CN101570177A - ESP inertial sensor combination and testing method thereof - Google Patents
ESP inertial sensor combination and testing method thereof Download PDFInfo
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- CN101570177A CN101570177A CNA2009101167398A CN200910116739A CN101570177A CN 101570177 A CN101570177 A CN 101570177A CN A2009101167398 A CNA2009101167398 A CN A2009101167398A CN 200910116739 A CN200910116739 A CN 200910116739A CN 101570177 A CN101570177 A CN 101570177A
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Abstract
The invention discloses an ESP inertial sensor combination and a testing method thereof. The ESP inertial sensor combination comprises a power supply provided with circuits connected with each other, and is characterized by consisting of an MEMS angular velocity sensor, an MEMS acceleration transducer, an excess voltage/ counter voltage protective circuit, a singlechip and a D/A digital-analog conversion circuit; a signal output terminal of the MEMS angular velocity sensor as well as a transverse signal output terminal and a longitudinal signal output terminal of the MEMS acceleration transducer are connected with an input terminal of the singlechip, and one output terminal of the singlechip outputs a yaw velocity signal and a transverse acceleration signal through the D/A digital-analog conversion circuit and the excess voltage/ counter voltage protective circuit. By adopting the structure, the invention has the advantages that (1) the MEMS angular velocity sensor and the MEMS acceleration transducer are adopted to provide information of angular speed and acceleration for an ESP system; compared with the traditional electromechanical sensor and piezoelectric sensor, the MEMS angular velocity sensor and the MEMS acceleration transducer have low cost, small volume and good environmental suitability; (2) the singlechip and the D/A digital-analog conversion output proposal can be adopted, so that batch compensation is convenient, and the consistence of performance is superior to 1% after calibration.
Description
Technical field
The invention belongs to the automobile electronics application, relate in particular to a kind of ESP inertial sensor combination and method of inspection.
Background technology
Along with people improve constantly active safety feature play more and more important position to what vehicle safety performance required.Energy-absorbing vehicle body, safety air bag, safety strap can only solve the problem after the contingency, so these systems all are passive safety system.Along with the development of Modern Car technology, the active safety of vehicle also is much improved, the new markets of also having opened up vehicle electronics simultaneously.The effect of active safety will prevent accident exactly to greatest extent.
ESP (Electronic Stability Program) system be company of German Bosch (Bosch) release nineteen ninety-five mean " vehicle electronic stability system ", it has comprised ABS and TCS, therefore it can prevent wheel at glancing impact locking (ABS), skids when starting (TCS).The ESP system is according to the actual travel situation of the travel intention and the vehicle of the frequency detecting chaufeur of per second 25 times.If finding has emergency situation, it reacts rapidly, by hydraulic pressure regulator, regulates the brake-pressure of each wheel, as possible, also can intervene driving engine and driving system.ESP can reduce the danger of defective steering stabilizer, thus the generation of reduction accident.According to statistics, have 25% to cause the traffic accident of serious personal casualty to cause by sideslip, and more there is 60% fatal traffic accident to cause because of side impact, its major cause is exactly that vehicle has taken place by sideslip, therefore, thus the ESP system that can effectively reduce defective steering stabilizer danger can significantly reduce the quantity rescue life of traffic accident.
At the bottom of calendar year 2001, Bosch provides 5,000,000 cover ESP systems for the whole world, and the whole world has on more than 800 ten thousand vehicles the ESP system has been installed.At present external, Europe particularly, increasing vehicle with the ESP system as its standard configuration, the new car ESP equipment rate in European Union area has reached 35%, in the U.S., the ESP Disposing rate reaches 11% on the automobile; In Japan, the ESP Disposing rate has also reached 7%.More domestic medium-to-high grade vehicles also gradually with it as standard configuration, 2004, the ESP system equipment rate of Chinese new car reached 3%.Along with people improve day by day to the requirement of vehicle safety, believe that ESP will become the standard facility of vehicle as the ABS system of today.
The sensor that uses in the ESP system has Vehicular yaw angular velocity sensor, lateral acceleration sensor, steering wheel angle sensor, wheel speed sensors etc., and they all are indispensable vitals among the ESP.Improve their reliability and the target pursued of the cost-cutting developer that always is this respect.
Traditional E SP system adopts the electromechanical sensor more, and the electromechanical sensor bulk is bigger, and the cost height.Along with the development of MEMS (MEMS) technology, the cheap MEMS acceleration/accel and the appearance of angular velocity sensor are for certain condition has been created in the widespread use of ESP.But the performance, particularly precision of MEMS sensor (as MEMS angular velocity sensor and MEMS acceleration pick-up) and batch conformability have limited its application in the High Performance occasion also less than traditional mechanical pick-up device at present.
Summary of the invention
Technical matters to be solved by this invention provides a kind of ESP inertial sensor combination and method of inspection, to reach the cost that reduces the combination of ESP inertial sensor, improves homogeneity of product, promotes the purpose of the widespread use of ESP system.
For solving the problems of the technologies described above, technical scheme of the present invention is a kind of ESP inertial sensor combination, comprise the power supply that is connected with each circuit, it is characterized in that: described sensor combinations is made of MEMS angular velocity sensor, MEMS acceleration pick-up, overvoltage/anti-pressure protection circuit, micro controller system and D/A D/A converting circuit; The horizontal signal output part of the signal output part of MEMS angular velocity sensor, MEMS acceleration pick-up is connected with the input end of micro controller system respectively with the longitudinal signal mouth, one mouth of micro controller system is by D/A D/A converting circuit, overvoltage/anti-pressure protection circuit output yaw velocity signal and transverse acceleration signal, and another mouth selectivity of micro controller system is by D/A D/A converting circuit, overvoltage/anti-pressure protection circuit output longitudinal acceleration signal; Described micro controller system, be used for pre-programming main program, serial ports is write the parameter bookbinding after adjustment data is realized the demarcation test, by MEMS angular velocity sensor and the built-in temperature sensor collecting temperature information of MEMS acceleration pick-up, in micro controller system, realize accuracy compensation in-45 ℃～+ 85 ℃ total temperature scopes.Inertial sensor is combined as the ESP system real-time cireular frequency of vehicle and acceleration information is provided, and helps vehicle steadily control.
A kind of ESP inertial sensor combination, described power supply is connected with the power end of MEMS angular velocity sensor with the MEMS acceleration pick-up by overvoltage/anti-pressure protection circuit.Under+5V power supply, work; overvoltage crowbar can damage when power supply occurs than great fluctuation process in the combination of protection inertial sensor; overvoltage/anti-pressure protection circuit adopts the miniature integrated protection module of PolyZen of U.S. Tyco electronics, inc.---the Zener diode of poly-mer protection; have low, the characteristics such as automatically reset of price, make sensor combinations can bear the reversal connection of 5V power supply and 16V overvoltage and do not damage.
A kind of ESP inertial sensor combination, it is characterized in that: described angular velocity sensor is the MEMS gyroscope, acceleration pick-up is a mems accelerometer.
A kind of ESP inertial sensor combination, described micro controller system adopts the PIC16 series of Microchip company.
A kind of method of inspection of ESP inertial sensor combination, described method comprises the following steps;
1) static parameter of MEMS angular velocity sensor and MEMS acceleration pick-up is tested;
2) to the dynamic parametric test of MEMS angular velocity sensor and MEMS acceleration pick-up;
3) MEMS angular velocity sensor and MEMS acceleration pick-up are carried out the temperature model test;
4) carry out zero-bit output K0, sensitivity K1, the temperature factor K0t of zero-bit and the temperature factor K1t of sensitivity that linear fit obtains MEMS acceleration pick-up and MEMS angular velocity sensor according to above-mentioned test result, according to the temperature compensating formula:
V
out＝K
0(1+K
0t*t)+K
1(1+K1t*t)*Ω
Serial ports by micro controller system (1) writes parameter bookbinding after adjustment data realizes demarcating test to MEMS acceleration pick-up and MEMS angular velocity sensor respectively.
A kind of ESP inertial sensor combination and method of inspection owing to adopt said structure and method, compared with prior art, have the following advantages; (1) selects to adopt MEMS angular velocity sensor and MEMS acceleration pick-up,, compare with piezoelectric transducer, have characteristics such as cost is low, volume is little, good environmental adaptability with traditional electromechanical sensor for the ESP system provides cireular frequency and acceleration information.(2) adopt micro controller system and D/A digital to analogy conversion output scheme, conveniently carry out the batch compensation, high conformity.The pre-programming main program of micro controller system, serial ports are write the parameter bookbinding after adjustment data is realized the demarcation test, demarcate the back consistency of performance and are better than 1%.(3) electric interfaces to sensor combinations adopts the miniature integrated protection module of PolyZen---and the Zener diode of poly-mer protection is realized overvoltage/anti-pressure protection; have low, the characteristics such as can automatically reset of price, make sensor combinations can bear the reversal connection of 5V power supply and 16V overvoltage and do not damage.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments;
Cireular frequency and acceleration information that Fig. 1 provides for the combination of ESP inertial sensor;
Fig. 2 is an ESP inertial sensor unitized construction scheme drawing;
Fig. 3 is a MEMS acceleration pick-up principle of work;
Fig. 4 is a MEMS angular velocity sensor principle of work;
Fig. 5 is overvoltage/anti-pressure protection circuit connection diagram shown in Figure 2,
Fig. 6 is an ESP inertial sensor combined compensation method of adjustment block diagram;
In Fig. 2, Fig. 5,1, micro controller system; 2, MEMS angular velocity sensor; 3, MEMS acceleration pick-up; 4, D/A D/A converting circuit; 5, overvoltage/anti-pressure protection circuit.
The specific embodiment
MEMS angular velocity sensor and MEMS acceleration pick-up are adopted in the combination of embodiments of the invention ESP inertial sensor, the inertial sensor combination provides needed all acceleration/accels of electronic stability program of automobile system and angular velocity information, compare advantage such as have integrated level height, reliability height, cost is low, installation is simple with angular velocity sensor with the lateral acceleration sensor that tradition is discrete.As shown in Figure 1, adopt single shaft MEMS angular velocity sensor that the yaw velocity information of automobile is provided, adopt the biaxial MEMS acceleration pick-up that laterally (x to) and vertical (y to) acceleration information of automobile is provided.
As shown in Figure 2, a kind of ESP inertial sensor combination, comprise the power supply that is connected with each circuit, it is characterized in that: described sensor combinations is made of angular velocity sensor 2, acceleration pick-up 3, overvoltage/anti-pressure protection circuit 4, micro controller system 1 and D/A D/A converting circuit 5; The X of the signal output part of angular velocity sensor 2, acceleration pick-up 3 is connected with the input end of micro controller system 1 respectively to signal output part with Y to signal output part, to acceleration signal, micro controller system 1 another mouth selectivity is exported Y to acceleration signal by D/A D/A converting circuit 5, overvoltage/anti-pressure protection circuit 4 to one mouth of micro controller system 1 by D/A D/A converting circuit 5, overvoltage/anti-pressure protection circuit 4 output yaw velocity signals and X; Described power supply is connected with the power end of angular velocity sensor 2 with acceleration pick-up 3 by overvoltage/anti-pressure protection circuit 4.
As shown in Figure 5; electric interfaces to the combination of ESP inertial sensor adopts the miniature integrated protection module of PolyZen---and the Zener diode of poly-mer protection is realized overvoltage/anti-pressure protection circuit 4; have that price is low, characteristics such as can automatically reset; make sensor combinations can bear the reversal connection of 5V power supply and 16V overvoltage and do not damage; being particularly suitable for automobile power source uses; automobile power source provides+and 5V power supply nominal voltage is 4.75V～5.25V; but can be because the work of other electronic systems such as relay produces the induction peak voltage.In use simultaneously, automobile power supply device is vulnerable to the influence of storage battery link mistake and the double voltage jump start-up operation of storage battery, requires vehicle electronics to have overvoltage/anti-pressure protection function, and has stronger transient state inhibition ability.The Polyzen device is a customized design with the clamper and the smoothing processing of helping to realize to the induction type peak voltage, and the power dividing of excess enthalpy to earth point, has been got rid of the wrong possibility that causes circuit to damage of power supply is taken place.
MEMS (MEMS) technology is a new and high technology of development in recent years, advanced semiconductor process technique is adopted in its processing, have obvious advantages at aspects such as volume, quality, price, power consumption and reliability, obtained widespread use in aerospace, military affairs, biomedicine, automobile and other industries.
Empty frame in the ESP inertial sensor combination accompanying drawing 2 of this patent invention is interior for can match part according to system requirements.The combination of ESP inertial sensor mainly is made up of five parts such as MEMS angular velocity sensor 2, MEMS acceleration pick-up 3, overvoltage/anti-pressure protection circuit 4, micro controller system 1 and D/A D/A converting circuits 5, and principle is simple and reliable.Adopt the micro controller system compensation scheme, precision and batch conformability have been improved, make low-cost MEMS acceleration pick-up and angular velocity sensor can be applied in the ESP system, MEMS angular velocity sensor 2 and MEMS acceleration pick-up 3 can be selected common commercially produced product for use.MEMS angular velocity sensor 2 is the MEMS gyroscope, and MEMS acceleration pick-up 3 is a mems accelerometer.Adopt MEMS gyroscope and mems accelerometer to propose for cireular frequency and acceleration information for the ESP system, cost is lower.
The principle of work of MEMS acceleration pick-up is seen accompanying drawing 3, detects quality and can produce deformation when being subjected to acceleration/accel, can obtain detecting the acceleration magnitude that quality is subjected to by measuring deformation.
The principle of work block diagram of MEMS angular velocity sensor is seen accompanying drawing 4, and the MEMS angular velocity sensor generally has two orthogonal mode of vibration, and one is to drive the mode direction, and another is the detection mode direction that is caused by coriolis force.During work, at first drive the detection quality and do sinusoidal vibration along directions X:
x(t)＝A
x?sin(ωt)……………………………(1)
A wherein
xBe respectively amplitude and the circular frequency that drives vibration with ω, when the detection mass M is subjected to Z direction angle speed Ω, detect the effect that quality will be subjected to the coriolis force of Y direction.The size of coriolis force Fc (t) is:
Fc(t)＝2MA
xΩωcos(ωt)…………………(2)
Be subjected to this periodically effect of coriolis force, detect quality and will do simple harmonic oscillation along the Y direction, the size that detects vibration can detect the size of cireular frequency Ω.
Automobile power source provides+and 5V power supply nominal voltage is 4.75V～5.25V, but can be because the work of other electronic systems such as relay can produce the induction peak voltage.In use simultaneously, automobile power supply device is vulnerable to the influence of storage battery connection error and the double voltage jump start-up operation of storage battery, requires vehicle electronics to have overvoltage/anti-pressure protection function, and has stronger transient state inhibition ability.Therefore adopting the miniature integrated protection module of PolyZen of tyco company in the ESP inertial sensor combinational circuit of this patent invention---the Zener diode realization overvoltage/anti-pressure protection of poly-mer protection, accompanying drawing 5 is seen in its work.The PolyZen device has that price is low, advantage such as can automatically reset, make sensor combinations can bear the reversal connection of 5V power supply and 16V overvoltage and do not damage, being particularly suitable for automobile power source uses, the Polyzen device is a customized design with the clamper and the smoothing processing of helping to realize to the induction type peak voltage, the power dividing of excess enthalpy to earth point, has been got rid of the wrong possibility that causes circuit to damage of power supply has been taken place.
The combination of ESP inertial sensor externally adopts connector to connect, and is provided+5V power supply and power supply ground by the ESP system, control circuit, and sensor combinations provides cireular frequency and acceleration information to the ESP system, control circuit simultaneously, and the information providing formula is three road analog voltage signals.At the relatively poor characteristics of low-cost MEMS sensor conformability, the combination of ESP inertial sensor is adjusted circuit and is adopted micro controller system and D/A digital to analogy conversion output scheme, conveniently carries out the batch compensation, high conformity.Adopt micro controller system 1 pre-programming main program, serial ports is write the parameter bookbinding after adjustment data is realized the demarcation test, and not proven sensor performance is inconsistent to surpass 10%, demarcates the back consistency of performance and is better than 1%, satisfies the accuracy requirement of system fully.
As shown in Figure 6, for improving the conformability and the temperature environment comformability of the combination of ESP inertial sensor, after static test, dynamic test and temperature test are carried out in combination to the ESP inertial sensor, carry out parametric compensation, in the ESP inertial sensor combination angular velocity sensor function test by (25 ℃) under the room temperature from-75 °/s～+ 75 °/(the cireular frequency increment is 15 °/s) a turntable completion of test to s.Acceleration pick-up test by (25 ℃) under the room temperature from-1.7g～+ centrifugal test of 1.7g (the acceleration/accel increment is 0.34g) finishes.The temperature test of angular velocity sensor by under-40 ℃, 25 ℃ and 85 ℃ of three kinds of temperature environments from-75 °/s～+ 75 °/(the cireular frequency increment is 15 °/s) a turntable completion of test to s.The temperature test of acceleration pick-up by under-40 ℃, 25 ℃ and 85 ℃ of three kinds of temperature environments from-1.7g～+ centrifugal test of 1.7g (the acceleration/accel increment is 0.34g) finishes.Test result is carried out zero-bit output K0, sensitivity K1, the temperature factor K0t of zero-bit and the temperature factor K1t of sensitivity that linear fit obtains acceleration pick-up and angular velocity sensor.Temperature compensating utilizes the built-in temperature sensor collecting temperature information of MEMS angular velocity sensor, realizes accuracy compensation in-45 ℃～+ 85 ℃ total temperature scopes in micro controller system 1.With the angular velocity sensor is example, and the temperature compensating formula of angular velocity sensor is seen formula 3, and the temperature compensating of the temperature compensation of MEMS acceleration pick-up and MEMS angular velocity sensor is in full accord.
V
out＝K
0(1+K
0t*t)+K
1(1+K1t*t)*Ω………………(3)
Wherein: V
Out---export behind the temperature compensating;
K
0---the output of angular velocity sensor zero-bit;
K
1---the angular velocity sensor sensitivity;
K
0t---the temperature factor of angular velocity sensor zero-bit;
K1t---the temperature factor of angular velocity sensor sensitivity;
T---temperature sensor output;
Ω---input angular velocity.
The micro controller system 1 that uses in the combination of ESP inertial sensor adopts PIC 16 series monolithics of Microchip company, the PIC16 series monolithic has the advantages that shipment amount is big, cost is low, micro controller system carries the high precision internal oscillator, and data hold time can surpass 40 years, supports SPI and I
2C interface.The D/A analog-digital chip is selected the MCP4921/4922 of Microchip company for use, adopts the SPI interface, has 12 precision.
The combination of ESP inertial sensor has realized high integration, low cost, has been easy to adjust and batch manufacturing.
In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously specific implementation of the present invention is not subjected to the restriction of aforesaid way; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or design of the present invention and technical scheme are directly applied to other occasion without improving, all within protection scope of the present invention.
Claims (5)
1, a kind of ESP inertial sensor combination, comprise the power supply that is connected with each circuit, it is characterized in that: described sensor combinations is made of MEMS angular velocity sensor (2), MEMS acceleration pick-up (3), overvoltage/anti-pressure protection circuit (4), micro controller system (1) and D/A D/A converting circuit (5); The horizontal signal output part of the signal output part of MEMS angular velocity sensor (2), MEMS acceleration pick-up (3) is connected with the input end of micro controller system (1) respectively with the longitudinal signal mouth, one mouth of micro controller system (1) is by D/A D/A converting circuit (5), overvoltage/anti-pressure protection circuit (4) output yaw velocity signal and transverse acceleration signal, and another mouth selectivity of micro controller system (1) is by D/A D/A converting circuit (5), overvoltage/anti-pressure protection circuit (4) output longitudinal acceleration signal;
Described micro controller system (1), be used for pre-programming main program, serial ports is write the parameter bookbinding after adjustment data is realized the demarcation test, by MEMS angular velocity sensor (2) and the built-in temperature sensor collecting temperature information of MEMS acceleration pick-up (3), in micro controller system, realize accuracy compensation in-45 ℃～+ 85 ℃ total temperature scopes.
2, a kind of ESP inertial sensor combination according to claim 1, it is characterized in that: described power supply is connected with the power end of MEMS angular velocity sensor (2) with MEMS acceleration pick-up (3) by overvoltage/anti-pressure protection circuit (4).
3, a kind of ESP inertial sensor combination according to claim 1 and 2, it is characterized in that: described MEMS angular velocity sensor (2) is the MEMS gyroscope, and MEMS acceleration pick-up (3) is a mems accelerometer.
4, a kind of ESP inertial sensor combination according to claim 1, it is characterized in that: described micro controller system (1) adopts the PIC16 series of Microchip company.
5, a kind of method of inspection of ESP inertial sensor combination, it is characterized in that: described method comprises the following steps;
1) static parameter of MEMS angular velocity sensor (2) and MEMS acceleration pick-up (3) is tested;
2) to the dynamic parametric test of MEMS angular velocity sensor (2) and MEMS acceleration pick-up (3);
3) MEMS angular velocity sensor (2) and MEMS acceleration pick-up (3) are carried out the temperature model test;
4) carry out zero-bit output K0, sensitivity K1, the temperature factor K0t of zero-bit and the temperature factor K1t of sensitivity that linear fit obtains MEMS acceleration pick-up (3) and MEMS angular velocity sensor (2) according to above-mentioned test result, according to the temperature compensating formula:
V
out＝K
0(1+K
0t*t)+K
1(1+K1t*t)*Ω
Serial ports by micro controller system (1) writes parameter bookbinding after adjustment data realizes demarcating test to MEMS acceleration pick-up (3) and MEMS angular velocity sensor (2) respectively.
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| CN101913355A (en) * | 2010-07-30 | 2010-12-15 | 奇瑞汽车股份有限公司 | Vehicle electronic assistant stability system and control method thereof |
| CN102592331A (en) * | 2012-02-14 | 2012-07-18 | 广州市方纬交通科技有限公司 | Vehicle inertia motion data acquisition unit |
| CN103207848A (en) * | 2013-03-07 | 2013-07-17 | 中国兵器工业集团第二一四研究所苏州研发中心 | Communication method applicable to MEMS (micro-electromechanical systems) gyro coefficient loading |
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| CN201405839Y (en) * | 2009-05-11 | 2010-02-17 | 卫群 | ESP inertial sensor assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101913355A (en) * | 2010-07-30 | 2010-12-15 | 奇瑞汽车股份有限公司 | Vehicle electronic assistant stability system and control method thereof |
| CN102592331A (en) * | 2012-02-14 | 2012-07-18 | 广州市方纬交通科技有限公司 | Vehicle inertia motion data acquisition unit |
| CN103207848A (en) * | 2013-03-07 | 2013-07-17 | 中国兵器工业集团第二一四研究所苏州研发中心 | Communication method applicable to MEMS (micro-electromechanical systems) gyro coefficient loading |
| CN103207848B (en) * | 2013-03-07 | 2016-01-06 | 中国兵器工业集团第二一四研究所苏州研发中心 | A kind of communication means being applicable to MEMS gyro coefficient and loading |
| CN109891251A (en) * | 2016-11-11 | 2019-06-14 | 索尼公司 | Information processing equipment |
| US11243228B2 (en) | 2016-11-11 | 2022-02-08 | Sony Corporation | Information processing apparatus |
| CN107037235A (en) * | 2016-11-28 | 2017-08-11 | 东南大学 | A kind of braking glide quantity flexible measurement method and measurement apparatus |
| CN108072778A (en) * | 2017-12-18 | 2018-05-25 | 深圳市江机实业有限公司 | A kind of intelligent electric energy meter burglar-proof electric circuit based on MEMS acceleration transducers |
| CN110065462A (en) * | 2018-01-24 | 2019-07-30 | 现代自动车株式会社 | The air bag igniting control system and its control method of vehicle |
| CN110065462B (en) * | 2018-01-24 | 2022-05-03 | 现代自动车株式会社 | Ignition control system for safety air bag of vehicle and control method thereof |
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