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Development and Implementation of Filter Algorithms and Controllers to a Construction Machine Simulator
KTH, School of Architecture and the Built Environment (ABE), Urban Planning and Environment, Geodesy and Satellite Positioning.
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Different geodetic techniques can be integrated in construction processes to have effective, timesaving and cost minimizing construction through geometric control and guidance of theconstruction machines on the designed alignment. This can be achieved by integrating atachymeter as kinematic positioning sensor. The institute of application of geodesy toengineering (IAGB) of University of Stuttgart has developed a modular position guidance toolbox(a construction machine simulator) that comprises a model truck of scale 1:14, of Leica TPS1201tachymeter, remote controller and a computer.Tachymeters can work as kinematic measuring devices by integrating them to a constructionprocess, in real time, using automatic closed-loop control systems with feedbacks. The geometricdeviation between the measured and given trajectories can be minimized to some optimized limitusing different types of controllers. With P-I-D controllers a better accuracy can be achieved,and with integration of Kalman filter to the control system the controller quality can beimproved.It is also possible to account for the dynamic effect on the model truck at higher velocities;however, the accuracy is very small due to some practical working limitations of tachymeter(such as low scanning rate and dead time) as kinematic position sensor at higher velocities.

Place, publisher, year, edition, pages
2008.
Series
TRITA-GIT EX ; 08-08
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-199691OAI: oai:DiVA.org:kth-199691DiVA, id: diva2:1065064
Supervisors
Available from: 2017-01-19 Created: 2017-01-13 Last updated: 2017-01-19Bibliographically approved

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CiteExportLink to record
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  • apa
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