Construction and testing of the measurement system for excavator productivity

Scientific paper - Original scientific paper

• Title (croatian): Konstrukcija i ispitivanje sustava za praćenje učinka bagera
• Author: Mario Klanfar https://orcid.org/0000-0003-1629-873X
• Author: Vjekoslav Herceg https://orcid.org/0000-0002-5706-9135
• Author: Dalibor Kuhinek https://orcid.org/0000-0002-0111-9877
• Author: Kristijan Sekulić
• Author's institution: University of Zagreb; Faculty of Mining, Geology and Petroleum Engineering; (Department of Mining and Geotechnical Engineering)
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mining, Petroleum and Geology Engineering; Mining

Abstract (english)

A hydraulic excavator is one of the most used machines in mining, construction and geotechnics. Monitoring its productivity can provide benefits such as savings in fuel consumption and maintenance, cost optimization of working parameters and a higher working efficiency. A measurement system for such a purpose can be complex and expensive, as it requires special equipment from the manufacturer and does not exist as an out of the box solution that would measure working parameters such as bucket trajectory, digging energy, digging force, etc.
A measuring system was designed to monitor productivity and gather working parameters. It consists of three pressure transmitters for measuring cylinder pressures, three draw wire sensors for cylinder elongations, one inertial measurement unit for the measurement of swing angle and one logger unit for data acquisition and storage. The logger unit, equipped with an SD card module and 12-bit AD converter, is based on Atmega328 microcontroller, which allows for the usage of Arduino IDE and already developed libraries.
The system was tested in a laboratory to determine its accuracy, resolution and usable sample rate. Cylinder pressure can be measured in the range of 0-500 bar with an excellent accuracy of 0.026 % FSO and 0.15 bar resolution. Cylinder elongation can be measured in the range 0-2300 mm with an accuracy of 0.087 % FSO and 0.58 mm resolution. Swing angle measurement accuracy is 1.2° per circle or 0.33 % FSO. The usable sample rate of the system is found to be 39 Hz-588 Hz, depending on the logger executing code.

Abstract (croatian)

Hidraulični bager jedan je od najčešće korištenih strojeva u rudarstvu, graditeljstvu i geotehnici. Kao takav korisnicima predstavlja i važnu stavku u troškovima goriva i održavanja. Detaljna mjerenja učinka ovoga stroja izvode se u svrhu poboljšanja efikasnosti odnosno uštede. Mjerni sustav s takvom svrhom može biti složen i skup, tražiti specijalnu opremu proizvođača stroja te ne postoji kao gotovo rješenje koje bi omogućavalo praćenje radnih parametara poput trajektorije lopate, sila i energije kopanja, visine radnoga čela i sl.
Iz toga razloga osmišljen je i testiran sustav za praćenje radnih parametara i učinka bagera. Sustav se sastoji od triju pretvornika linearnoga pomaka i triju pretvornika tlaka, za mjerenje produljenja i tlakova hidrauličnih cilindara, te jednoga žiroskopa za mjerenje kuta zakretanja bagera. Pretvornici su spojeni na jedinicu za prikupljanje podataka, opremljenu SD karticom i 12-bitnim AD pretvaračem. Jedinica je bazirana na Atmega328 mikrokontroleru, što omogućava primjenu Arduino sučelja za programiranje i razvijenih biblioteka koda.
Mjerni sustav testiran je laboratorijski radi određivanja točnosti, rezolucije i moguće brzine uzorkovanja podataka. Tlakovi mogu biti mjereni u rasponu 0 bar – 500 bar s točnošću od 0,026 % MO i rezolucijom 0,15 bar. Izvlačenje cilindra može biti mjereno u rasponu 0 mm – 2300 mm, s točnošću od 0,087 % MO i rezolucijom 0,58 mm. Točnost mjerenja kuta zakretanja iznosi 1,2° po okretu ili 0,33 % MO. Testirana brzina uzorkovanja iznosi 39 Hz – 588 Hz, ovisno o programskome kodu.

• Keywords (english): mining; excavator; productivity; measurement system
• Keywords (croatian): rudarstvo; bager; učinkovitost; mjerni sustav
• Language: english
• Language: english
• Publication type: Scientific paper - Original scientific paper
• Publication status: Published
• Peer review: Peer review - international
• Publication version: Published version
• Journal title: Rudarsko-geološko-naftni zbornik
• Numbering: vol. 34, no. 2, pp. 51-58
• p-ISSN: 0353-4529
• e-ISSN: 1849-0409
• DOI: https://doi.org/10.17794/rgn.2019.2.6
• URN:NBN: urn:nbn:hr:169:600331
• Publication: 2019
• Document URL: https://hrcak.srce.hr/218180
• Type of resource: Text
• Access conditions: Open access
• Created on: 2021-03-22 13:56:52