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The trenching depth controller continuously measures an operating depth and controls the digging tool to maintain the depth at the desired level. The depth is calculated using the tractor geometrical parameters and the estimated slope of the terrain. The digging boom and the frame angular positions are measured by the use of the MEMS accelerometers. The slope of the terrain is estimated by integration of the chassis tilt while the tractor is advancing forward. The controller was implemented using Atmel AVR Mega103 CPU. The software was developed in C language. |
AbVolt, Ltd.
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