CN100462722C - Rotation speed sensor and load measuring device of roller bearing unit - Google Patents

Rotation speed sensor and load measuring device of roller bearing unit Download PDF

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Publication number
CN100462722C
CN100462722C CNB2004800261951A CN200480026195A CN100462722C CN 100462722 C CN100462722 C CN 100462722C CN B2004800261951 A CNB2004800261951 A CN B2004800261951A CN 200480026195 A CN200480026195 A CN 200480026195A CN 100462722 C CN100462722 C CN 100462722C
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filter
rotating speed
speed detector
speed
scrambler
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CN1849516A (en
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小野浩一郎
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NSK Ltd
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NSK Ltd
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Abstract

A rotation speed detection sensor outputs a detection signal d representing a speed of actual rotation speed dd superimposed by a fluctuation dn based on whirling. An adaptive filter28 generates a signal as a reference signal x by using the signal from the sensor and calculates a cancel signal y for canceling the aforementioned fluctuation dn, so that the cancel signal is subtracted from the detection signal d. As a result, it is possible to obtain a signal e almost representing the rotation speed dd. According to the signal e, the rotation speed of the rotation member is calculated.

Description

The speed detector of roller bearing unit and load-measuring device
Technical field
The present invention relates to a kind of speed detector and load-measuring device of roller bearing unit.For example, the present invention relates to be used to support the improvement of rolling bearing of the wheel of moving bodys such as automobile, rolling stock, various haulage vehicles, with the rotating speed by measuring the revolving member that constitutes roller bearing unit with measure the load that is carried on the roller bearing unit (in radial load and the axial load one or both) and guarantee the stability that moving body moves.
Background technology
For example, automotive wheel supports by hanging rollably by two roller bearing units of arranging radially thrust type (double row angular).In addition,, used anti-lock braking system (ABS), the vehicle operating stabilising arrangement of pull-in control system (TCS), vehicle stabilization control system (VSC) etc. in order to ensure the operation stability of automobile.In order to control various vehicle operating stabilising arrangements, the signal of indication vehicle rotating speed, the acceleration on all directions that are applied on the car body etc. becomes necessary.In addition, in order to realize more senior control, preferably can know the size that is applied to load on the roller bearing unit (in radial load and the axial load one or both) through wheel.
In view of such situation, JP-A-2001-21577 (below be called " references 1 ") has described a kind of roller bearing unit, and this roller bearing unit has the load-measuring device that can measure radial load.Be used to measure radial load and constitute as shown in Figure 15 according to the roller bearing unit with load-measuring device of first example of background technology.Wheel hub 2 constitutes by the swivel becket that supports, is used to connect wheel by suspension, and outer shroud 1 constitutes set collar, and wheel hub 2 is fixed to the internal side diameter of outer shroud 1.Wheel hub 2 has hub body 4 and interior ring 6, and described hub body 4 has the rotating side flange 3 that is used for wheel is fixed on its outer end (forming the end in the outside under the state that is incorporated on the vehicle on Width).Interior ring 6 outwards is installed in the inner end (forming the end in the outside under the state that is incorporated on the vehicle on Width) of hub body and is compressed by nut 5.The inner peripheral surface of outer shroud 1 is formed with the two exclusive loop orbits 7,7 that constitute the fixation side track respectively.The outer peripheral face of wheel hub 2 is formed with loop orbit 8,8 in two rows that constitute the rotating side track respectively.In addition, each a plurality of rolling member 9a, 9b are arranged in two rows of two exclusive loop orbits 7,7 of outer shroud 1 and wheel hub 2 between the loop orbit 8,8, so that wheel hub 2 can rotate at the internal side diameter of outer shroud 1.
The mounting hole 10 that passes outer shroud 1 diametrically be formed on outer shroud 1 axially on pars intermedia on and on the part of the outer shroud between the two exclusive loop orbits 7,7 of the upper end of the outer shroud 1 of basic in the vertical direction.In addition, the inside of mounting hole 10 is equipped with the have circular bar shape displacement transducer of (rod), and this sensor is configured for measuring the sensor of load.Displacement transducer 11 for noncontact type and the detection faces that is arranged on its front end face (lower surface) be arranged to closely relative with the outer peripheral face of sensor ring 12, this sensor ring 2 outwards be mounted to by wheel hub 2 axially on pars intermedia fix.When the corresponding variable quantity of the distance between the outer peripheral face of described detection faces and sensor ring 12 changes, displacement transducer 11 output signals.
In the situation of the rolling bearing of the load-measuring device of the background technology that has as above structure,, can calculate the load that is applied on the roller bearing unit based on the detection signal of displacement transducer 11.That is to say, although the weight of vehicle will be pressed to downside by the outer shroud 1 that vehicle suspension supports, regularly the wheel hub 2 of support wheel can remain on its should the position.Therefore, based on the elastic deformation of outer shroud 1 and wheel hub 2 and rolling member 9a, 9b, it is many more that weight increases, and it is many more that the change between the center of outer shroud 1 and the center of wheel hub increases ground.In addition, it is many more that weight increases ground, and the detection faces of displacement transducer 11 and the distance that is arranged between the outer peripheral face of sensor ring 12 of upper end of outer shroud 1 are more little.Therefore, when the detection signal of displacement transducer 11 was transferred to controller, the radial load that is applied on the roller bearing unit that is integrated with displacement transducer 11 can calculate by waited the relation or the mapping that precompute by test.Based on the load that was applied to so that this method calculated on each roller bearing unit, ABS is controlled rightly, in addition, gives the driver at the signalling trouble of load condition.
In addition, the structure according to as shown in figure 15 background technology except can detecting the load that is applied on the roller bearing unit, can also make the rotating speed of wheel hub 2 be detected.Therefore, rotor sensor 13 outwards is mounted to by fixing and the sensor 15 that detects rotating speed is supported by the lid on the inner peristome that is connected to outer shroud 1 14 outer end of interior ring 6.In addition, the test section of rotating speed detecting sensor 15 is arranged to via a detector gap relative with the test section of rotor sensor 13.
When use is integrated with the roller bearing unit of above-mentioned speed detector, when the wheel hub 2 of rotor sensor 13 on being fixed on wheel rotated and the test section of rotor sensor 13 is turned round near the test section of rotating speed detecting sensor 15, the output of rotating speed detecting sensor 15 changed.The revolution that changes the frequency of output of rotating speed detecting sensor 15 and wheel by this way is proportional.Therefore, when the output signal of rotating speed detecting sensor 15 was transferred to controller, ABS and TCS can suitably be controlled, and wherein said controller is not shown.
Be used to measure the radial load that is applied on the roller bearing unit though have the roller bearing unit of load-measuring device of first example of above-mentioned background technical pattern, measure that the structure that is applied to the axial load on the roller bearing unit also is documented among the JP-A-3-209016 (below be called " references 2 ") etc. and known in background technology.Figure 16 shows to have being used in references of being documented in 2 and measures the roller bearing unit of the load-measuring device of axial load.In the situation of second example of background technology structure, the rotating side flange 3a that is used for support wheel is arranged on the outer peripheral face of the outer end of the wheel hub 2a that forms swivel becket regularly.In addition, the outer peripheral face that forms the outer shroud 1a of set collar is provided with fixation side flange 17 regularly, is used for supporting outer shroud 1a. regularly in addition by the steering knuckle 16 that forms suspension, and the inner peripheral surface of outer shroud 1a is formed with two exclusive loop orbits 7,7.The outer peripheral face of wheel hub 2a is formed with loop orbit 8,8 in two rows.In addition, by between the loop orbit 8,8 each a plurality of rolling member 9a, 9b is set rollably in two rows of the two exclusive loop orbits 7,7 of outer shroud 1a and wheel hub 2a, wheel hub 2a can rollably be supported by the internal side diameter of outer shroud 1a.
In addition, each load transducer 20 is connected on a plurality of parts of medial surface of fixation side flange 17 and on a plurality of parts of screw 19, and this screw 19 is used to be screwed into screw 18 to connect the fixation side flange 17 of steering knuckle 16.Supporting in the state of outer shroud 1a by steering knuckle 16, each load transducer 20 is supported between the medial surface of the outside of steering knuckle 16 and fixation side flange 14 with fixing.
In the situation of the load-measuring device of the roller bearing unit of background technology structure second example, when axial load is applied between wheel and the steering knuckle 16, the medial surface of the lateral surface of steering knuckle 16 and fixation side flange 17 is pressed each load transducer 20 in the axial direction consumingly from two faces of each load transducer 20, and described wheel is not shown.Therefore, by the measured value of each load transducer 20 is added up, can calculate the axial load between wheel and the steering knuckle.In addition, though JP-B-62-3365 (below be called " references 3 ") is not shown, but it has been put down in writing a kind of vibration frequency by the outer shroud respective members and has calculated the revolution speed of rolling member and measure the method that is applied to the axial load on the rolling bearing, and the rigidity of described outer shroud respective members is partly reduced.
In the above-mentioned situation of first example of the background technology structure shown in Figure 15, the load that is applied on the roller bearing unit is measured by detected between outer shrouds 1 and the wheel hub 2 displacement on diametric(al) by displacement transducer 11.Therefore yet the displacement on diametric(al) is less, for assumed (specified) load accurately, needs to use the displacement transducer 11 with pinpoint accuracy.The sensor of noncontact type with pinpoint accuracy is comparatively expensive, and therefore, the cost with rolling bearing of load-measuring device increases inevitably.
In addition, in the above-mentioned situation of second embodiment of the background technology structure shown in Figure 16, need to be provided with the load transducer 20 with the number of screw 18, screw 18 is used for outer shroud 1a is supported on the steering knuckle 16 regularly.Therefore, except load transducer 20 itself comparatively the costliness, the cost of the load-measuring device of roller bearing unit increases inevitably significantly.In addition, the method according to record in references 3 must partly reduce the rigidity of outer shroud respective members and the possibility that existence is difficult to guarantee outer shroud respective members durability.
In addition, detect the speed detector of the rotating speed of various revolving members according to being used in the load-measuring device that is used in roller bearing unit, when its rotating speed will be detected the center of rotation of member when mutually internally inconsistent with the geometric center of scrambler, the degree of accuracy that rotating speed detects descends.In order to prevent to descend owing to the degree of accuracy that this reason detects rotating speed, can expect eliminating with the following method the influence of change at above-mentioned two centers, that is, the detection signal of a pair of rotating speed detecting sensor that will be provided with in the position on the side radially relative mutually on the scrambler adds together.Yet, in above-mentioned situation, needing two rotating speed detecting sensors, this quantity has caused the increase of cost and installing space, therefore, still can expect, has the situation that is difficult to adopt above-mentioned device.
As the technology that is used to eliminate noise contribution with relatively low frequency, known a kind of sef-adapting filter by the operation of LMS algorithm, it is recorded and narrated in " ultimate principle of sef-adapting filter (part 2) ", Japan's acoustical society procceedings, the 45th volume, No. 9 Japanese acoustical society, 1989, p.731-738 (HaruoHamada, " Fundamental of an adaptive filter (part 2) ", proceeding of the JapanAcoustic Society, vol.45, No.9, (corp.), Japan Acoustic Society) in (below be called " non-references 1 ").In addition, summary about sef-adapting filter, known is: chuo university, electric, electronic, information, communication engineeringdepartment, chao research lab, " what is afaptive filter ", [online], [searched onAugust 29, Heisei 15], internet＜URL:http: //www.elect.chuo-u.ac.jp/chao/forB 3/dsp/volterra/filter.html〉(below be called " non-references 2 "), The Math Works, Inc., " Outline and application of adaptivefilter ", [online], [searched on August 29, Heisei 15], internet＜URL:http: //www.mathworks.ch/access/helpdesk/jhelp/toolbox/filterdes ign/adaptiv2.shtml〉(below be called " non-references 3 "), The Mathworks, Inc., " Example ofadapative filter using LMS algorism ", [online], [search on August 29, Heisei15], Internet,＜URL:http: //www.mathworks.ch/access/helpdesk/jhelp/toolbox/filterdes ign/adaptiv9.shtmal〉(below be called " non-references 4 ") etc.In addition, also about wheel synchronization type wave filter, this also is a kind of sef-adapting filter, be known that, for example, Haruo Hamda, other 3 " Synchronizing type adaptive filter and active application to activenoise/vibration control ", proceeding of the Japan Acoustic Society, 3-5-13, (Corp,) Japan Acoustic Society, March, Heisei4, p.515-516 (below be called non-references 5 ").In addition, about suppress the technology of engine luggine by synchronized model LMS algorithm, known record is at Shigeki, Sato, other 4 " Development of active mount ", automobile technology, (Corp.) The Society of Automobile Engineers of Japan, Vol.53, No.2, February1999 is p.62-66 (to call " non-references 6 " in the following text.Yet, in background technology, above-mentioned sef-adapting filter is concentrated and is used for, and has with the sound wave of low-frequency noise phase place opposite phases by emission and realizes so-called active noise controlling (so-to-speak active noise control), to reduce the low frequency noise.That is to say, in background technology, sef-adapting filter only is used to reduce low-frequency noise, reduced so that be dispersed into indoor low-frequency noise from air conditioning duct, or the discharging or the running noise that enter into the low frequency of passenger car inside are reduced, in addition, the external low frequency noise that is entered by the earphone outside is reduced etc.The purpose of non-patent literature 6 described technology is to restrain the vibration of engine.In other words,, fail to expect at all, do not consider that by using scrambler the gyration of scrambler improves the degree of accuracy that rotating speed detects about recording and narrating the known sef-adapting filter technology in background technology in non-references 1 grade.In addition, particularly fail to consider the degree of accuracy that improves the rotating speed detection by the wave filter that uses other types.
Summary of the invention
In view of said circumstances, the speed detector and the load-measuring device that the purpose of this invention is to provide a kind of roller bearing unit that can constitute with low cost, it can not bring the problem of durability or installing space, and can detect the rotating speed of revolving member when guaranteeing to control required precision.
Preferably, the purpose of this invention is to provide and a kind ofly can detect the rotating speed of revolving member and do not produce the speed detector of delay, this realizes by the sef-adapting filter technology is applied in the rotating speed detection range, and this is with to be applied to field of acoustics etc. in background technology very different.
Realize purpose of the present invention by following structure.
According to a first aspect of the invention, provide a kind of speed detector, comprising: scrambler, it is supported regularly, is rotated together in company with described revolving member by revolving member, and this scrambler alternately changes the characteristic of oneself in a circumferential direction; The rotating speed detecting sensor which is provided with the relative status detection portion in detection surface that is in described scrambler; And computing unit, it calculates the rotating speed of described revolving member based on and detection signal periodically-varied that come from described rotating speed detecting sensor transmission; Wherein, described computing unit comprises filter circuit, and described filter circuit calculates the offseting signal of the influence of change of the described detection signal that is used to eliminate described rotating speed detecting sensor, and described change constitutes the error in the described revolution speed calculating of described revolving member; Wherein, when calculating the rotating speed of described revolving member, the detection signal that described computing unit comes from the transmission of rotating speed detecting sensor based on described offseting signal correction.
According to a second aspect of the invention, wherein, the error component of detection signal is made of a rotative component of scrambler, and described error component has constituted as the influence of described change and the object of filtered device circuit for eliminating.
According to a third aspect of the invention we, wherein, described wave filter is a sef-adapting filter.
According to a forth aspect of the invention, wherein, the connector lug number of described wave filter equals the umber of pulse of described each commentaries on classics of scrambler, and wherein, described sef-adapting filter comes work by wheel synchronization type LMS.
According to a fifth aspect of the invention, wherein, described sef-adapting filter is parallel to the main signal channel setting of the described detection signal of the described rotating speed detecting sensor of transmission, and the influence of change of the described detection signal of described rotating speed detecting sensor is eliminated in the following way, that is, the error component that will constitute the variation of the described rotating speed detecting sensor of being calculated by described sef-adapting filter at the downstream portion place of described main signal channel deducts.
According to a sixth aspect of the invention, wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the steepest descending method, and wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the LMS algorithm.
According to a seventh aspect of the invention, wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the steepest descending method, and wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the LMS algorithm.
According to an eighth aspect of the invention, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
According to a ninth aspect of the invention, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
According to the tenth aspect of the invention, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
According to an eleventh aspect of the invention, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
The present invention also provides a kind of load-measuring device of rolling bearing, and it comprises: the set collar that comprises two row's fixation side tracks; Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks; A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows; A pair of speed detector, described each speed detector are as the described speed detector of eighth aspect present invention, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
The present invention also provides a kind of load-measuring device of rolling bearing, and it comprises: the set collar that comprises two row's fixation side tracks; Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks; A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows; A pair of speed detector, described each speed detector are as the described speed detector of ninth aspect present invention, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
The present invention also provides a kind of load-measuring device of rolling bearing, and it comprises: the set collar that comprises two row's fixation side tracks; Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks; A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows; A pair of speed detector, described each speed detector are as the described speed detector of tenth aspect present invention, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
The present invention also provides a kind of load-measuring device of rolling bearing, and it comprises: the set collar that comprises two row's fixation side tracks; Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks; A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows; A pair of speed detector, described each speed detector are as the present invention the tenth described speed detector on the one hand, the described rotating speed that speed detector is detected a pair of described retainer that is used to keep described two row's rolling members; And computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
In addition, speed detector of the present invention comprises scrambler, and scrambler is supported regularly, rotated together in company with described revolving member by revolving member, and this scrambler alternately changes the characteristic on it in a circumferential direction; The rotating speed detecting sensor which is provided with the relative status detection portion in detection surface that is in described coding; And computing unit, it calculates the rotating speed of described revolving member based on and detection signal periodically-varied that come from described detecting sensor transmission.
Particularly, according to speed detector of the present invention, described computing unit comprises the filter circuit of the influence of change of the described detection signal that is used to eliminate described rotating speed detecting sensor, described change constitutes error in the described revolution speed calculating of described revolving member { for example, owing between the center of rotation of scrambler and the geometric center inconsistent }.
Preferably, sef-adapting filter is as filtering circuit.
According to as the above-mentioned speed detector of the present invention that constitutes, for example,, also can accurately calculate the rotating speed of described revolving member even mutually internally inconsistent when the geometric center of the center of rotation of described revolving member and described scrambler.That is to say that even inconsistent each other and result from the detection signal of described rotating speed detecting sensor based on the change of this inconsistency when described center, this change can be offset.Therefore, by accurately holding various states, can carry out rapid and correct measurement based on the rotating speed of revolving member.
Especially, when sef-adapting filter is used as filtering circuit, postpones and for zero and to utilize the various controls of rotating speed promptly to carry out with counteracting change corresponding signal process.
When the present invention was implemented, preferably, the error component of detection signal was made of a rotative component of scrambler, and described error component has constituted as the influence of described change and the object of filtered device circuit for eliminating.
The change width of a rotative component of scrambler is compared easy increase with other components, therefore, by offset the change of described component by filter circuit, can increase the degree of accuracy of the rotating speed detection of revolving member effectively.
In addition, except sef-adapting filter, the digital filter of one or more kinds or analog filter, or low-pass filter, or notch filter can be used as filtering circuit respectively.
In using the situation of filtering circuit, when using when cutting off frequency along with the number of times fixed type wave filter of the rotation speed change of revolving member, even in the use that the rotating speed of revolving member changes, detection signal also can be handled effectively by filtering circuit.
In addition, when when implement adopting sef-adapting filter and filtering circuit of the present invention, preferably, described connector lug number from wave filter is arranged to equal each umber of pulse when changeing of described scrambler.
In addition, the wave filter that preferably will be moved by the LMS of wheel synchronization type is as sef-adapting filter.
When constituting in this kind mode, the necessary calculation times of detection signal of handling the rotating speed detecting sensor when each pulse of scrambler is reduced to significantly to be enough to and can be handled by computing unit (CPU) cheaply, this cheaply the computing velocity of computing unit (CPU) be not fast especially.
In addition, preferably, calculate described sef-adapting filter filter factor mean value and based on the DC level of the detection signal of the described rotating speed detecting sensor of this mean value correction.
In this kind situation, preferably with the mean value of following numerical value as filter factor, promptly, the mean value of the filter factor of any two somes sampling that (position of the side of 180 degree toward each other) occurs in equidistant place on the rotation direction of described scrambler, or constituting 4 of a plurality of data splittings or more than the mean value of the filter factor on 4 o'clock, described data splitting is the right combination of filter factor of any two somes sampling of occurring in equidistant place on the rotation direction of described scrambler.
When constituting in this mode, even in the situation of using the sef-adapting filter that moves by wheel synchronization type LMS algorithm, described sef-adapting filter can prevent that also the DC level of the detection signal of described rotating speed detecting sensor is cancelled, and can accurately hold the various states based on the rotating speed of described revolving member.
In addition, preferably, described sef-adapting filter is parallel to main signal channel (main channel) setting, and described main signal channel is used to transmit the described detection signal of described rotating speed detecting sensor.In addition, along this passage, will deduct from the error component of the variation of the described rotating speed detecting sensor of the formation that described sef-adapting filter calculated at the downstream portion place of described main signal channel.In addition, by such formation, can eliminate the influence of change of the detection signal of described rotating speed detecting sensor.
When sef-adapting filter is parallel to main signal channel when being provided with in this mode, by employing be different from wave filter and main signal channel in series (insertion) arrange and the characteristic of wave filter becomes the configuration of variable configuration by certain methods commonly used in the background technology, can be easily and eliminate the influence of change of the detection signal of rotating speed detecting sensor fully.In addition, though in wave filters such as notch filter polyphone ground is inserted into the situation of main signal channel, have the possibility of generation time delay in main signal channel, by wave filter and main signal channel are provided with in parallel, do not worry postponing at the main signal channel generation time.
In addition, preferably, the digital filter or the analog filter that are moved by the steepest descending method are used as sef-adapting filter.In addition, more preferably, will be by the digital filter of LMS (lowest mean square) algorithm (based on the steepest descending method with the minimized operation rule of square error) operation or analog filter as sef-adapting filter.
Using (more preferably by the steepest descending method, the LMS algorithm) during the sef-adapting filter of operation, sef-adapting filter can will be finished under the minimized state of the inconsistent change that produces based on the geometric center of the center of rotation of revolving member and scrambler.Therefore, can be easily and eliminate fully based on the change error.
In addition, preferably, the reference signal (with the relevant signal of change) that constitutes the input of sef-adapting filter based on the output signal of the rotating speed detecting sensor of runout by the detection signal of the rotating speed detecting sensor relative with described scrambler (wherein, the change frequency of feature is known in changes) treatment circuit or oneself produce by described reference signal based on the treatment circuit of the rotating speed of detection signal calculating revolving member.
When constituting, can produce reference signal with ground, saving space at low cost in this mode.That is, in background technology, in the situation of the active noise controlling of known use sef-adapting filter, needn't know the frequency and the waveform of the external noise that need be lowered.Therefore, need based on the collected external noise of the microphone that is arranged by branch (producing reference signal) by signal from outside input produce the sound that is used to offset described external noise (have with the identical amplitude of external noise and its waveform phase depart from the sound of 180 degree from the waveform phase of described external noise) reference signal.On the contrary, with sef-adapting filter as in the situation of the present invention of filtering circuit, by using sef-adapting filter, reduced based on the change signal of the detection signal of the rotating speed detecting sensor of runout.In addition, the changing features number of times during one of scrambler changes is known in advance, therefore, by observing the pulse number of each commentaries on classics of scrambler, under the situation of the sensor that does not need to be provided for especially to measure runout, can produce and changes relevant reference signal.Described reference signal can be made of following any waveform that each commentaries on classics of scrambler constitutes one-period, i.e. sine wave, triangular wave, sawtooth wave, square wave and pulsating wave.
In addition, preferably, change about the described detection signal of described rotating speed detecting sensor, low-pass filter is arranged on the front or the back of described sef-adapting filter, with average second change, this second change based on reason different with reason based on the change (so-called accumulation pole pitch error) of the runout of scrambler, and cycle of this second change be shorter than the cycle of change (first changes) based on runout.
Because in the change of the detection signal of the rotating speed detecting sensor that rotation produced of scrambler, except having the change with long cycle (first change) (low frequency wave) based on runout, the change with short cycle (second change) (high frequency waves) that the pole pitch error (pole pitch error) that also exists the variation by in a circumferential direction feature to constitute causes.Be difficult to reduce the change of high frequency waves by sef-adapting filter.Yet, can revise the high frequency waves change by the low-pass filter that uses averaging filter etc., averaging filter is carried out the average treatment of moving average etc.Therefore, when the low-pass filter of averaging filter etc. is arranged on the front of aforesaid sef-adapting filter or back, not only can reduce change (first change) (being called so-called accumulation pole pitch error), can also reduce change (second change) based on the detection signal of the rotating speed detecting sensor of the pole pitch error of scrambler changing features based on the detection signal of the rotation detecting sensor of scrambler runout.
In addition, when implementing sef-adapting filter as filter circuit of the present invention, preferably, the revolving member that supports scrambler regularly is made of retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
Produced change owing to the inconsistency of the center of rotation of scrambler and geometric center based on the detection signal of the rotating speed detecting sensor of scrambler runout.In addition, this inconsistency is also by generations such as integrated errors.Yet, by increasing integrated precision, can be suppressed to the degree that reality does not throw into question based on the inconsistency at two centers of integrated error.
Yet, in the situation that scrambler is supported by retainer,, still can produce the center of rotation of scrambler and the inconsistency of geometric center even be made into consistently completely mutually when the geometric center separately of retainer and scrambler.Reason is, as mentioned above, has the gap between the inner face of the groove nest of the rolling surface of each rolling member and retainer.
Therefore, when using scrambler by the retainer fixed support to detect the rotating speed of this retainer, importantly handle change based on the detection signal of the center of rotation of scrambler and the inconsistent rotating speed detecting sensor between the geometric center.
In addition, especially, when detection faces is side on the axial direction at scrambler, importantly implement sef-adapting filter the present invention as filtering circuit.
In the situation that scrambler is supported by partial fixing of retainer with in the not consistent each other situation of the geometric center of scrambler and center of rotation, no matter even the detection faces of scrambler by be peripheral surface, or any an of side in the axial direction constitutes, the detection signal of rotating speed detecting sensor can change based on described inconsistency.Yet, when the test section of scrambler and speed detector is arranged on the inside of the finite space in the rolling bearing, by a side on the axial direction of scrambler is constituted the degree of freedom that detection faces can increase design.
In addition, what can expect is, with sef-adapting filter as the embodiments of the invention of the filtering circuit load-measuring device of roller bearing unit preferably.
The load-measuring device of rolling bearing has set collar, swivel becket, a plurality of rolling members, a pair of speed detector and computing unit.
Even wherein set collar does not rotate when being used yet.
In addition, swivel becket and set collar are provided with and swivel becket rotates in use concentrically.
In addition, it respectively is between two rows' the fixation side track and rotating side track that described each rolling member rollably is arranged at the part respect to one another place of set collar and swivel becket, every row has a plurality of rolling members, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows.
In addition, speed detector is used to detect the right rotating speed of retainer that keeps two row's rolling members.
In addition, computing unit is based on the load of being calculated by the right rotating speed of the detected retainer of each speed detector between described set collar and described swivel becket.
When sef-adapting filter being applied in the load-measuring device of roller bearing unit as the present invention of filtering circuit, above-mentioned each speed detector is made of said structure.
More preferably, swivel becket forms by being in the wheel hub that rotates with wheel under the state that is fixed on the automotive wheel.
Description of drawings
Fig. 1 is the cut-open view that is used to measure the roller bearing unit that is integrated with speed detector of load, and it shows the first embodiment of the present invention;
Fig. 2 is the diagrammatic sketch of the part A of enlarged drawing 1;
Fig. 3 has taken out retainer and rolling member, scrambler, rotating speed detecting sensor with from the synoptic diagram shown in the observed state of the upside of Fig. 2;
Fig. 4 is the synoptic diagram of rolling bearing, and it is used to illustrate can be based on the reason of tachometric survey load;
Fig. 5 shows the block diagram of circuit, and this circuit is used for reducing change based on the output signal of the rotating rotating speed detecting sensor of retainer by sef-adapting filter;
Fig. 6 is the synoptic diagram that shows retainer and scrambler from the side direction of Fig. 1 to 3, and it is used for explanation
Make the reason of the output signal variation of rotating speed detecting sensor based on the retainer revolution;
The curve map of the state that the signal that Fig. 7 shows the indication rotating speed changes based on retainer revolution and pole pitch error, this signal calculates from output signal of speed sensor;
Fig. 8 shows the curve map of change that reduces to indicate the signal of rotating speed by sef-adapting filter, and described signal calculates from output signal of speed sensor;
Fig. 9 shows the curve map of such situation, promptly, make sef-adapting filter work and during at the LMS algorithm that adopts syncsort not about the correction of DC level, the situation that is used to indicate the signal of rotating speed to change, thus the necessity of the second embodiment of the present invention is described;
Figure 10 is the diagrammatic sketch that is similar to Fig. 5, and it shows the second embodiment of the present invention;
Figure 11 shows filter coefficient is taken a sample to carry out the diagrammatic sketch about the correction of DC level;
Figure 12 shows the curve map of such situation, that is, when the LMS algorithm that adopts wheel synchronization type made sef-adapting filter work and carries out correction about the DC level, the situation that is used to indicate the signal of rotating speed to change was to show the effect of second embodiment;
Figure 13 shows the process flow diagram of the work that is used in the low-pass filter in the third embodiment of the present invention;
Figure 14 shows the process flow diagram of the work that is used in the notch filter in the fourth embodiment of the present invention;
Figure 15 is the cut-open view of the roller bearing unit of the sensor that known being integrated with is used to measure radial load in background technology;
Figure 16 is the cut-open view of the roller bearing unit of the sensor that known being integrated with is used to measure axial load in background technology.
In addition, in the Reference numeral in the accompanying drawings, mark 1,1a indicates outer shroud, mark 2,2a indicates wheel hub, mark 3,3a indication rotating side flange, mark 4 indication hub bodies, mark 5 indication nuts, ring in mark 6 indications, the outer loop orbit of mark 7 indications, loop orbit in mark 8 indications, mark 9a, 9b indicates rolling member, mark 10,10a indicates mounting hole, mark 11 indicating bit displacement sensors, mark 12 indication sensor rings, mark 13 indication sensor rotors, mark 14 indicating closures, mark 15 indication rotating speed detecting sensors, mark 16 indication steering knuckles, mark 17 indication fixation side flanges, mark 18 indication bolts, mark 19 indication screws, mark 20 indication load transducers, mark 21a, 21b indicates retainer, mark 22 indication sensor unit, mark 23 indication leading sections, mark 24a, 24b indication revolution speed (revolution speed) detecting sensor, mark 25 indication edge parts, mark 26a, 26b indication revolution speed detects scrambler, and mark 27 indication rotating speeds detect scrambler, mark 28 indication sef-adapting filters.
Embodiment
With reference to following accompanying drawing, will speed detector and the load-measuring device according to the roller bearing unit of various embodiments of the present invention be described in detail.
(first embodiment)
Fig. 1 to 8 shows the first embodiment of the present invention.Shown embodiment is the embodiment of the present invention when being applied on the load-measuring device of roller bearing unit, described load-measuring device is used for measurement and is applied to support automobile driving wheel (FR vehicle, RR vehicle front-wheel, MD vehicle front-wheel, the trailing wheel of FF vehicle) load on the roller bearing unit.The formation of rolling bearing of roller bearing unit portion and running at this are similar to formation and running in the above-mentioned background technical pattern shown in Figure 15, therefore the part that is equal to, and followingly describes the characteristic manipulation of concentrated area to present embodiment omitting or to simplify the explanation that repeats with identical Reference numeral.
The outer peripheral face that constitutes the wheel hub 2 of swivel becket is formed with two and arranges the interior loop orbit 8,8 of radially thrust type, and it constitutes the rotating side track respectively.In addition, the inner peripheral surface that constitutes the outer shroud 1 of set collar is formed with two and arranges the outer loop orbit 7,7 of radially thrust type, and it constitutes the fixation side track respectively.In addition, by arranging two of radially thrust type inner orbit 8,8 and outer shroud 1 and arrange between the radially thrust type outside track 7,7 wheel hub 2 is supported rotationally by the internal side diameter of outer shroud 1 under the following state rolling member (ball) 9a, 9b rollably being supported on two of wheel hub 2, described state promptly, each rolling member (ball) 9a, 9b are divided into two rows (2 row) and keep, wherein maintain a plurality of in the rolling member among each row respectively by retainer 21a, 21b.Under this state, each row's rolling member 9a, 9b have the reciprocal contact angle α of direction a, β b(Fig. 2) and have identical size and have two of the integrated type in the back side (back faceintegrating type) with formation and arrange radially thrust type ball bearing.Each row's rolling member 9a, 9b are applied in preloading of enough sizes, and its degree is to make rolling member can not damage (lost) because of the axial load that applies in use.When adopting roller bearing unit, outer shroud 1 is supported regularly by suspension and brake disc, and the wheel portion of wheel is supported regularly by the rotating side flange 3 of wheel hub 2.
Mounting hole 10a forms with following state, that is, its pars intermedia and part between two exclusive loop orbits 7,7 of the above-mentioned roller bearing unit of formation at the axial direction of outer shroud 1 is passed outer shroud 1.In addition, sensor unit 22 is inserted among the mounting hole 10a along the diametric(al) outside-in of outer shroud 1, and the leading section 23 of sensor unit 22 is outstanding from the inner peripheral surface of outer shroud 1.Leading section 23 has a pair of constitute respectively revolution speed detecting sensor 24a, the 24b of rotation detecting sensor and single rotating speed detecting sensor 15a.
Each revolution speed detecting sensor 24a, 24b therein is used to measure the rolling member 9a that is arranged to two rows, the revolution speed of 9b.Each revolution speed detecting sensor 24a, 24b place, two sides along axial (left and right directions of Fig. 1 to 2) of wheel hub 2 in leading section 23 is provided with its detection faces separately.In the situation of present embodiment, each revolution speed detecting sensor 24a, 24b detect the rotating speed of the rotating speed of each rolling member 9a, the 9b that are arranged to two rows as corresponding retainer 21a, 21b.For this purpose, in the situation of present embodiment, the edge part 25,25 that constitutes each retainer 21a, 21b relative to each other is arranged on both sides.In addition, the revolution speed that forms annular respectively detects on the face that scrambler 26a, 26b be connected each edge part 25,25 and by its support, described edge part 25,25 on its whole circumference toward each other.The characteristic of the detection faces of each scrambler 26a, 26b along the circumferential direction equally spaced and alternately changes, thereby the rotating speed of each retainer 21a, 21b can be measured by revolution speed detecting sensor 24a, 24b.
For this purpose, the detection faces of each revolution speed detecting sensor 24a, 24b is arranged to detect the face toward each other of detection faces of scrambler 26a, 26b closely relative with forming each rotating speed.In addition, preferably each rotating speed is detected distance (detector gap) between the detection faces of the detection faces of scrambler 26a, 26b and revolution speed detecting sensor 24a, 24b and be arranged to greater than groove nest gap (picket clearance) and be equal to or less than 2mm, described groove nest gap is the gap between the rolling surface of the inner face of each groove nest of each retainer 9a, 9b and each rolling member 9a, 9b.When detector gap is equal to or less than groove nest gap, be moved in the situation of size in this groove nest gap at each retainer 21a, 21b, the possibility that this has brought measurement face and has measured surface wear, so this situation is not preferred.On the contrary, when detector gap surpasses 2mm, be difficult to accurately measure the rotation that each revolution speed detects scrambler 26a, 26b by each revolution speed detecting sensor 24a, 24b.
On the other hand, rotating speed detecting sensor 15a is used to detect the rotating speed of the wheel hub 2 that forms swivel becket, and its detection faces is arranged on the front end face of leading section 23, and promptly outer shroud 1 is on the inner face on the diametric(al).In addition, the rotating speed coder 27 with cylindricality outwards is mounted between the pars intermedia that is fixed on wheel hub 2 and two rows' the inner orbits 8,8.It is relative with the outer peripheral face of the rotating speed detection scrambler 27 that forms detection faces that the detection faces of rotating speed detecting sensor 15a is arranged to.The characteristic that rotating speed detects the detection faces of scrambler 27 equally spaced and alternately changes at circumferencial direction, thereby the rotating speed of wheel hub 2 can be detected by rotating speed detecting sensor 15a.Also have, the measurement clearance between the outer peripheral face of rotating speed detection scrambler 27 and the detection faces of rotating speed detecting sensor 15a is restricted to and is equal to or less than 2mm.
In addition, each scrambler 26a, the 26b, 27 with the various structures that are used for the inspection vehicle wheel speed can be used to be provided at the signal of background technology control ABS or TCS.For example, can preferably use each scrambler 26a, 26b of being made by a plurality of magnets, described a plurality of magnets alternately and are equally spaced arranged at last N magnetic pole of detection faces (side or outer peripheral face) and S magnetic pole.By way of parenthesis, can use simply the scrambler made by magnetic material or its optical characteristics in a circumferential direction equally spaced and the scrambler (by combining) that alternately changes with optics rotating speed detecting sensor.
In the situation of present embodiment, the permanent magnet of annular is detected scrambler 26a, 26b as each rotating speed, wherein, its side that forms detection faces alternately and equally spaced is furnished with S magnetic pole and N magnetic pole.Each rotating speed detects scrambler 25a, 25b and connects on the side of the edge part 25,25 that is fixed on each retainer 21a, 21b, this makes separately by bonding, or come moldedly by inserted mode system, described inserted mode system promptly detects the method that scrambler 26a, 26b are placed on the inside of cavity with rotating speed by injection molding method molded each retainer 21a, 21b the time.Select the method that will adopt according to factors such as cost and needed strength of joint.
In addition, the rotating speed detecting sensor of magnetic class can preferably be used as each revolution speed detecting sensor 24a, 24b and rotating speed detecting sensor 14a, and these all sensors are the sensors that are used to detect rotating speed.In addition, the Source Type (active type) that has that is integrated with the magnetic detection element of Hall element (hole element), Hall IC (hole IC), diamagnetism element (MR element, GMR element), MI element etc. rotates the rotating speed detecting sensor that detecting sensor is preferably used as the magnetic class.In order to constitute the rotating speed detecting sensor that Source Type is arranged that is integrated with the magnetic detection element, for example, a side of magnetic detection element directly or the stator of making via magnetic material (when using the scrambler of making by magnetic material) be resisted against on the end face on the direction of magnetization of permanent magnet, and the another side of magnetic detection element is arranged to directly or the stator made via magnetic material and each scrambler 26a, 26b, 27 detection faces are relative.In addition, in the situation of present embodiment, scrambler need be on a side of sensor, that make by permanent magnet.
In the situation according to the load-measuring device of roller bearing unit of the present invention, the detection signal of each sensor 24a, 24b, 15a is input in the computing unit, and this computing unit is not shown.In addition, this computing unit calculates the radial load that applies and axial load one or both based on the detection signal that comes from each sensor 24a, 24b, 15a transmission between outer shroud 1 and wheel hub 2.For example, when calculating radial load, computing unit calculate by the revolution speed of detected each row's of revolution speed detecting sensor 24a, 24b rolling member 9a, 9b and.In addition, computing unit calculates radial load based on the ratio of the rotating speed of this summation and the detected wheel hub 2 of rotating speed detecting sensor 15a.In addition, when calculating axial load, computing unit calculates revolution speed detecting sensor 24a, the detected difference of respectively arranging the revolution speed of rolling member 9a, 9b of 24b.In addition, computing unit calculates axial load based on this difference and ratio by the rotating speed of the detected wheel hub 2 of rotating speed detecting sensor 15a.To provide explanation with reference to figure 4 to this respect.In addition, next the explanation that will provide promptly, is not applying axial load F based on following hypothesis aState in each row's the contact angle α of rolling member 9a, 9b a, α bMutually the same.
Fig. 4 illustrates the loaded work piece state by concise and to the point display scrolling bearing, and this rolling bearing is used to support wheel as shown in Figure 1.Preload F 0, F 0Be applied on rolling member 9a, the 9b in the two row's tracks that are arranged between interior loop orbit 8, the 8 and two exclusive loop orbits 7,7 of two rows.In addition, roller bearing unit is applied radial load F by tare etc. in use rIn addition, the centrifugation power that is applied when turning driving etc. is applied for radial load F aPreload F 0, F 0, radial load F r, axial load F aIn any one all influence the contact angle α (α of each rolling member 9a, 9b a, α b).In addition, as contact angle α a, α bDuring change, the revolution speed n of each rolling member 9a, 9b cChange.When the pitch diameter of each rolling member 9a, 9b is indicated by mark D, the diameter of each rolling member 9a, 9d indicate, have by mark d corresponding in the rotating speed of wheel hub 2 of loop orbit 8,8 by mark n iIndicate, and the outer shroud 1 with corresponding outer loop orbit 7,7 is by mark n oDuring sign, revolution speed n cRepresent by following equation (1).
n c＝{1-(d·cosα/D)·(n i/2)}+{1+(d·cosα/D)·(n o/2)}...(1)
From equation (1) obviously as can be known, the revolution speed n of each rolling member 9a, 9b cContact angle α (α with each rolling member 9a, 9b a, α b) variation and change, and as mentioned above, contact angle α a, α bWith radial load F rWith axial load F aVariation and change.Therefore, revolution speed n cWith radial load F rWith axial load F aVariation and change.Specifically, about radial load F r, radial load F rBig more, revolution speed n cMore little, reason is that wheel hub 2 rotates and outer shroud 1 does not rotate.In addition, about axial load, the revolution speed that the row's of support axial load revolution speed becomes the row who supports axial load greatly and not diminishes.Therefore, based on revolution speed n cCalculate radial load F rWith axial load F a
Yet, with revolution speed n cThe relevant contact angle α of variation not only with radial load F rWith axial load F aIn associated with each other, change, but also with preloading F 0, F 0Change.And, revolution speed n cAlso with the rotation speed n of wheel hub 2 iChange with being directly proportional.Therefore, has only axial load F a, preload F 0, F 0, rotation speed n iEach all considered relatively, could calculate revolution speed n exactly cTherein preload F 0, F 0Do not change with duty, therefore can be easily by eliminating influences such as initial setting up.In contrast to this, radial load F r, axial load F aRotation speed n with wheel hub 2 iAlways change, therefore, can not wait by initial setting up and get rid of influence with duty.
In view of said circumstances, in the situation of the foregoing description, as mentioned above, when calculating radial load,, can reduce axial load F by calculating by the detected summation of respectively arranging the revolution speed of rolling member 9a, 9b of each revolution speed detecting sensor 24a, 24b aInfluence.In addition, when calculating axial load,, can reduce radial load F by calculating the difference between the revolution speed of respectively arranging rolling member 9a, 9b rInfluence.In addition, in any situation, by based on above-mentioned summation or above-mentioned difference and rotation speed n by the detected wheel hub 2 of rotating speed detecting sensor 15a iRatio, the rotation speed n of wheel hub 2 iInfluence got rid of.Yet, calculate axial load F at the ratio of arranging the rotating speed of ground rolling member 9a, 9b based on each aThe time, the rotating speed of wheel hub 2 then needn't need.
In addition, though exist signal to calculate one of them of radial load and axial load and both various existing methods based on each revolution speed detecting sensor 24a, 24b, but these methods are uncorrelated with essence of the present invention, therefore will be omitted explaining of its.
Yet when calculating arbitrary load by any method, importantly the detection signal based on each revolution speed detecting sensor 24a, 24b accurately calculates the revolution speed of respectively arranging rolling member 9a, 9b, thereby increases the degree of accuracy of load measurement.
On the contrary, the detection signal of each revolution speed detecting sensor 24a, 24b (based on these the signal of indication revolution speed) comprises pole pitch (the S the utmost point located adjacent one another in a circumferential direction and spacing between the N utmost point) change error, that have above-mentioned upper frequency based on detection faces and has the change of above-mentioned lower frequency accordingly with the runout motion of retainer 21a, 21b.When not handling (reducing) above-mentioned change, each revolution speed of arranging rolling member 9a, 9b can accurately not calculate, and therefore, the measuring accuracy of radial load and axial load descends.Therefore, in the situation of present embodiment, by adopting sef-adapting filter as described in Figure 5, reduced the change of having than small frequency based on runout motion, in addition, by adopting the low-pass filter as averaging filter etc., it is not shown, is reduced based on the change with upper frequency of the error of pole pitch.
At first,, will the reason that two kinds of changes are produced be described to Fig. 7 with reference to figure 6.In view of the necessity that each rolling member 9a (9b) is kept rotationally, there is the gap between the inner face of the groove nest of the retainer 21a (21b) of maintenance revolution speed detection scrambler 26a, 26b (or itself having the function of scrambler) and the rolling surface of each revolving member 9a (9b).Therefore, even the precision that each assembly combines is improved as much as possible, when the work of roller bearing unit, still there is centre of pitch circle (center of rotation of the wheel hub 2) O of each rolling member 9a (9b) 2Center of rotation O with retainer 21a (21b) 21The possibility that relative to each other departs from the amount of δ, this δ amount is illustrated among Fig. 6 large.In addition, based on this offset, rotating speed detects scrambler 26a (26b) at center of rotation O 21Around carry out runout motion.The result of this runout motion is that the detection faces that revolution speed detects scrambler 26a (26b) has in the translational speed that is different from the direction of rotation direction.In the translational speed that is different from the direction of rotation direction, for example, deduct on the translational speed on the translational speed on the left and right directions of Fig. 6 is added to rotation direction and from the translational speed on rotation direction.On the other hand, revolution speed detecting sensor 24a (24b) detects the revolution speed of each rolling member 9a (9b) based on the translational speed of the detection faces of revolution speed detection scrambler 26a (26b), therefore, the big or small detection signal of its detection faces being arranged to the revolution speed detecting sensor 24a (24b) relative with the side of revolution speed detection scrambler 26a (26b) for the offset of δ has influence.
Be arranged to detect the side of scrambler 26a (26b) when relative with revolution speed when the detection faces of revolution speed detecting sensor 24a (24b), the detection signal of revolution speed detecting sensor 24a (24b) (base is indicated the signal of revolution speed thereon) changes shown in the dot-and-dash line α of Fig. 7 sinusoidally.That is to say that even when the revolution speed of each rolling member 9a (9b) is constant, the revolution speed indicated by the output signal of revolution speed detecting sensor 24a (24b) changes sinusoidally shown in dot-and-dash line α.Specifically, when the translational speed on the left and right directions at Fig. 6 adds to translational speed on rotation direction, output signal become with faster than the corresponding signal of the speed of actual revolution speed.On the contrary, when the translational speed at left and right directions deducts from the translational speed on rotation direction, output signal becomes and the corresponding signal of speed that is slower than actual revolution speed.Though the size of the δ that in Fig. 6, is drawn out amount more exaggerative than in the actual conditions,, more accurately calculate the radial load F that is applied on the roller bearing unit when needs rWith axial load F aSo that more strictly carry out when for example making the control of vehicle stabilization, need to solve because the eccentric error of being brought.
In addition, though the S utmost point of arranging on the side of revolution speed detection scrambler 26a, 25b and the pole pitch (pitch) between the N utmost point should keep identical inherently, but, owing to the reasons such as magnetization error that produced in the mill, there is the different each other situation of pole pitch, although difference therebetween is less.In addition, based on this error, the detection signal of revolution speed detecting sensor 24a (24b) is changed.Based on the variable cycle of the error of pole pitch (magnetizing pitch) than wanting much shorter based on the variable cycle of runout motion.For example, detect when revolution speed on the whole periphery of characteristic (repetition of the S utmost point and the N utmost point) in detection faces of side (detection faces) of scrambler 26a (26b) and change 60 times, become based on 1/60 of the variable cycle of runout motion based on the variable cycle of pole pitch error.
Detected the detection signal (base is indicated the signal of revolution speed thereon) of scrambler 26a (26b) output by what two kinds of changes of adding (stack) constituted shown in the thick line β Fig. 7 from revolution speed.In order accurately to calculate radial load Fr and axial load Fa, need reduce this two kinds of changes.Therefore, in the situation of present embodiment, reduce according to the change with lower frequency of the runout motion sef-adapting filter 28 by as shown in Figure 5, and reduce according to the change with upper frequency of the pole pitch error low-pass filter by averaging filter etc., this low-pass filter is not shown.In addition, as adaptive algorithm (adaptive algorism), is preferred with the FIR wave filter as LMS (lowest mean square (least squares the mean)) algorithm of sef-adapting filter (based on the steepest descending method with the minimized operation rule of square error), and described FIR wave filter is being mentioned subsequently.
At first, as shown in Figure 5, will describe reduce to have low-frequency change by sef-adapting filter.The translational speed that detects scrambler 26a (26b) the part place relative with revolution speed detecting sensor 24a (24b) at revolution speed constitutes by following manner, is about to actual speed d dVariation d with the superficial velocity (apparent speed) of a rotative component that causes based on offset δ and by runout nStack.Therefore, the output signal d of revolution speed detecting sensor 24a (24b) becomes indication with actual speed d dWith variation d nSpeed sum (the d=d of addition d+ d n) signal.When sef-adapting filter with variation d nWhen from output signal d, deducting, actual speed d dCalculated.
On the other hand, in order to make sef-adapting filter 28 work, need to adopt with based on the relevant reference signal x of the variation of runout.As reference signal d nIn the time of can obtaining, sef-adapting filter 28 forms FIR (finite impulse response (FIR) (finite impulse response)) wave filters (have the wave filter of finite impulse response (FIR) time=make the wave filter of impulse response zero clearing) in finite time, this FIR wave filter has by self study and actual signal stream " d n→ d " the identical characteristic of transport property.In addition, as the offseting signal y{=y (k) that result of calculation provided by sef-adapting filter 28, it is being mentioned subsequently } when deducting from the output signal d of revolution speed detecting sensor 24a (24b), this subtracts each other and becomes and the variation d that is caused by runout nFrom the output signal d of revolution speed detecting sensor 24a (24b), remove (d-d n) effect be equal to.As variation d nWhen removing in this kind mode, sef-adapting filter 28 does not filter the output signal d that (the first half of Fig. 5) upward transmitted in the signal main channel, is used to remove variation d and be based on the reference signal x calculating of upward transmitting at subchannel (the latter half of Fig. 5) nOffseting signal y.In addition, offseting signal y only deducts from the output signal d that constitutes the main channel, and therefore, the sound of output signal d would not be delayed.
In situation of the present invention, reference signal x is produced by following circuit oneself, described circuit promptly, based on the variation many times that detects the characteristic during once the rotating of scrambler 26a (26b) at revolution speed and to detecting the circuit that the output signal of the relative revolution speed detecting sensor 24a (24b) of scrambler 26a (26b) is handled with revolution speed, or the treatment circuit that the revolution speed of each rolling member 9a (9b) is calculated based on detection signal.Therefore, can reduce to produce the required cost of reference signal x.That is to say, when the known active noise controlling structure of using as sef-adapting filter in statu quo is applied to the structure of the revolution speed that is used for each rolling member 9a (9b) of accurate Calculation in background technology, the sensor of the displacement transducer that the runout of revolution speed detection scrambler 26a (26b) is arranged by branch, speed probe etc., and the detection signal of described sensor is as the reference signal x of sef-adapting filter 28.Naturally, the present invention also can be implemented by this structure, because the sensor that a certain amount of branch is arranged needing to cause cost and installing space.
Opposite with it is, in the situation of present embodiment, under the situation of the detection signal that does not adopt the sensor that is arranged with this mode branch, obtain reference signal, by sef-adapting filter 28, detect the variation d of output signal of revolution speed detecting sensor 24a (24b) of the runout of scrambler 26a (26b) based on revolution speed nReduced.That is to say, can know the number of times (number of times of the S utmost point and the N utmost point) of the characteristic changing during revolution speed detects once rotating of scrambler 26a (26b) in advance.Therefore by observing the number of times of the pulse when revolution speed detects scrambler 26a (26b) and rotates a time, do not needing to divide especially under the situation about being arranged as the sensor of displacement transducer, rotation sensor etc., can produce and change d nRelevant reference signal x.Specifically, the influence of the runout of revolution speed detection scrambler 26a (26b) is made of the waveform of the principal component of once rotating, for example, when each transfers 60 pulses to as revolution speed detection scrambler 26a (26b), can oneself produce the waveform that constitutes one-period by 60 data as sine wave, triangular wave, sawtooth wave, square wave, pulsating wave etc.
The waveform of reference signal x can also be produced by the treatment circuit (CPU) of the revolution speed that is used to calculate each rolling member 9a, 9b, and can produce by the electronic circuit portion (IC) that anchors on the revolution speed detecting sensor 24a (24b).In any case, from the output signal d of revolution speed detecting sensor 24a (24b), deducted to calculate indication actual speed d based on the offseting signal y of resulting reference signal x dCorrected signal e (=e (k) is mentioning subsequently).The corrected signal e that is calculated in this mode flows to the treatment circuit of the revolution speed that is used to calculate each rolling member 9a (9b), is used to calculate revolution speed, in addition, and also as by the sef-adapting filter 28 own information of learning.
In addition, based on equation as follows (2) to (4), by calculate in the part of sef-adapting filter 28 offseting signal y and with this offseting signal y from revolution speed detecting sensor 24a (24b) thus output signal deduct and provide the computing of corrected signal e to be carried out.
y ( k ) = Σ i = 0 N - 1 w k ( i ) · x ( k - i ) . . . ( 2 )
e(k)＝d(k)-y(k) ...(3)
w k+1(i)＝w k(i)+2μ·e(k)·x(k-i) ...(4)
In equation (2) (3) (4), the data number in symbol k sequence instruction time, symbol N indication is as the connector lug number (tap number) of the FIR wave filter of sef-adapting filter 28.In addition, the filter factor of symbol w indication FIR wave filter, symbol w kIndication employed filter factor when k data of computing, symbol w K+1Indication is when the employed filter factor of the continuous data sequence of computing (k+1) respectively.That is to say that in the present embodiment, the FIR wave filter becomes sef-adapting filter, it suitably upgrades filter factor continuously by equation (4).Because filter factor can own be adjusted when entry into service, so can replace when entry into service the employed filter factor W first time with zero kYet,, desired filtering characteristic and its numerical value can be calculated in advance and employed filter factor W for the first time can be replaced when entry into service kIn addition, last employed filter factor can be stored in the memory storage of EEPROM etc. and can use when restarting in the computing in front.
In addition, symbol μ in the equation (4) is the numerical value that is used for determining renewal amount at filter factor during with reference to suitableization of step parameter oneself, and normally be about numerical value of 0.01 to 0.001, yet, in fact, this numerical value can be set by the acceptability of studying the self-adaptation operation in advance, maybe can upgrade continuously by using equation (5) as follows.
μ = α Σ i = 0 N - 1 x 2 ( k - i ) · · · ( 5 )
In addition, similarly, equation (5) thus in α be used for determining that renewal amount makes the parameter of suitableization of filter factor oneself, α can more easily be provided with such as the μ of the above at the scope of 0＜α＜1 and α.In addition, in the situation of present embodiment, reference signal x oneself produces, and therefore, the denominator value in the equation (5) is known and also can calculates the optimal values of μ in advance.From reducing the viewpoint of calculated value, preferably calculate the numerical value of μ in advance and make up constant so that filter factor is suitably changed voluntarily by equation (4) by μ by equation (5).
As mentioned above, calculate indication actual speed d by will from the output signal d of revolution speed detecting sensor 24a (24b), deducting by the offseting signal y that sef-adapting filter 28 is calculated dCorrected signal e.In addition, based on the corrected signal e that is calculated by this way, the revolution speed of each rolling member 9a (9b) is accurately calculated.In addition, in the situation of reality, have second change in the output signal d of revolution speed detecting sensor 24a (24b), this second change is based on the pole pitch error, and the cycle of this second change is shorter than the cycle based on the described change of the runout of revolution speed detecting sensor 24a (24b).Therefore, by be provided for the low-pass filter with the average averaging filter of second change etc. before or after sef-adapting filter 28, although second change exists, the revolution speed of each rolling member 9a (9b) is accurately calculated.Be used for suppressing the high frequency change averaging filter etc. low-pass filter structure and operate at background technology for widely known, so will omit detailed description thereof.
Fig. 8 shows about by using sef-adapting filter 28 to suppress simulative example based on the work of the change of scrambler runout.Fig. 8 shows the scrambler that changes by 60 pulses/one and measures with constant speed 100min -1The situation of the rotating speed of the revolving member that rotates.The result that thick line a indication is such, that is, the testing result of rotating speed detecting sensor (d is consistent with output signal) only equals 15 moving average processing (averaging filter only is provided) through the connector lug number.In this case, because the influence of scrambler runout, the calculated value of rotating speed is about 70 to 130min -1Between change.In addition, the oscillation capacity of scrambler is set significantly the numerical value greater than reality produced for.
Opposite with it is to be shown in dotted line after the moving average of being indicated by thick line a by using result's (e is consistent with corrected signal) of sef-adapting filter correction data.Obviously can find out from dotted line b, though calculated value change after wave filter starting just, filter factor can own adjusting after the time through a short-term and result of calculation be transformed into and be essentially 100min -1Steady state value.From here as can be known, by averaging filter and the adopted method of sef-adapting filter both, have there is bigger difference in the pole pitch sum of errors between center of rotation and geometric center (rotation) scrambler even used, the rotating speed of revolving member also can accurately be calculated.
In addition, at two line a that calculate as shown in Figure 8, during b, when the sine wave that constitutes one-period as 60 pulses of reference signal x is to carry out step-by-step counting in the speed counting device and own formation.In addition, the step parameter of sef-adapting filter is set at μ=0.002, and connector lug is counted N=30.
(second embodiment)
Fig. 9 to 12 shows the second embodiment of the present invention.The present embodiment situation is characterised in that, the number of times of the necessary computing of detection signal by reducing the rotating speed detecting sensor when each pulse of scrambler significantly, processing can carried out in the computing unit (CPU) cheaply, and computing velocity is not special plot in this computing unit.For this purpose, in the situation of present embodiment, the LMS algorithm of wheel synchronization type is used can reduce calculated amount considerably.Yet when using the LMS algorithm of wheel synchronization type simply, in a rotative component revising (counteracting) formation scrambler runout, the DC level also has been corrected (counteracting), and this DC level indication is as the rotating speed of testing goal.Therefore, the forfeiture of the original function of speed detector is so the zero point of monitoring filter factor and execution are revised to prevent that the DC level is cancelled zero point.The feature of the embodiment that expects from this angle below will be described.This offset level in addition, in example shown in Figure 8, also has the situation of the trickle skew of DC level, although can not throw into question in practice.Therefore, in order to realize controlling accurately, in this case, also preferably carry out zero point and revise.
Though all above-mentioned each equations (2) (3) (4) all are to be used to make sef-adapting filter suitably to change in aforementioned first embodiment, in actual applications, can expect existing calculated amount to become the situation of problem.For example, when the connector lug number of sef-adapting filter was set to N=60, the total operation times that need carry out at each impulse duration of scrambler was 241 times, comprise 60 multiplication in the equation (2), 1 subtraction in the equation (3), in the equation (4) 180 times, i.e. 120 multiplication and 60 sub-additions.Therefore, be used for the two revolution speed required calculated amount of arranging rolling members of calculating and setting on single roller bearing unit and become 482 times/1 pulse.Though physically computational processing (operation times) must be used the relatively costly CPU with very fast arithmetic speed at that time.For example, the rotating speed that detects automotive wheel (4 take turns) is during with control vehicle operating stabilising arrangement ABS, TCS, VSC etc., must use the CPU (maybe can carry out the high-speed CPU of 241 times * 2 * 4=1928 time arithmetic) of 4 costlinesses. it has increased the cost of vehicle operating stabilising arrangement, therefore, this structure is not preferred.
In view of such situation, in the situation of present embodiment, intention is by adopting synchronous LMS algorithm to reduce calculated amount considerably, thereby can uses CPU cheaply.Yet, when sef-adapting filter when the LMS algorithm by wheel synchronization type carries out work, the sef-adapting filter that constitutes in this kind mode is not only offset the rotational oscillation pendulum component of scrambler, has also offset the DC component of indication rotating speed.Phenomenon with this kind mode canceling DC component is very remarkable when using synchronous LMS algorithm.Therefore, in the situation of present embodiment,, indicate the DC level of rotating speed accurately to be detected thereby make by the function of the output valve zero clearing that makes sef-adapting filter is provided.
At first, will the principle of work of the LMS algorithm of wheel synchronization type be described.In block diagram as described in Figure 5, be input to reference signal x in the sef-adapting filter 28 and can be by the signal of the representatives such as rotation of scrambler and relevant with n (n is a positive integer) rotative component of scrambler, therefore, this signal can be each commentaries on classics of pulse signal/scrambler.Therefore, suppose that situation is 1 pulse signal for reference signal x, simultaneously, the connector lug of sef-adapting filter 28 is counted the umber of pulse that N equals each commentaries on classics of scrambler.In this case, the reference signal x that is used in the calculating of time series k situation is illustrated in the equation as follows (6).
In equation (6), it is that the position j of 1 pulse is along with advancing of time series k shifted to the right side one by one that reference signal x becomes value, and when position j moved on to the position of " N-1 " of the rightmost side, in next time series, new pulse value was illustrated in the 0th position of the leftmost side.That is to say that reference signal x becomes that to be used for only will being worth be the position of 1 pulse is recycled to the N-1 position from the 0th position data sequence.When equation (6) was applied in the equation (2) (4), equation (7) (8) provided as follows.
y ( k ) = Σ i = 0 N - 1 w k ( i ) · x ( k - i ) = w k ( j ) · x ( k - j ) = w k ( j ) . . . ( 7 )
w k+1(j)＝w k(j)+2μ·e(k)·x(k-j)＝w k(j)+2μ·e(k) ...(8)
When the algorithm of sef-adapting filter 28 by general LMS algorithm rather than wheel synchronization type comes work, must repeatedly carry out in the calculating shown in each equation (2) (3) (4), and when the LMS algorithm of sef-adapting filter by wheel synchronization type comes work, can only carry out in the calculating shown in equation (7) (8) and the equation (3).For example, count N at the connector lug of sef-adapting filter 28 and be set in 60 the situation, when sef-adapting filter 28 came work by general LMS algorithm, the computing total degree of each pulse of scrambler became aforesaid 214 times.Opposite with it is, when the LMS algorithm of sef-adapting filter 28 by wheel synchronization type comes work, computing is carried out by the data of replacing equation (7), and can in equation (3), carry out at each impulse duration of scrambler and add up to 3 times arithmetic, 1 subtraction in equation (3), 2 computings in equation (8), i.e. 1 multiplication and 1 sub-addition.That is to say, compare,, operation times can be reduced about 1/80 by adopting the LMS algorithm of wheel synchronization type with the situation that does not adopt wheel synchronization type LMS algorithm.
Yet, when adopting wheel synchronization type LMS to make sef-adapting filter 28 work, also be cancelled in order to prevent the DC component that constitutes the signal of representing rotating speed, must revise the zero point of sef-adapting filter 28.Correction will be described as follows at zero point.The rotation that Fig. 9 shows by scrambler causes speed to detect the example of error, and it carries out the object lesson of the phenomenon of correction at zero point as needs.Expressed and the similar situation of the situation of Fig. 8 at the figure line shown in Fig. 9, with constant speed 100min -1The scrambler that the rotating speed of the revolving member that rotates is changeed by 60 pulses/1 is measured.Thick line shows at the connector lug number and equals the testing result (consistent with the output signal of Figure 10) that the rotating speed detecting sensor under the situation of (averaging filter only is provided) is handled in 15 moving average.In this case, because the runout of scrambler, the calculated value of rotating speed is about 70 to 130min -1Between change.In addition, the oscillation capacity of scrambler is set at significantly the value greater than reality produced.
When by use as shown in Figure 5 sef-adapting filter 28 handle shown in the thick line among Fig. 9 about the measurement data of rotating speed when offsetting the error based on the runout of scrambler, the setting value that depends on sef-adapting filter 28, there is following possibility, promptly outside the error component of offsetting based on runout, the DC level of also having offset the formation testing goal is (by the indicated expression rotating speed 100min of dotted line among Fig. 9 -1Signal).The phenomenon of offsetting necessary DC level in this kind mode is more remarkable when adopting wheel synchronization type LMS algorithm to make sef-adapting filter work.At the dot-and-dash line shown in Fig. 9 is its particular instance.
When adopting wheel synchronization type LMS algorithm to make sef-adapting filter work and do not take special measure, shown in dot-and-dash line c, not only the error component that rotates based on scrambler is cancelled but also is used to indicate the DC component of rotating speed also to be cancelled, and is zero thereby make output valve.This is that the filter factor W of sef-adapting filter 28 handles the phenomenon that the DC level is taken away by self-adaptation, and the result is that the output signal y of sef-adapting filter 28 has taken away the DC level.In order to address this problem, in the situation of present embodiment, as shown in figure 10, calculate the DC level from the mean value of filter factor W, and calculate the DC signal that pulse value constituted (when pulse value is 1, not needing to multiply each other) by this DC level being multiply by reference signal x.In addition, by with above-mentioned DC signal that calculates and signal e addition, can obtain being used to indicate the DC level of precise rotation, error is offset by sef-adapting filter 28 among the described signal e.
Next, the method that will calculate the DC level to the mean value by filter factor W describes.When making sef-adapting filter 28 work by wheel synchronization type LMS algorithm, the filter factor W of sef-adapting filter 28 changes as shown in figure 11, be cancelled by included error component in the signal of the indication rotating speed that output signal provided of revolution speed detecting sensor 24a (24b), and shown in the dot-and-dash line of Fig. 9, output valve is zero.In the example shown in Fig. 9, the connector lug of sef-adapting filter 28 is counted N and is set at 60, and therefore, the filter factor W shown in Figure 11 is made of 60 numerical value.The mean value of filter factor W, however the DC level of the rotating speed that i.e. indication will be calculated is by calculating 60 numerical value additions divided by 60.Yet when carrying out such calculating, the number of times of computing increases and can not realize fully constituting the CPU of the low-cost form of present embodiment purpose.
Simultaneously, as the object that is cancelled of error, that is, be made of n rotative component based on the waveform of scrambler runout, this n time rotative component mainly is made of a rotative component.In addition, in the situation of present embodiment, the connector lug of sef-adapting filter is counted the umber of pulse that N is arranged to equal scrambler rotation each time, and therefore, filter factor W becomes periodic function, and this function has period L (=60).The mean value that the mean value of any two points that is provided with the spacing of N/2 betwixt becomes with the individual point of all N (N=60) is equal to.Therefore, when the mean value that calculates two points was configured for indicating the DC level of rotating speed, operation times also can reduce significantly, and this is useful for the CPU that adopts low-cost form.When there is worry in the stability that the mean value that only adopts two points is brought, except these two points, also is chosen in any two points at the interval that is provided with N/2 (=30) therebetween and calculates the mean value of 4 points altogether.In addition, though not shown, even when filter factor W is the periodic function that rotates for n time, be used to calculate counting and suitably setting it at interval of equalization point by suitably increasing, can calculate above-mentioned mean value similarly.
The structure by present embodiment of showing Figure 12 suppresses the work simulation example based on the change of scrambler runout.Figure 12 shows the scrambler that changes by 60 pulses/1 and measures with 100min -1The situation of rotating speed of the revolving member that rotates of constant speed.Thick line is for equaling the testing result (d is consistent with output signal) that the rotating speed detecting sensor under the situation of (averaging filter only is provided) is handled in 15 moving average at the connector lug number.In this case, because the runout of scrambler, the calculated value of rotating speed is about 70 to 130min -1Between change.Dotted line b adopts the result who handles sef-adapting filter as shown in figure 10 by wheel synchronization type LMS, and carry out the correction of DC component by filter factor W, thereby offset the error component be included in the signal that is used for representing rotating speed, described signal is provided by the output signal of revolution speed detecting sensor 24a (24b).From dotted line b obviously as can be known, though data change when sef-adapting filter 28 starting just, filter factor W can own adaptation after the time in a short-term, and result of calculation is transformed into and is approximately 100min -1Steady state value.
(the 3rd embodiment)
Figure 13 shows the third embodiment of the present invention.According to present embodiment, low-pass filter is used to suppress the change based on the scrambler runout, and this change is called accumulation pole pitch error (accumulated pitcherror).That is to say, the error component of a rotative component reduces by adopting low-pass filter, low-pass filter is provided with the cut-out frequency under the frequency of once rotating the composition frequency that is lower than the main composition that constitutes change, the error component of a rotative component is called accumulation pole pitch error.In this case, low-pass filter calculates detection signal calculated and the signal (at the above-mentioned signal shown in Fig. 7) the expression rotating speed based on the rotating speed detecting sensor.In addition, when the rotation speed change of scrambler, the frequency and the rotating speed of a rotative component change pro rata.Therefore, in order to suppress the change based on the scrambler runout by low-pass filter, the cut-out frequency of low-pass filter need correspondingly change along with the rotating speed of scrambler.
For example, when using wave digital lowpass filter, the sampling frequency (samplingfrequency) that wave filter calculates is not to set fixed frequency for, rotates consistent sampling frequency but set for scrambler.When setting sampling frequency in this mode, sampling frequency can change along with the rotating speed (proportional) of scrambler.Specifically, can when the sensor each output pulse signal relative, take a sample to the data that are used for wave filter calculating with scrambler.Figure 13 is process flow diagram (block diagram), its expression is by the diagram of the IIR class low-pass filter of transform, and it is as the example of frequency-tracking type (frequency following type) (progression fixed type degree number fixed type) low-pass filter.Equation shown below (9) (10) is the accounting equation as the processing of low-pass filter.
Y′(k)＝a 0·X(k)+a 1·Y′(k-1)+a 2·Y′(k-2) ...(9)
Y(k)＝b 0·Y′(k)+b 1·Y′(k-1)+b 2·Y′(k-2) ...(10)
In Fig. 3 and equation (9) (10), symbol X indication is input to the data in the low-pass filter, and it is for corresponding to recurrence interval of scrambler or impulse speed is that calculate and the signal expression rotating speed.In addition, the output of symbol Y indication low-pass filter, symbol Y ' indication handled signal in low-pass filter.In addition, Y ' (k-1) represents to return the Y ' that 1 period calculates from the present moment (handle ordinal number k), and Y ' (k-2) represent to return the Y ' that 2 periods calculate from the present moment (processing ordinal number k).The Y ' in past (k-1) and Y ' (k-2) be stored in the storer etc., this storer is integrated on the treatment circuit that constitutes low-pass filter.Though the Y ' in past does not exist in the original state of calculating, can begin to calculate with zero replacement initial value, maybe suitable numerical value can be stored in the above-mentioned memory in advance as initial value.In addition, coefficient a0, a1, a2, b0, b1, the b2 in Figure 13 and two equations (9) (10) is used for determining the breaks of low-pass filter or the constant of steepness, and numerical value can be replaced to constitute desired feature.
When the sensor output signal that according to two equations (9) (10) rotation with scrambler is changed when the low-pass filter of the operation of the process flow diagram by is as shown in figure 13 handled, change based on the scrambler runout, promptly constitute the error component of a rotative component of accumulation pole pitch error, can be suppressed.In addition, come the output signal of processes sensor, therefore, except the error component of a rotative component, can be suppressed simultaneously based on the high-frequency error component of the error of above-mentioned pole pitch by low-pass filter.Yet, in general, when coming processing signals, can cause operating lag by the use low-pass filter.Therefore, when operating lag is difficult to throw into question, can as among the embodiment, come the output signal of processes sensor by low-pass filter.For example, under such situation, promptly, wherein come test load from the revolution speed of each rolling member 9a, 9b with from the rotating speed of the wheel hub 2 of as shown in Figure 1 the rolling bearing that is used for support wheel, be promptly when running car, to detect in the situation of the slip acting force that the contact site branch between wheel and the road surface produces and measure the situation of the load in the rotational support portion that is applied to lathe, industrial machine etc. as situation about can expect, present embodiment can be applied to wherein in knee gradually.In these situations,, but be difficult to bring problem even in the output signal of revolution speed detecting sensor 24a, 24b and rotating speed detecting sensor 15a is handled, more or less have operating lag.
(the 4th embodiment)
Figure 14 shows the fourth embodiment of the present invention.According to present embodiment, notch filter is used to suppress to be referred to as the change based on the scrambler runout of accumulation pole pitch error.As implied above, when adopting low-pass filter to suppress above-mentioned change, can produce operating lag, therefore, when under the situation that the track changes suddenly when running at high speed the slip acting force that contact site produced between wheel and the road surface being detected, be not enough to realize guaranteeing the control of vehicle run stability by using low-pass filter.Therefore, in the situation of present embodiment, suppress accumulation pole pitch error based on a rotative component of scrambler runout by notch filter.In addition, when the rotating speed of scrambler changed, the frequency of a rotative component also changed pro rata with rotating speed, therefore, even when using notch filter, in order to suppress the change based on the scrambler runout, the cut-out frequency of notch filter need change corresponding to the rotating speed of scrambler.
Figure 14 is a process flow diagram, and its expression constitutes the diagram of notch filter by the z conversion.In addition, equation (11) (12) as follows is for being used in the accounting equation in the notch filter computing.
Y′(k)＝X(k)-α·Y′(k-N/A) ...(11)
Y(k)＝{(1+α)/2}·{Y′(k)+Y′(k-N/A)} ...(12)
In Figure 14 and equation (11) (12), symbol X indication is input to the data in the notch filter, and symbol X is the rotating speed that expression is calculated according to the recurrence interval or the impulse speed of scrambler.In addition, symbol Y represents the output of notch filter, and symbol Y ' is a signal processed in notch filter.In addition, respectively, the umber of pulse of symbol N presentation code each commentaries on classics of device (rolling member once revolves round the sun), symbol A represents to stipulate the constant of trap frequency, symbol represents to determine the constant of steepness (influencing constringency performance).
In addition, term Y ' (k-N/A) represents to return the Y ' that N/A period calculate from the present moment (handle ordinal number k).For the Y ' that in equation (11), calculates at current point in time (k), deduct the value that Y ' (k-N/A) multiplies each other with α from X (k).The Y ' in past (k-N/A) is stored in the storer etc., and this storer is integrated on the treatment circuit that constitutes notch filter.Though the Y ' in past (k-N/A) does not exist in the original state of calculating, can begin to calculate with zero replacement initial value, maybe suitable numerical value can be stored in the above-mentioned memory in advance as initial value.
Shown in equation (12), by use up-to-date Y ' (k) and Y ' in the past (k-N/A) calculate the output Y of notch filter.In this case, be given for the notch filter (number of times fixed type) that the constant A of determining trap frequency constitutes so-called frequency-tracking type (so-to-speak frequency following type) in combination rightly by umber of pulse N, the frequency that the notch filter of described frequency-tracking type is followed the tracks of by the increase of rotating speed or reduced to be changed with each commentaries on classics of scrambler.For example, when A=2, constituted the notch filter that is used to remove the main error component of rotation.In addition, when suppressing to rotate main error component in this mode by notch filter, it can more reduce operating lag than the situation of using low-pass filter, thereby in running at high speed, detect by the slip acting force that the contact site place on wheel and road surface is produced under the state in flip-flop track, can carry out the control of guaranteeing vehicle operating stability.
Yet, even in using the situation of notch filter, though its operating lag less than the operating lag of low-pass filter, operating lag always exists, and has the possibility of being brought problem by phase delay.For example, firmly grasp the situation that acting force detects in the instantaneous road pavement of the barrier of avoiding by fast steering jumping out suddenly.In order to handle like this these operating lags (not) situation about being allowed to hardly, be effective by using sef-adapting filter among first embodiment and second embodiment to come the method for round-off error.Which kind of wave filter is the situation of fastest response determine to use as required.Also have, depend on to comprise the situation of using aforesaid sef-adapting filter and low-pass filter, can adopt and use wave filter and have the structure of the wave filter of slow-response with fast-response.
Though in conjunction with specific embodiment the present invention is explained, it will be apparent to those skilled in the art that under the situation that does not depart from essence of the present invention and scope and can do variations and modifications to the present invention.
The Japanese patent application (Japanese patent application No.2003-320058) that the application submitted to based on September 1st, 2003, the Japanese patent application (Japanese patent application No.2003-379536) that on November 10th, 2003 submitted to, the Japanese patent application (Japanese patent application No.2004-126311) that on April 22nd, 2004 submitted to, and these contents mode by reference is incorporated herein.
(industrial usability)
Speed detector of the present invention is not limited to the load-measuring device of roller bearing unit, wherein said load-measuring device is used to measure the load on the roller bearing unit that is applied to support automotive wheel as shown in the Examples, but can be used for detecting the rotating speed of the revolving member of various rotary machine devices.In this case, be used for fixing the member that supports scrambler and be not limited to center of rotation and geometric center and have the member that departs from possibility (for example in retainer like that) mutually, and can be that center of rotation and geometric center do not depart from the member of (for example in rotation axis etc. like that) mutually.In this kind situation, the unnecessary raising especially is installed to degree of accuracy on the revolving member with scrambler, thereby reduces integrated required cost.In addition, spendable scrambler is not limited to the so-called multi-pole magnet scrambler that the S utmost point and the N utmost point are alternately arranged on rotation direction when the invention process, but can comprise the scrambler that has such as the various structures that rotary speed information is provided of tone wheel (tone wheel), gear, notch dish (slit disk) etc.In addition, the rotating speed detecting sensor also is not limited to the magnetic detection type, but can use the rotating speed detecting sensor of the various structures of optical type, eddy current type etc.

Claims (15)

1. speed detector is characterized in that comprising:
Scrambler, it is supported regularly, is rotated together in company with described revolving member by revolving member, and this scrambler alternately changes the characteristic of oneself in a circumferential direction;
The rotating speed detecting sensor which is provided with the relative status detection portion in detection surface that is in described scrambler; And
Computing unit, it calculates the rotating speed of described revolving member based on and detection signal periodically-varied that come from described rotating speed detecting sensor transmission;
Wherein, described computing unit comprises filter circuit, and described filter circuit calculates the offseting signal of the influence of change of the described detection signal that is used to eliminate described rotating speed detecting sensor, and described change constitutes the error in the described revolution speed calculating of described revolving member; With
Wherein, when calculating the rotating speed of described revolving member, the detection signal that described computing unit comes from the transmission of rotating speed detecting sensor based on described offseting signal correction.
2. speed detector as claimed in claim 1, wherein, the error component of detection signal is made of a rotative component of scrambler, and described error component has constituted as the influence of described change and the object of filtered device circuit for eliminating.
3. speed detector as claimed in claim 1, wherein, described wave filter is a sef-adapting filter.
4. speed detector as claimed in claim 3, wherein, the connector lug number of described wave filter equals the umber of pulse of described each commentaries on classics of scrambler,
Wherein, described sef-adapting filter comes work by wheel synchronization type LMS algorithm.
5. as claim 3 or 4 described speed detectors, wherein, described sef-adapting filter is parallel to the main signal channel setting of the described detection signal of the described rotating speed detecting sensor of transmission, and the influence of change of the described detection signal of described rotating speed detecting sensor is eliminated in the following way, that is, the error component that will constitute the variation of the described rotating speed detecting sensor of being calculated by described sef-adapting filter at the downstream portion place of described main signal channel deducts.
6. as claim 3 or 4 described speed detectors, wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the steepest descending method,
Wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the LMS algorithm.
7. speed detector as claimed in claim 5, wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the steepest descending method
Wherein, described sef-adapting filter is digital filter or the analog filter that comes work by the LMS algorithm.
8. as any described speed detector in claim 3 or 4, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert
9. as any described speed detector in the claim 5, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
10. as any described speed detector in the claim 6, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
11. as any described speed detector in the claim 7, wherein, described revolving member is a retainer, and this retainer is arranged between the pair of bearings ring that constitutes roller bearing unit and with the revolution that remains on the rolling member in a plurality of groove nests and rotates in concert.
12. the load-measuring device of a rolling bearing, it comprises:
The set collar that comprises two row's fixation side tracks;
Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks;
A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows;
A pair of speed detector, described each speed detector is a speed detector as claimed in claim 8, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And
Computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
13. the load-measuring device of a rolling bearing, it comprises:
The set collar that comprises two row's fixation side tracks;
Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks;
A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows;
A pair of speed detector, described each speed detector is a speed detector as claimed in claim 9, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And
Computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
14. the load-measuring device of a rolling bearing, it comprises:
The set collar that comprises two row's fixation side tracks;
Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks;
A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows;
A pair of speed detector, described each speed detector is a speed detector as claimed in claim 10, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And
Computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
15. the load-measuring device of a rolling bearing, it comprises:
The set collar that comprises two row's fixation side tracks;
Swivel becket, itself and described set collar are provided with one heart and comprise and described two row's fixation side track two opposite rows rotating side tracks;
A plurality of rolling members, described a plurality of rolling members rollably are arranged between described fixation side track and the described rotating side track, and each a plurality of rolling member is arranged between each two row's track, and the direction of the contact angle of described a plurality of rolling members is opposite each other between described two rows;
A pair of speed detector, described each speed detector is a speed detector as claimed in claim 11, the described rotating speed that speed detector is detected a pair of described retainer be used to keep described two row's rolling members; And
Computing unit, it is based on calculating the load that is applied between described set collar and the described swivel becket by the detected described rotating speed to retainer of described each speed detector.
CNB2004800261951A 2003-09-11 2004-08-26 Rotation speed sensor and load measuring device of roller bearing unit Expired - Fee Related CN100462722C (en)

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CN102426189A (en) * 2011-10-21 2012-04-25 沈阳黎明航空发动机(集团)有限责任公司 Impulse detection method for bearing
KR101500395B1 (en) * 2013-12-05 2015-03-09 현대자동차 주식회사 Method and apparatus for detecting combustion of engine by angular acceleration signal and combustion data of single cylinder
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CN105572411B (en) * 2016-01-08 2019-02-12 华南农业大学 The anti-strong jamming real time speed measuring device of differential type and control method based on Arduino
CN108508228B (en) * 2017-02-24 2021-07-09 北京金风科创风电设备有限公司 Low-speed shaft rotating speed measuring system and method
CN110155028A (en) * 2019-04-11 2019-08-23 汉腾汽车有限公司 A kind of one axis speed signal acquisition of AMT hybrid electric vehicle gearshift case and method
CN110411730B (en) * 2019-08-14 2021-04-09 佛山市墨纳森智能科技有限公司 Fault judgment method and system for rotating equipment and readable storage medium
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