CN101706272A - Double-shaft tilt angle sensor system and variation sensitivity detection method thereof - Google Patents
Double-shaft tilt angle sensor system and variation sensitivity detection method thereof Download PDFInfo
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- CN101706272A CN101706272A CN200910198200A CN200910198200A CN101706272A CN 101706272 A CN101706272 A CN 101706272A CN 200910198200 A CN200910198200 A CN 200910198200A CN 200910198200 A CN200910198200 A CN 200910198200A CN 101706272 A CN101706272 A CN 101706272A
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Abstract
The invention discloses a double-shaft tilt angle sensor system and a variation sensitivity detection method thereof. The system is composed of a power circuit, a double-shaft tilt angle sensor, a microprocessor and an upper computer. The method is characterized in that the closed loop measuring system of the double-shaft tilt angle sensor, which is composed of a double-shaft acceleration sensor, the microprocessor, a digital potentiometer and the like, is used to measure big tilt angles; the resistance of the digital potentiometer is automatically adjusted in the mode of feedback; measuring sensitivity is improved by automatically adjusting pulse width so as to realize angle measurement under big tilt angles; because the variation of sensitivity produces the multi-value problem of measurement, an intelligent judgement and treatment method is adopted to solve the multi-value problem when measuring variation sensitivity, thus realizing measurement uniqueness, and increasing inclination measurement range. The double-shaft tilt angle sensor system of the invention has small volume and small power consumption.
Description
Technical field
The present invention relates to measure and signal processing technology, particularly related to a kind of microprocessor that how to utilize, digital regulation resistance, the closed-loop system that groups of acceleration sensors becomes realizes the sensibility variable disposal route to angle, has improved the measurement range of this sensor.
Background technology
The measurement of angle has a wide range of applications among a lot of actual engineerings, for example: in geotechnical boring mapping and engineering survey, dykes and dams displacement and bridge deformation control, earthquake earth's crust change monitoring, machine is installed and electronic equilibrium, flight control system, aspects such as platform arm control system and various horizontal surveies, the widespread use of this class sensor is all arranged, and therefore the measurement to angle has the higher requirement of ratio.Both wished that the precision of measuring was high more good more, and wished that again the scope of measuring can be the bigger the better, the dimension of measuring also is The more the better certainly.Traditional obliquity sensor has a lot of different implementation methods, and for example: gas pendulum-type obliquity sensor, Gu the hydra-swing obliquity sensor is pendulum-type obliquity sensor etc.The difference of measuring principle, the precision of measurement and scope are also different.The general dimension of traditional obliquity sensor is more single, and exists volume big, complex operation, intelligent shortcoming such as low.Along with the develop rapidly of science and technology, the improving constantly of technology, the especially successful employing of MEMS technology and the widespread use of microsensor thereof, a lot of novel intelligence sensors constantly occur.Be accompanied by the appearance of these intelligence sensors, some are big at the traditional sensors volume, and the problem of aspects such as operation inconvenience has also obtained solving well.The double-shaft tilt angle sensor of making based on the acceleration transducer of MEMS technology has obtained developing widely and using, but this obliquity sensor that utilizes the acceleration of gravity principle, owing to show as severe nonlinear between the input and output of sensor, especially during the bigger conditioned measurement in inclination angle, the sensitivity of sensor is close to zero, because the decline of sensitivity, cause follow-up modulate circuit of sensor or treatment circuit can't differentiate the variation of angle, thereby make its measurement range be subjected to very big restriction.At present, both at home and abroad association area is utilizing the MEMS acceleration transducer to measure aspect the inclination angle, obtained very big breakthrough, " dynamic measuring method in object inclination angle and device thereof " (the number of patent application 101101202A) that Shanghai University of Science and Technology proposed on July 20th, 2007 in the patent retrieval at home for example, just realized kinetic measurement being carried out at the inclination angle of object, and the scope of mentioning measurement is ± 45 degree with the sensor of MEMS class.But the angular range of measuring is restricted always, and nowadays the maximum magnitude that can accomplish both at home and abroad is ± 75 degree.
At this problem, the present invention proposes a kind of sensibility variable signal processing method, measuring the inclination angle when big, utilize digital regulation resistance to carry out effective feedback, change the pulsewidth of pulse width adjusting circuit, improve the sensitivity of sensor, thereby realize the automatic adjusting of transducer sensitivity under the different angles situation, not only enlarged the scope that takes measurement of an angle of sensor, the measurement range of this sensor is improved, and have characteristics such as cost of development is low, hardware circuit is simple, enlarged the application of sensor.
Summary of the invention
Content purpose of the present invention is the deficiency at existing technology, and a kind of double-shaft tilt angle sensor system machine sensibility variable disposal route is provided.This method utilizes the digital regulation resistance segmentation to change the method for its transducer sensitivity, makes the measurement measurement range of obliquity sensor be improved.
For reaching above-mentioned purpose, design of the present invention is: the ultimate principle of utilizing acceleration transducer to carry out measurement of dip angle is: utilize acceleration transducer can experience acceleration of gravity (1g), when sensor and gravity field have certain inclination angle, because acceleration is a vector, the acceleration that record this moment is obviously relevant with the size at inclination angle, thereby utilize acceleration transducer can realize the measurement at inclination angle. owing to be the relation of cos θ between the output of obliquity sensor and the tested inclination angle, obviously, tested inclination angle is big more, the sensitivity of sensor is low more, so the measurement range of sensor is subjected to tangible restriction.
In order to realize addressing this problem, the present invention has made up system's (as shown in Figure 1) of a novel obliquity sensor, mainly comprises microprocessor, double-axel acceleration sensor, digital regulation resistances etc., they constitute the measurement of dip angle system of a closed loop, can realize the double-shaft tilt angle measurement.Wherein sensing of acceleration transducer realization acceleration of gravity, and then realization and acceleration of gravity have the measurement of dip angle of certain angle; The effect of microprocessor is that acceleration transducer pulsewidth output signal is handled on the one hand, be to organically combine on the other hand with digital regulation resistance, resistance to digital regulation resistance is controlled, when tested inclination angle is big, the resistance that the output of control figure potentiometer is bigger, thus the change of realization output pulse width reaches the purpose that improves transducer sensitivity, the final sensibility variable of realizing is measured, and improves the measurement range of sensor.
Because the variation of transducer sensitivity is though can enlarge under single sensitivity the measurement range that is difficult to realize, but can cause the appearance of many-valued problem, under the promptly same output valve situation, the angle that meeting is corresponding different, as Fig. 2, at same output (under 0.6 condition), the γ that can occur
1, γ
2With γ 3 these three angle values inequality.For fear of the appearance of many-valued problem, adopt the method for intelligent decision and processing on the software, specifically see process flow diagram 3 for details.When angle was measured, the digital regulation resistance of system was operated in R1 after the initialization, then output is measured.When determining the sensitivity that does not need Adjustment System, system does not just change digital regulation resistance.The angle of measuring this moment is 0 to θ
1When the output sensitivity of the system of determining is low excessively, when need adjust, promptly determined the phantom line segments (1) of system works at Fig. 2 to digital regulation resistance.Be under the situation of R1 at digital regulation resistance earlier, finish the one-shot measurement of output, determine the section that measure this moment, with θ
1To θ
2Be example, i.e. the θ that locates of phantom line segments shown in Fig. 2 (1)
1To θ
2So just determined the scope of the work under the high angle, rejected angle less than θ
1With greater than θ
2The many-valued zone of influence between.And then the adjustment digital regulation resistance makes it be operated in R1+R2.θ is being carried out in output
1To θ
2The secondary of section is measured.If adjusted digital regulation resistance still can not be realized the uniqueness measured, can also adjust by three times, adjust the resistance of digital regulation resistances four times, repeatedly measure repeatedly, reached and measured unique purpose.
Find measurement when microprocessor and finish, again digital regulation resistance is reset to initial value, measure, make measurement next time digital regulation resistance begin to measure and still be operated in R1 to wait for next time.Well pass through one-shot measurement and determined measurement range, repeatedly measured the method for determining occurrence, solved in measuring process the many-valued problem of the corresponding multi-angle of same output.Realize the uniqueness of measurement.
According to the foregoing invention design, the present invention adopts following technology bill:
A kind of double-shaft tilt angle sensor system comprises a power circuit, and the DC voltage of 5V is converted to the DC voltage of 3.3V, and respectively forming device for double-shaft tilt angle sensor provides working power, it is characterized in that:
A double-axel acceleration sensor is arranged, and the inclination angle of sensing x axle and y axle changes, and delivers to a microprocessor by pulsewidth output;
A digital regulation resistance is arranged, realizes the adjusting of this digital regulation resistance with communicating by letter between the described microprocessor, this digital regulation resistance by with the pulse-width controlled that is connected and realizes double-axel acceleration sensor of described double-axel acceleration sensor;
Described microprocessor is handled the pulse width signal of described double-axel acceleration sensor, controls described digital regulation resistance, realizes the digital regulation resistance control of high angle condition, improves high spud angle and measures heightening of sensitivity;
A host computer is arranged, the communication between realization and the described microprocessor, the convenient resistance that monitors described digital regulation resistance, angle measurement is so that in time fix a breakdown.
A kind of double-shaft tilt angle sensor system detection method adopts said system to detect, and it is as follows to it is characterized in that detecting step:
1) system initialization comprises communication initialization between microprocessor and the host computer, communication initialization between microprocessor and the digital regulation resistance, and initialization is interrupted in the timer/counter initialization of microprocessor;
2) microprocessor by realize with digital regulation resistance between shake hands and be connected;
3) microprocessor is realized the adjusting to digital regulation resistance by current system state;
4) microprocessor is sampled to the output signal of double-axel acceleration sensor, and according to the sampled signal of x axle or y axle, is further processed respectively;
5) microprocessor carries out the processing of many-valued problem to the x axle of double-axel acceleration sensor and the signal of y axle respectively;
6) result of microprocessor after to many-valued issue handling calculates the angle value of x axle and y axle respectively;
7) microprocessor send host computer to monitor to the x axle of gained and the angle value of y axle.And be back to step 3), regulator potentiometer has carried out measurement of angle operation next time.
Above-mentioned steps 5) concrete steps of the disposal route of many-valued problem are in:
[1] microprocessor is according to the count value of sampling pulsewidth, and whether the resistance size of intelligent decision digital regulation resistance satisfies the requirement of sensitivity, then goes to step if satisfy, if do not satisfy, then goes to step [2];
[2] microprocessor is regulated digital regulation resistance once more according to the count value that the sampling pulsewidth obtains;
[3] sample once more the output x axle of double-axel acceleration sensor or the pulse width signal of y axle of microprocessor;
[4] the pulsewidth count value that once more sampling obtained of microprocessor, whether the resistance size of intelligent decision digital regulation resistance satisfies the requirement of sensitivity, then goes to step [5] if satisfy, if do not satisfy, then go to step 2), carry out repeatedly the operation of step [2] to step [4];
[5] microprocessor is further processed the pulsewidth count value that sampling obtains.
The present invention compared with prior art has following conspicuous outstanding substantive distinguishing features and significant advantage:
Employing is by microprocessor, acceleration transducer, and the inclination angle closed-loop measuring system that digital regulation resistance etc. constituted uses detection method of the present invention, just can realize that the relative broad range of angle segmentation sensibility variable is measured.Tilt angle sensor system of the present invention in addition also has characteristics such as volume is little, low in energy consumption.
Description of drawings
Fig. 1 is a double-shaft tilt angle sensor closed-loop system structured flowchart.
Fig. 2 is segmentation sensibility variable system performance figure after the output pulse width normalization.
Fig. 3 is that the double-shaft tilt angle sensor system sensibility variable detects main program flow.
Fig. 4 eliminates many-valued problem system workflow diagram.
Fig. 5 be in the system by digital regulation resistance, the closed-loop system schematic diagram that single-chip microcomputer, acceleration transducer constitute.
Specific implementation method
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one: referring to Fig. 1, this double-shaft tilt angle sensor system, comprise: a power circuit, the DC voltage of 5V is converted to the DC voltage of 3.3V, respectively form device for double-shaft tilt angle sensor working power is provided, a double-axel acceleration sensor ADXL202 is arranged, and the inclination angle of sensing x axle and y axle changes, and delivers to a microprocessor ATMEGA128L by pulsewidth output;
A digital regulation resistance AD5342 is arranged, realize the adjusting of this digital regulation resistance AD5242 with communicating by letter between the described microprocessor ATMEGA128L, this digital regulation resistance AD5242 passes through the pulse-width controlled that is connected and realizes double-axel acceleration sensor with described double-axel acceleration sensor ADXL202;
Described microprocessor ATMEGA128L handles the pulse width signal of described double-axel acceleration sensor ADXL202, controls described digital regulation resistance AD5242, realizes the digital regulation resistance AD5242 control of high angle condition, improves high spud angle and measures heightening of sensitivity;
A host computer is arranged, the communication between realization and the described microprocessor ATMEGA128L, the convenient resistance that monitors described digital regulation resistance AD5242, angle measurement is so that in time fix a breakdown.
Embodiment two: referring to Fig. 1 and Fig. 4, present embodiment is identical with embodiment one, and special character is: the present embodiment hardware system is by microprocessor ATMEGA128L, acceleration transducer ADXL202L, digital regulation resistance AD5242, common composition such as power supply AMS-1117.The output of acceleration transducer ADXL202L is as the input of microprocessor ATMEGA128L, and digital regulation resistance AD5242 passes through the adjustment of realization to the pulse width signal of acceleration transducer ADXL202L of communicating by letter with microprocessor ATMEGA128L.Realize the adjustment of sensitivity.All realized closed loop by the x axle of such mode acceleration transducer ADXL202L and the output of y axle.Just said twin shaft closed loop.
On the basis of whole hardware platform, to carrying out Intelligent treatment to the digital signal that acceleration transducer ADXL202L produces.The pulsewidth output of acceleration transducer ADXL202L is the important controlling object as total system, microprocessor ATMEGA128L judges whether and need adjust digital regulation resistance AD5242 by to the reading of the count value of the pulsewidth high level of different x axles and y axle.When the count value that determines less than θ
1The time (as Fig. 2), the remolding sensitivity of system is more satisfactory, need not to adjust digital regulation resistance AD5242.Microprocessor ATMEGA128L just can directly set up the measurement that model is realized angle according to the size of count value.When the count value that determines more than or equal to θ
1The time (as Fig. 2), the sensitivity of system has decline, at this moment, need take to enlarge the sensitivity that the method for the resistance of digital regulation resistance AD5242 improves system, carrying out secondary at the pulse width signal to the x axle y axle of acceleration transducer ADXL202L reads, and then microprocessor ATMEGA128L sets up the model of other x axle y axle, the measurement of realization angle.The system that makes can realize the highly sensitive measurement of angle of extensive angle.
Embodiment three: this obliquity sensor is to the measuring method at inclination angle, referring to Fig. 3, and Fig. 4, the step of specific implementation;
1) as Fig. 3 flow process 1, microprocessor ATMEGA128L carries out initialization, comprises initialization I/O mouth, timer/counter, and serial ports, global interrupt is caught and is interrupted, and overflows interruption, and I2C.
2) as Fig. 3 flow process 2, microprocessor ATMEGA128L communicates by letter by I2C with digital regulation resistance AD5242, realizes shaking hands connection.
3) as Fig. 3 flow process 3, microprocessor ATMEGA128L is by the total line traffic control of I2C, make digital regulation resistance AD5242 its be operated in R1.
4) as Fig. 3 flow process 4, microprocessor ATMEGA128L samples to the output signal of double-axel acceleration sensor ADXL202L, and according to the sampled signal of x axle or y axle, goes to Fig. 4 flow process, carries out the processing of next step many-valued problem;
5) as Fig. 4 flow process 1, microprocessor ATMEGA128L is according to the count value of sampling pulsewidth, and whether the resistance size of intelligent decision digital regulation resistance AD5242 satisfies the requirement of sensitivity, then goes to Fig. 4 flow process 2 if satisfy, if do not satisfy, then goes to Fig. 4 flow process 3;
6) as Fig. 4 flow process 3, the count value that microprocessor ATMEGA128L obtains according to the sampling pulsewidth, AD5242 regulates once more to digital regulation resistance, makes it be operated in a new suitable resistance, realizes the sensibility variable operation;
7) as Fig. 4 flow process 4, microprocessor ATMEGA128L sample once more the output x axle of double-axel acceleration sensor ADXL202L or the pulse width signal of y axle;
8) as Fig. 4 flow process 5, the pulsewidth count value that microprocessor ATMEGA128L obtains sampling once more, whether the resistance size of intelligent decision digital regulation resistance satisfies the requirement of sensitivity, then go to Fig. 4 flow process 2 if satisfy, if do not satisfy, then go to Fig. 4 flow process 3, carry out repeatedly, Fig. 4 flow process 3 is to the many-valued issue handling operation of flow process 5;
9) as Fig. 4 flow process 2, microprocessor ATMEGA128L stores the pulsewidth count value that sampling obtains, and is further processed.
10) as Fig. 3 flow process 6, microprocessor ATMEGA128L utilizes through the x axle of storing after the many-valued issue handling and the pulsewidth count value of y axle, calculates the angle value of x axle and y axle respectively;
11) as Fig. 3 flow process 7, microprocessor ATMEGA128L send host computer to show to the x axle of calculating gained and the angle value of y axle.And be back to Fig. 3 flow process 2, adjusting digital regulation resistance AD5242 has carried out measurement of angle operation next time.
By repetitious like this operation, just can realize the processing of many-valued problem.Realize the reasonable change of sensitivity, solved in measuring process the many-valued problem of the corresponding multi-angle of same output.Realize the uniqueness of measurement.
Claims (3)
1. double-shaft tilt angle sensor system, comprise: a power circuit (4), the DC voltage of 5V is converted to the DC voltage of 3.3V, respectively form device for double-shaft tilt angle sensor working power is provided, it is characterized in that: a double-axel acceleration sensor (2) is arranged, the inclination angle of sensing x axle and y axle changes, and delivers to a microprocessor (1) by pulsewidth output; A digital regulation resistance (3) is arranged, realize the adjusting of this digital regulation resistance (3) with communicating by letter between the described microprocessor (1), this digital regulation resistance (3) passes through the pulse-width controlled that is connected and realizes double-axel acceleration sensor (2) with described double-axel acceleration sensor (2);
Described microprocessor (1) is handled the pulse width signal of described double-axel acceleration sensor (2), controls described digital regulation resistance (3), realizes digital regulation resistance (3) control of high angle condition, improves high spud angle and measures heightening of sensitivity; A host computer (5) is arranged, the communication between realization and the described microprocessor (1), the convenient resistance that monitors described digital regulation resistance (3), angle measurement is so that in time fix a breakdown.
2. a double-shaft tilt angle sensor system variation sensitivity detection method adopts the described double-shaft tilt angle sensor system of claim 1 to detect, and it is characterized in that it is as follows to detect step:
A. system initialization comprises communication initialization between microprocessor (1) and the host computer (5), communication initialization between microprocessor (1) and the digital regulation resistance (3), and initialization is interrupted in the timer/counter initialization of microprocessor (1);
B. microprocessor (1) by realize with digital regulation resistance (3) between shake hands and be connected;
C. microprocessor (1) is realized the adjusting to digital regulation resistance (3) by current system state;
D. microprocessor (1) is sampled to the output signal of double-axel acceleration sensor (2), and according to the sampled signal of x axle or y axle, is further processed respectively;
E.5) microprocessor (1) carries out the processing of many-valued problem to the x axle of double-axel acceleration sensor (2) and the signal of y axle respectively;
F.6) result of microprocessor (1) after to many-valued issue handling calculates the angle value of x axle and y axle respectively;
G.7) microprocessor (1) send host computer to monitor to the x axle of gained and the angle value of y axle.And be back to step 3), regulator potentiometer has carried out measurement of angle operation next time.
3. double-shaft tilt angle sensor system variation sensitivity detection method according to claim 2 is characterized in that the concrete steps of many-valued issue handling in the described step 5) are:
A. microprocessor (1) is according to the count value of sampling pulsewidth, and whether the resistance size of intelligent decision digital regulation resistance (3) satisfies the requirement of sensitivity, then goes to step [5] if satisfy, if do not satisfy, then goes to step [2];
B. microprocessor (1) is regulated digital regulation resistance once more according to the count value that the sampling pulsewidth obtains;
C. sample once more the output x axle of double-axel acceleration sensor (2) or the pulse width signal of y axle of microprocessor (1);
D. the pulsewidth count value that once more sampling obtained of microprocessor (1), whether the resistance size of intelligent decision digital regulation resistance (3) satisfies the requirement of sensitivity, then goes to step [5] if satisfy, if do not satisfy, then go to step 2), carry out repeatedly the operation of step [2] to step [4];
E. microprocessor (1) is further processed the pulsewidth count value that sampling obtains.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101839711A (en) * | 2010-05-18 | 2010-09-22 | 山东大学 | Portable digitalized high-precision tilt angle measuring instrument and measuring method |
| CN102313837A (en) * | 2011-06-17 | 2012-01-11 | 深圳市金霆新能源技术有限公司 | Photovoltaic convergence detecting device |
| CN103604416A (en) * | 2013-11-07 | 2014-02-26 | 国网电力科学研究院 | High-precision double-shaft inclination sensor |
| CN104154901A (en) * | 2014-09-01 | 2014-11-19 | 苏州博众精工科技有限公司 | Gradient detection device on basis of single chip microcomputer |
| CN105807689A (en) * | 2016-04-29 | 2016-07-27 | 上海海洋大学 | Two-wheel self-balance car control system |
| CN106052623A (en) * | 2016-07-18 | 2016-10-26 | 西安交通大学 | Non-rotating central installation type angular displacement measurement sensor and measurement method thereof |
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| CN109999471A (en) * | 2019-04-12 | 2019-07-12 | 漳州泰里斯体育器材有限公司 | A kind of wide range combat sports strike force measuring device |
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- 2009-11-03 CN CN2009101982001A patent/CN101706272B/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101839711A (en) * | 2010-05-18 | 2010-09-22 | 山东大学 | Portable digitalized high-precision tilt angle measuring instrument and measuring method |
| CN102313837A (en) * | 2011-06-17 | 2012-01-11 | 深圳市金霆新能源技术有限公司 | Photovoltaic convergence detecting device |
| CN102313837B (en) * | 2011-06-17 | 2013-08-28 | 深圳市金霆新能源技术有限公司 | Photovoltaic convergence detecting device |
| CN103604416A (en) * | 2013-11-07 | 2014-02-26 | 国网电力科学研究院 | High-precision double-shaft inclination sensor |
| CN104154901A (en) * | 2014-09-01 | 2014-11-19 | 苏州博众精工科技有限公司 | Gradient detection device on basis of single chip microcomputer |
| CN105807689A (en) * | 2016-04-29 | 2016-07-27 | 上海海洋大学 | Two-wheel self-balance car control system |
| CN106052623A (en) * | 2016-07-18 | 2016-10-26 | 西安交通大学 | Non-rotating central installation type angular displacement measurement sensor and measurement method thereof |
| CN108205878A (en) * | 2016-12-16 | 2018-06-26 | 航天科工惯性技术有限公司 | Avalanche monitoring method and avalanche monitoring system |
| CN108205878B (en) * | 2016-12-16 | 2021-01-01 | 航天科工惯性技术有限公司 | Collapse monitoring method and collapse monitoring system |
| CN107132918A (en) * | 2017-04-26 | 2017-09-05 | 东南大学 | Head control type body-sensing mouse |
| CN109999471A (en) * | 2019-04-12 | 2019-07-12 | 漳州泰里斯体育器材有限公司 | A kind of wide range combat sports strike force measuring device |
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