Format | application/pdf |
Rights | info:eu-repo/semantics/openAccess |
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