CN106644030A - Doppler radar-based non-contact type vibration measuring method - Google Patents
Doppler radar-based non-contact type vibration measuring method Download PDFInfo
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The invention discloses a Doppler radar-based non-contact type vibration measuring method. The method includes the following steps: S1. directly facing a measured vibration object to emit single-frequency microwaves in the form of continuous waves, and receiving radar echoes after modulation by vibration motion; S2. performing amplifying, filtering and quadrature mixing on echo signals and taking down conversion signals to obtain two paths of baseband signals I(t) and Q(t); S3. performing data collection on the baseband signals to obtain discrete digital signals; and S4. performing phase demodulation processing on the discrete baseband signal I[n] and Q[n], and extracting vibration amplitude and frequency information. The Doppler radar-based non-contact type vibration measuring method provided by the invention uses a microwave radar to perform non-contact type vibration measurement based on a Doppler effect, has good low frequency measurement sensitivity, is high in environmental adaptation, and can perform accurate vibration measurement under the condition of containing a barrier. The microwave radar used by the method is compact in structure and low in cost and has relatively low power consumption, thereby providing a solution to integration of a large-scale vibration measuring system.
Description
Technical field
The present invention relates to vibration measurement and analysis technical field, specifically a kind of to be shaken based on the contactless of Doppler radar
Dynamic measuring method.
Background technology
Vibration is a kind of physical phenomenon of generally existing in nature, and vibration measurement has in numerous field of engineering technology
Be widely applied, such as the condition monitoring and fault diagnosis of various mechanical systems, large-size pliable structure low-frequency vibration monitoring with
And the test of vibration noise and suppression etc..In order to meet various vibration measurement demands, people have been developed that various sensor, concurrently
Various vibration measurement techniques are opened up.Current vibration measurement method can be divided into two kinds of contact and non-contact measurement, wherein connecing
Touch measurement widely uses acceleration transducer.The acceleration that acceleration transducer passes through measurement contact target, obtains after integration
The relative displacement of surveyed vibrating objects, but there is LF-response ability in conventional accelerometer, in particular surroundings such as weightlessness
Under the problems such as cannot effectively use, and often there are many limitations in contact type measurement under some special application scenarios.It is non-to connect
Laser vibration measurer has very high measuring accuracy in touch measurement, but there is equipment cost height, needs calibration and detects
The limitation such as narrow scope, and test environment conditions are required higher, it is impossible to adapt to the vibration monitoring under complex environment.
In the last few years, the concern of Many researchers, radar velocity measurement and range finding are caused based on the motion perception of microwave radar
In having been applied to actual production and living.Vibration is substantially a kind of slightly reciprocating motion, based on Doppler effect, vibration
Phase-modulation will be carried out to radar transmitting wave, by receiving radar return and carrying out effective phase demodulating, can extract out vibration
Amplitude and frequency information.Because microwave radar has simple structure, with low cost and can be shaken through barrier
The advantages such as dynamic measurement, have a good application prospect.
The content of the invention
It is an object of the invention to provide a kind of contactless vibration measurement method based on Doppler radar.
The purpose of the present invention is achieved through the following technical solutions：A kind of contactless vibration based on Doppler radar is surveyed
Amount method, comprises the steps：
S1, just to it is tested vibration object launch continuous wave form single-frequency microwave, and receive be vibrated motion modulation after
Radar return；
S2, echo-signal be amplified, filtered, orthogonal mixing and being removed frequency variation signal and obtain two-way baseband signal I (t)
With Q (t)；
S3, data acquisition is carried out to baseband signal, to obtain discrete digital signal I [n] and Q [n]；
S4, phase demodulating process is carried out to acquired discrete baseband signal I [n] and Q [n], extract vibration amplitude with
Frequency information.
Preferably, the tested vibration subject surface adheres to passive two frequencys multiplication RF tag.
Preferably, the frequency range of the single-frequency microwave described in step S1 is 2G-24GHz, can be according to measurement sensitivity demand
Select to determine with measurand vibration amplitude size.
Preferably, described in step S2 when carrying out orthogonal mixing to echo-signal, if it is tested vibration subject surface be stained with
Passive two frequencys multiplication RF tag, will need to be turned over using frequency multiplier before orthogonal mixing for the frequency of the signal source branch signal of mixing
Times.
Preferably, two-way baseband signal I (t) described in step S2 and Q (t) can be expressed as：
In formula：I (t) represents passage I baseband output signals, and Q (t) represents passage Q baseband output signals, DCIRepresent passage I
The DC offset value of baseband output signal, DCQThe DC offset value of passage Q baseband output signals is represented, A represents baseband signal
Amplitude, λ represents the carrier wavelength of radar emission, and S (t) represents the real-time vibration displacement of tested vibration object, and θ is represented by propagation road
The constant phase shift that the reflection of footpath and body surface causes,Represent the excess phase noise of radar.
Preferably, step S4 specifically includes following steps：
S4.1, discrete baseband signal I [n] and Q [n] are carried out at adding window using the rectangular window function of a slip to signal
Reason；
S4.2, to adding window after discrete baseband signal I [n] and Q [n] carry out DC-offset compensation, obtain direct current offset benefit
Estimate DC repaidIAnd DCQ；
S4.3, arc tangent demodulation is carried out to baseband signal I [n] and Q [n] after DC-offset compensation, obtain and vibrate position
Move into total phase place of the baseband signal of linear relationship
Total phase place of S4.4, baseband signal to obtainingCarry out peak value searching and extract vibration amplitude information, pass through
Discrete Fourier transform obtains vibration frequency information.
Preferably, the method for DC-offset compensation is center of circle algorithm for estimating in described step S4.2, including：
If being (a, b) by the central coordinate of circle of discrete baseband signal I [n] and Q [n] fitting circle, radius is r, takes matrix A, square
Battle array x and matrix B are respectively：
The value of a and b is obtained by Parameter optimization estimation, the method for optimal estimating is min | | Ax-B | |l2Or min | | Ax-B |
|l1；
In formula, min (.) represents minimum operation, | |. | |l22- norm computings are represented, | |. | |l1Represent 1- norm computings；
After trying to achieve the estimate of a and b, DC is takenI=a, DCQ=b.
Preferably, total phase place of the baseband signal in described step S4.3It is shown below：
In formula, I [n] and Q [n] is discrete baseband signal；DCIRepresent the DC offset value of passage I baseband output signals, DCQ
Represent the DC offset value of passage Q baseband output signals；
According to measuring principle, can be by total phase place of baseband signalSolution obtains vibration displacement discrete signal S [n], such as
Shown in following formula：
Compared with prior art, the present invention has following beneficial effect：
Using microwave as measurement carrier and means, by receiving the radar echo signal for being vibrated motion modulation, and to returning
Ripple signal carries out effective phase demodulating and obtains vibration displacement time-domain information, and thus extracts vibration amplitude and frequency information.
The present invention has good low frequency measurement sensitivity, and environmental suitability is strong, can be in various weather, complex environment and comprising barrier
In the case of carry out accurate contactless vibration measurement.In addition, the microwave radar compact conformation, with low cost that the present invention is used
And be that the integrated of large-scale Vibration-Measuring System also provide for a solution with relatively low power consumption.
Description of the drawings
Fig. 1 is the schematic flow sheet of the contactless vibration measurement method based on Doppler radar proposed by the present invention；
Fig. 2 is the radar arrangement theory diagram for carrying out two frequency multiplication measurements proposed by the present invention；
Fig. 3 is the time domain beamformer of discrete baseband signal I [n] in the embodiment of the present invention after adding window and Q [n]；
Fig. 4 is the result schematic diagram for carrying out DC-offset compensation in the embodiment of the present invention using center of circle algorithm for estimating；
Fig. 5 is the time domain beamformer of total phase place of baseband signal in the embodiment of the present invention；
Fig. 6 is the normalized spatial spectrum figure of total phase place of baseband signal in the embodiment of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformations and improvement can also be made.These belong to the present invention
Protection domain.
As shown in figure 1, a kind of contactless vibration measurement method based on Doppler radar is embodiments provided,
Comprise the following steps：
S1, just to it is tested vibration object launch continuous wave form single-frequency microwave, and receive be vibrated motion modulation after
Radar return；
The carrier frequency of microwave radar used can be selected according to measurement sensitivity demand and measurand vibration amplitude size
Determination is selected, typically can be selected in the range of 2G-24GHz.Tested vibration object is such as under the more measuring environment background of interference,
In order to improve the signal to noise ratio of baseband signal, RF tag and radar can be in its surface adhesion passive two frequencys multiplication RF tag
Object in radiation space reflects radar return.
S2, echo-signal be amplified, filtered, orthogonal mixing and being removed frequency variation signal and obtain two-way baseband signal I (t)
With Q (t)；
Generally, the radar carrier wave of certain frequency is directly launched to tested vibration object, reception is vibrated motion and adjusts
The echo-signal of system and mixing orthogonal with the local oscillation signal of radar, using low pass filter frequency variation signal is removed, and obtains base band letter
Number I (t) and Q (t).
As shown in Fig. 2 being effectively to suppress interference to make an uproar when tested vibration object is under the more measuring environment background of interference
Sound, in tested vibration subject surface passive two frequencys multiplication RF tag can be adhered to, and two frequency multiplication RF tags carry out phase to transmission signal
Position modulation and frequency multiplication back reflection signal.Therefore, radar, need to be by signal source branch signal all the way during the generation of baseband signal
Orthogonal mixing is carried out with the reflected signal for receiving after frequency multiplication and frequency variation signal is removed, and the radar return of environmental background reflection by
In non-frequency multiplication, device elimination is low pass filtering after mixing.Radar return is obtained two-way baseband signal I (t) through above-mentioned process
With Q (t), it is expressed as
In formula：I (t) represents passage I baseband output signals, and Q (t) represents passage Q baseband output signals, DCIRepresent passage I
The DC offset value of baseband output signal, DCQThe DC offset value of passage Q baseband output signals is represented, A represents baseband signal
Amplitude, λ represents the carrier wavelength of radar emission, and S (t) represents the real-time vibration displacement of tested vibration object, and θ is represented by propagation road
The constant phase shift that the reflection of footpath and body surface causes,Represent the excess phase noise of radar.
The transmission signal of microwave radar and the radiofrequency signal all the way of mixing are from same signal source, root in test process
The phase noise in radar circuit can be greatly reduced according to distance correlation principle,It is often negligible.
S3, data acquisition is carried out to baseband signal, to obtain discrete digital signal I [n] and Q [n]；
S4, phase demodulating process is carried out to discrete baseband signal I [n] and Q [n], extract vibration amplitude and frequency
Information.
It is 2mm with reference to an amplitude, vibration frequency illustrates step for the sinusoidal vibration measurement experiment embodiment of 0.25Hz
Rapid 4 particular content, experiment radar carrier frequency used is 10.525GHz, and measuring distance is 1m.The content of step S4 includes：
Data are carried out at adding window by S4.1 to discrete baseband signal I [n] and Q [n] using the rectangular window function of a slip
Reason, the time domain beamformer after being illustrated in figure 3 I [n] and Q [n] adding window, window function length is 8s；
S4.2, to adding window after discrete baseband signal I [n] and Q [n] carry out DC-offset compensation, obtain direct current offset benefit
Estimate DC repaidIAnd DCQ, compensation method used is center of circle algorithm for estimating, including：
If being (a, b) by the central coordinate of circle of discrete baseband signal I [n] and Q [n] fitting circle, radius is r, takes matrix A, square
Battle array x and matrix B are respectively：
The value for obtaining a and b is solved by Parameter optimization estimation, the method for optimal estimating is
min||Ax-B||l2Or min | | Ax-B | |l1。
As shown in figure 4, being a=- using the central coordinate of circle of 1 norm optimization, binding signal I [n] and Q [n] fitting circle
57.097, b=26.95, therefore take DCI=-57.097, DCQ=26.95.
S4.3, to baseband signal I [n] and Q [n] after DC-offset compensation arc tangent demodulation is carried out, and is obtained and vibration position
Move into total phase place of the baseband signal of linear relationshipIt is shown below：
According to measuring principle, can be by total phase place of baseband signalSolution obtains vibration displacement discrete signal S [n], such as
Shown in following formula：
It is illustrated in figure 5 total phase place of the baseband signal that demodulation is obtainedTime domain beamformer.
S4.4, total phase place of the baseband signal to obtainingCarry out peak value searching and extract vibration amplitude information, pass through
Discrete Fourier transform obtains vibration frequency information.Total phase place of baseband signal as shown in Figure 5Time domain beamformer and S
[n] withLinear relationship can extract out vibration amplitude for 2.1mm, be illustrated in figure 6 total phase place of baseband signal's
Normalized spatial spectrum figure, it can be deduced that vibration frequency is 0.25Hz.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make various modifications or modification, this not shadow
Ring the flesh and blood of the present invention.
Claims (8)
1. a kind of contactless vibration measurement method based on Doppler radar, it is characterised in that comprise the steps：
S1, the single-frequency microwave for just launching tested vibration object continuous wave form, and reception is vibrated the radar after motion modulation
Echo；
S2, echo-signal be amplified, filtered, orthogonal mixing and being removed frequency variation signal and obtain two-way baseband signal I (t) and Q
(t)；
S3, data acquisition is carried out to baseband signal, to obtain discrete digital signal I [n] and Q [n]；
S4, phase demodulating process is carried out to acquired discrete baseband signal I [n] and Q [n], extract vibration amplitude and frequency
Information.
2. the contactless vibration measurement method based on Doppler radar according to claim 1, it is characterised in that described
Tested vibration subject surface adheres to passive two frequencys multiplication RF tag.
3. the contactless vibration measurement method based on Doppler radar according to claim 1, it is characterised in that step
The frequency range of the single-frequency microwave described in S1 is 2G-24GHz, can be big according to measurement sensitivity demand and measurand vibration amplitude
It is little come select determine.
4. the contactless vibration measurement method based on Doppler radar according to claim 1, it is characterised in that step
Described in S2 when carrying out orthogonal mixing to echo-signal, if it is tested vibration subject surface be stained with passive two frequencys multiplication RF tag,
Need to utilize frequency multiplier that the frequency of the signal source branch signal for being mixed is double before orthogonal mixing.
5. the contactless vibration measurement method based on Doppler radar according to claim 1, it is characterised in that step
Two-way baseband signal I (t) and Q (t) described in S2 can be expressed as：
In formula：I (t) represents passage I baseband output signals, and Q (t) represents passage Q baseband output signals, DCIRepresent passage I base band
The DC offset value of output signal, DCQThe DC offset value of passage Q baseband output signals is represented, A represents the width of baseband signal
Value, λ represents the carrier wavelength of radar emission, and S (t) represents the real-time vibration displacement of tested vibration object, and θ is represented by propagation path
The constant phase shift caused with the reflection of body surface,Represent the excess phase noise of radar.
6. the contactless vibration measurement method based on Doppler radar according to claim 1, it is characterised in that step
S4 specifically includes following steps：
S4.1, windowing process is carried out to signal using the rectangular window function of a slip to discrete baseband signal I [n] and Q [n]；
S4.2, to adding window after discrete baseband signal I [n] and Q [n] carry out DC-offset compensation, obtain DC-offset compensation
Estimate DCIAnd DCQ；
S4.3, arc tangent demodulation is carried out to baseband signal I [n] and Q [n] after DC-offset compensation, obtain with vibration displacement into
Total phase place of the baseband signal of linear relationship
Total phase place of S4.4, baseband signal to obtainingCarry out peak value searching and extract vibration amplitude information, by discrete Fu
In leaf transformation obtain vibration frequency information.
7. the contactless vibration measurement method based on Doppler radar according to claim 6, it is characterised in that described
The step of S4.2 in DC-offset compensation method be center of circle algorithm for estimating, including：
If being (a, b) by the central coordinate of circle of discrete baseband signal I [n] and Q [n] fitting circle, radius is r, takes matrix A, matrix x and
Matrix B is respectively：
The value of a and b is obtained by Parameter optimization estimation, the method for optimal estimating is min | | Ax-B | |l2Or min | | Ax-B | |l1；
In formula, min (.) represents minimum operation, | |. | |l22- norm computings are represented, | |. | |l1Represent 1- norm computings；
After trying to achieve the estimate of a and b, DC is takenI=a, DCQ=b.
8. the contactless vibration measurement method based on Doppler radar according to claim 5, it is characterised in that described
The step of S4.3 in baseband signal total phase placeIt is shown below：
In formula, I [n] and Q [n] is discrete baseband signal；DCIRepresent the DC offset value of passage I baseband output signals, DCQRepresent
The DC offset value of passage Q baseband output signals；
According to measuring principle, can be by total phase place of baseband signalSolution obtains vibration displacement discrete signal S [n], such as following formula institute
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