CN102636299B - Sensor for measuring six-dimensional force of wheel - Google Patents
Sensor for measuring six-dimensional force of wheel Download PDFInfo
- Publication number
- CN102636299B CN102636299B CN201210071761.7A CN201210071761A CN102636299B CN 102636299 B CN102636299 B CN 102636299B CN 201210071761 A CN201210071761 A CN 201210071761A CN 102636299 B CN102636299 B CN 102636299B
- Authority
- CN
- China
- Prior art keywords
- wheel
- sensor
- acquisition module
- circuit
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a sensor for measuring six-dimensional force of a wheel, which comprises a rotating portion and a non-rotating portion. The rotating portion is mounted on the wheel and rotates along with the wheel, the non-rotating portion is fixed relative to a vehicle, the rotating portion consists of an elastic body, a bridge forming circuit, a single-ring absolute type encoder and an acquisition module, and the non-rotating portion comprises a transmission module. By the aid of the sensor for measuring the six-dimensional force of the wheel in the mode, force in three mutually perpendicular directions and torque in the three mutually perpendicular directions on the single wheel can be measured in real time, and the six-dimensional force of the wheel of the vehicle is accurately and reliably measured.
Description
Technical field
The present invention relates to automobile observation and control technology field, be specifically related to Design of Mechanical Structure, and signals collecting and transmission system, relate in particular to a kind of sensor of measuring wheel 6 DOF.
Background technology
The motion of automobile is the interactional result in wheel and road surface, therefore for wheel force measurement in Automobile Measuring Techniques and even road are analyzed, all there is the significance can not be substituted.Specifically, wheel is subject to respectively the effect of three power and three moments of torsion under steam, is respectively longitudinal force, side force, vertical force and moment resulting from sidesway, side direction moment, aligning torque.From 20 century 70s, the research of General Motors Overseas Corporation's early start to wheel force, the states such as the current U.S., Germany, Switzerland and Japan all have similar product to come out.China starts late for the research of six-dimension force sensor, the research that can be applied to the wheel power measuring technology of automobile is almost blank within a very long time, to its research substantially in theory stage, in the time of actual vehicle design or Performance Evaluation, often adopt foreign correlation parameter the combination method of design experiences in the past, be difficult to the Apparatus and method for of quantitative data analysis and process.
Along with the popularization of GB with for the further strict requirement of Automobile Design, the demand of wheel force is also day by day increased, imported product is all selected to buy in automobile production producer and testing field mostly now, but has following problem:
1, imported product is expensive, is unfavorable for reducing R&D costs;
2, employing standard difference, is unfavorable for the popularization of China's GB;
3, gordian technique is implemented blockade on new techniques to China, is unfavorable for the independent research of domestically-made vehicle.
Therefore, research and development have the low cost wheel six-dimension force sensor of independent intellectual property right, significant for the development of Domestic Automotive Industry.
In prior art, number of patent application is that the patent of ZL 200320110714.5 discloses a kind of automobile wheel multi-dimensional force measuring device, is a kind of device of the real-time measurement for the wheel stress under automobile running working condition; Number of patent application is that ZL 200320110713.0 discloses a kind of wheel multi-dimensional force measuring sensor, is the power sensor in a kind of automobile running working condition detection system.But there is the following deficiency in the mentioned wheel force of above-mentioned patent:
1, while wheel force being arranged on wheel hub, fastening bolt can apply a larger pretightning force to wheel force, thereby side force measuring accuracy is produced to considerable influence;
2, the collection of wheel six-dimensional force signal and angular signal is asynchronous, and this will directly affect follow-up decoupling zero precision;
3, the inner photoelectricity transmission mode that adopts of wheel force, adopts photoemission diode and receives diode as transmission channel, and therefore data transmission stability is poor, and data packet loss is higher.
Summary of the invention
For above-mentioned defect, the object of the present invention is to provide a kind of sensor of measuring wheel 6 DOF, can be in Vehicle Driving Cycle process, measure in real time power in suffered orthogonal three directions of single wheel and the moment of torsion in orthogonal three directions, realized to automotive wheel six-dimensional force accurately, measure reliably.
In order to address the above problem, technical scheme of the present invention is, a kind of sensor of measuring wheel 6 DOF is provided, comprise and be arranged on the rotating part and static non-rotating part relative to vehicle itself that on wheel, rotate with wheel, described rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module, described non-rotating part comprises transport module, described elastic body can produce deformation under the effect of the suffered six-dimensional force of wheel, and the resistance that makes to stick on the resistance strain gage on elastic body changes; Described group bridge circuit can change into the differential voltage variable signal of answering in contrast by the change in resistance of foil gauge on this elastic body; Described acquisition module is by voltage change signal conditioning and amplify, and after the angle signal that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered packs, gives and static transport module relative to vehicle body by wireless way for transmitting; Described transport module can be transferred to host computer by the signal after packing by Serial Port Line, just obtains current wheel six-dimensional force signal after host computer carries out data analysis and process.
In a preferred embodiment of the present invention, described rotating part adopts battery-powered.
In a preferred embodiment of the present invention, described elastic body adopts the spoke structure with the symmetrical feature of many beams, difference adhering resistance strain sheets on 8 strain beams.
In a preferred embodiment of the present invention, described acquisition module comprises weak voltage amplifying circuit, voltage signal conditioning circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.
In a preferred embodiment of the present invention, the angle signal that the differential voltage signal of described acquisition module collection group simultaneously bridge circuit and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER gather.
In a preferred embodiment of the present invention, between described acquisition module and transport module, adopt the mode of high frequency wireless telecommunications.
The sensor of the measurement wheel 6 DOF that the present invention discloses, formed by elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, acquisition module and transport module, can be in Vehicle Driving Cycle process, measure in real time power in suffered orthogonal three directions of single wheel and the moment of torsion in orthogonal three directions, realized to automotive wheel six-dimensional force accurately, measure reliably.
Brief description of the drawings
Fig. 1 is wheel right hand orthogonal coordinate system of the present invention and six-dimensional force definition figure;
Fig. 2 is elastomeric stereographic map of the present invention;
Fig. 3 is elastomeric vertical view of the present invention;
Fig. 4 is elastomeric front view of the present invention;
Fig. 5 is elastomeric side view of the present invention;
Fig. 6 is of the present invention group of bridge circuit figure;
Fig. 7 is the circuit block diagram of acquisition module of the present invention;
Fig. 8 is the circuit diagram of acquisition module of the present invention and transport module controller;
Fig. 9 is the wireless transmission circuit figure of acquisition module of the present invention and transport module;
Figure 10 is acquisition module power supply modulate circuit figure of the present invention;
Figure 11 is acquisition module electric quantity detecting circuit figure of the present invention;
Figure 12 is that acquisition module of the present invention reads RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER Digital Circuit figure;
Figure 13 is of the present invention group of bridge circuit signal amplification circuit figure;
Figure 14 is transport module circuit block diagram of the present invention;
Figure 15 is transport module power circuit diagram of the present invention;
Figure 16 is transport module serial port circuit figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that, protection scope of the present invention is made to more explicit defining.
A kind of sensor of measuring wheel 6 DOF, comprise and be arranged on the rotating part and static non-rotating part relative to vehicle itself that on wheel, rotate with wheel, rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module, non-rotating part comprises transport module, adopts the mode of high frequency wireless telecommunications between acquisition module and transport module.Wherein, rotating part adopts battery-powered, and can in the time that electric battery dump energy is not enough, send alerting signal; Non-rotating part is transport module, is received the signal of acquisition module transmission and can be upload the data to host computer via serial ports analyze and process by wireless communication mode.
Elastic body in the present invention is arranged on wheel, and rotate with wheel, under the effect of six-dimensional force, elastic body can produce deformation, this resistance that makes to stick on the resistance strain gage on elastic body changes, group bridge circuit can change into the voltage change signal of answering in contrast by this change in resistance, acquisition module is by voltage change signal conditioning and amplification, and after the angle signal packing that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered, give and static transport module relative to vehicle body by wireless way for transmitting, transport module does not rotate with wheel, and can the signal after packing be transferred to host computer by Serial Port Line, after carrying out data analysis and process, host computer just can obtain current wheel six-dimensional force signal.
Elastic body in the present invention adopts the spoke structure with the symmetrical feature of many beams, difference adhering resistance strain sheets on 8 strain beams, and this elastomer structure axial dimension is little, can bear very large radial force, and less on the overall performance impact of vehicle.
Acquisition module in the present invention comprises weak voltage amplifying circuit, voltage signal conditioning circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.This acquisition module can be to be greater than the differential voltage signal of speed collection group simultaneously bridge circuit of 200Hz and the angle signal that RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER gathers, and the dump energy of monitoring battery in real time, in the time that electric weight is not enough, can send alerting signal.
Fig. 1 has provided wheel right hand orthogonal coordinate system and measured three power of wheel six-dimension force sensor and the define method of three moments of torsion.Tire split perpendicular to rotation of wheel axis is called wheel plane, and the round dot O of coordinate system is the intersection point of wheel plane and the projection on ground level of rotation of wheel axis.The intersection of definition wheel plane and ground level is Xw axle, and forward for just; Zw axle is vertical with ground level, and points upwards is for just; Yw axle, on ground level, points to left for just during towards wheel working direction.In figure, ω is rotation of wheel angular velocity, and α is side drift angle, and γ is camber angle.Six of wheel force is measured component and is defined in (w system) in wheel coordinate system, for initial point is in the right hand rectangular coordinate system of wheel center.Measure six component and be defined as respectively longitudinal force Fxw(Longitudinal Force), side force Fyw(Lateral Force), vertical force Fzw(Vertical Load) and moment resulting from sidesway Mxw(Overturning Moment), side direction moment Myw(Lateral Moment), aligning torque Mzw(Aligning Moment).Wherein, side direction moment comprises driving torque (Driving Torque), braking torque (Braking Torque) and rolling resistance moment (Rolling Resistance Moment).Force component along coordinate axis forward for just, moment components along coordinate axis forward counterclockwise for just.
Elastic body as shown in Figure 2-5, this elastic body is divided into inside and outside two circles, and middle connected with 8 elastic beams, 8 little mounting holes of inner ring are for fixing with axletree, 8 large mounting holes of outer ring are for fixing with wheel, and 8 elastic beams are evenly distributed between inner ring and outer ring.In the time that wheel is stressed, can there is elastic deformation in 8 elastic beams, and 8 elastic beams, by different combinations, can obtain separate vehicle wheel forces in the mode of structure decoupling.The structural alloy steel of elastomeric material selection high-quality, has higher limit of elasticity and impact flexibility, has good machining and heat treatment performance.Determine after elastomer structure, need to carry out finite element analysis to it, to determine the strained situation of structure under stress condition, thereby find out the most reasonable paste position of foil gauge.Use ANSYS software, elastic body is divided into 138717 unit, in software simulation, suppose that inner ring fixes, six-dimensional force is applied on elastic body uniformly by 8 mounting holes of outer ring, stress and strain by analysing elastic body when stressed, be identified for the patch location of the resistance strain gage of measuring six-dimensional force, described in patch location is described below:
1) paste respectively tension and compression foil gauge 10,13,28,31 at C beam and G beam upper and lower surface medial axis place, measure longitudinal force Fxw.
2) paste respectively shearing foil gauge 15,16,17,18 and 33,34,35,36 at D beam and H beam side surface medial axis place, measure side force Fyw.
3) paste respectively tension and compression foil gauge 20,23,2,5 at E beam and A beam upper and lower surface medial axis place, measure vertical force Fzw.
4) paste respectively shearing foil gauge 1,3,4,6 and 19,21,22,24 at A beam and E beam side surface medial axis place, measure moment resulting from sidesway Mxw.
5) paste respectively tension and compression foil gauge 7,8,25,26 at B beam and F beam side surface root axis place, measure side direction moment Myw.
6) be chosen in C beam and shearing foil gauge 9,11,12,14 and 27,29,30,32 is pasted respectively at G beam side surface medial axis place, measure aligning torque Mzw.
Choose accurately in paster point position, each foil gauge resistance equates, and under sensor elastomer structure full symmetric, these three prerequisites of isotropy, above-mentioned paster mode has realized the structure decoupling of wheel six-dimensional force.For each dimension power, be chosen at the contrary foil gauge pair of deformation trend under this dimension power effect, be connected by low impedance leads, form six differential bridges, the corresponding one dimension force of differential output of each electric bridge, group bridge method is as shown in Figure 6.Six group bridge circuits are analyzed, obtained the group bridge scheme of the foil gauge pieces of cloth of the six-dimensional force signal decoupling zero of wheel six-dimension force sensor, realized multi-dimensional force direct decoupling and measured, the pass of each force and moment of wheel force and electric bridge output strain is:
Wherein Gi (i=1,2 ... 6) be the calibration coefficient on corresponding bridge road, Si (i=1,2 ... 32) be foil gauge output strain.
The circuit block diagram of acquisition module as shown in Figure 7, acquisition module is powered by electric battery, battery voltage is monitored by controller, the deformation of group bridge circuit induction wheel power sensor elastomer also produces analog voltage signal output, analog voltage after filtering, amplify, finally gathered by the A/D mouth of MCU.Code-disc adopts RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, and for gathering wheel steering angle signal, for follow-up decoupling zero, code-disc is connected with MCU by I/O mouth.Send packet header bag tail via wireless transmission chip by SPI mouth by adding after the digital signal packing of electric bridge and code-disc.
In wheel six-dimension force sensor, controller need to have A/D conversion (for signals collecting), voltage ratio (for detection of battery electric quantity), spi bus (for driving wireless transmission chip), serial ports (for host computer communication) etc. function, therefore, processing power to microcontroller and be provided with higher requirement outward, consider that acquisition module is by battery-powered, the power consumption of controller also should be low as far as possible simultaneously.The present invention selects the C8051F005 single-chip microcomputer of Cygnal company of the U.S.; this single-chip microcomputer adopts pipeline organization on the basis of traditional 51 single-chip microcomputers; cycle is become to a system clock cycle from 12 system clock cycles of standard; processing power, processing speed improve greatly; peak performance can reach 25MIPS; in addition, its idle (idle) and shutdown (stop) two kinds of power managements are all vital performances for battery powered acquisition system.Fig. 8 has provided the circuit diagram of the controller C8051F005 minimum system of acquisition module and transport module.In figure, the label of C8051F005 is U1.No. 20 pins, for resetting, are connected to high level by a RC reset circuit.21, No. 22 pins are for online programming and debugging, and the label of DLL (dynamic link library) is JP1.18, the passive crystal oscillator of No. 19 external 12MHz of pin, and by the capacity earth of two 22pF.Capacitor C 4, C5, C6, C7, C8 are for power filter.Magnetic bead L3 has realized single-point grounding in analog.
Fig. 9 has provided the wireless transmission circuit figure of acquisition module and transport module.Adopt the wireless digital transmission chip nRF2401 of Nordic company to realize.NRF2401 wireless receiving and dispatching one chip is the same with bluetooth, is all operated in the free frequency range of the open ISM in the 2.4GHz whole world, can be unblocked in global radio market.NRF2401 supports multi-point communication, maximum transmission rate 1Mbit/s, and also BELAND toilet article have higher transmission speed.Different from bluetooth, nRF2401 does not have complicated communication protocol, and it is completely to user transparent, can free communication between product of the same race, and be industry volume minimum, power consumption is minimum, peripheral cell is minimum low cost radio frequency system level chip.Its adopts the design of SOC method, and all high-frequency components comprise that inductance, oscillator etc. have all been integrated in chip internal, make consistance good, stable performance and be not subject to ectocine.NRF2401 in the drawings label is U2, and 3,5,6,12, No. 13 pins are connected respectively at 47,46,45,44, No. 43 pins of U1.No. 1 pin of U2 is connected by the resistance of 10k Ω and 48, No. 49 pins of U1 respectively.
Figure 10 has provided acquisition module power supply Opsonizing method.Because acquisition module and sensing body all adopt powered battery, therefore the low power dissipation design of system is particularly important.In order to reduce power consumption, system is designed to work under the low-voltage of 3V, and the electrical source consumption of acquisition module maximum is exactly the power supply of electric bridge, adopts the low-voltage power supply scheme current drain of lower electric bridge effectively of 3V, extends its working time.This module adopts 7.2V, 4000mAh's is battery-powered, in the process using, first adopts Voltage stabilizing module 7805 that voltage is surely arrived to 5V, use again the linear voltage stabilization chip TPS76903 of Texas Instruments, 5V is converted to the 3V that meets electric bridge power supply and simulation, the normal work of digital circuit.TPS76930 is exclusively used in linear low pressure drop (LDO) voltage stabilizer of battery power supply system, has low pressure drop, super low-power consumption work and encapsulates minimized advantage.Compared with common LDO voltage stabilizer, there are lower drop-away voltage (minimum is 71mV) and ultralow quiescent current (maximal value is 28 μ A).TPS76930 adopts 5 end Small Scale Integration SOT-23 encapsulation, can be ideally for the design of micro-power consumption operation and attention circuit board space, and the drop-away voltage characteristic that it is ultralow and the operation of super low-power consumption obviously increase battery service life.TPS76930 also has the sleep pattern of logic-enabled (logic-enabled), draws high the level of No. 3 pins can close voltage stabilizer by control, makes quiescent current be reduced to representative value 1 μ A.
Figure 11 has provided acquisition module electric quantity of power supply detection method.In image data process, the dump energy that module can real-time monitoring battery group.Adopt in practice the method for voltage detecting, by the battery voltage after dividing potential drop is carried out to AD conversion, when conversion value is during lower than a certain threshold voltage, can report to the police to host computer.
Figure 12 has provided the reading circuit of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER in acquisition module.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, for measuring in real time the absolute angle of wheel, in acquisition module, has been selected 12 RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, this scrambler adopts 232 patterns, baud rate is 115200bit/s, and output format is Gray code, has improved the reliability of system.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER has an absolute zero position code, when after power failure or shutdown, then starts shooting while remeasuring, still can read exactly the code that has a power failure or shut down position, and find exactly zero-bit code.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is connected with acquisition module by serial ports, and that serial port drive chip adopts is MAX232.
Figure 13 has provided the amplification method of differential bridge signal in acquisition module.In the situation of vehicle wheel forces sensing body normal load, electric bridge output-0.5mV is to the feeble signal of+0.5mV.Need to adopt instrument amplifier to amplify it, faint unipolarity differential voltage is converted to the large-signal of OK range.Because this module adopts single supply, low voltage power supply, and general instrument amplifier only could normally be worked in the time that negative and positive dual power is powered.Select the instrument amplifier INA122PA of Burr-Brown company of the U.S. here.This device, due to the PMOS technology of Burr-Brown company, is able to can obtain good performance the single supply operating voltage in the case of being low to moderate 2.2V.INA122PA, by the composite design of 2 amplifiers, makes device have extremely low quiescent current and wider power range.Through the revised circuit of laser, there is very low input imbalance, input drift and fabulous common-mode rejection ratio.Its gain can be set to the amplifying power of 5-10000 times easily by an outer meeting resistance.As shown in figure 13, Vin+, Vin-are differential signal input, 7 pin and 4 pin access 3.3V power supply, and the VREF of 5 pin is reference voltage input, between 1 pin and 8 pin, accesses enlargement factor regulating resistance.R2 and C2 have formed low-pass first order filter, and design parameter can regulate according to cutoff frequency.After amplification and filtering, analog voltage signal An sends into the AD module of MCU and samples.
Transport module circuit block diagram as shown in figure 14, is divided into power supply, MCU, serial communication, four parts of wireless transmission.9-24V vehicle power is converted to the required 3.3V power supply of system by power module, is respectively MCU, wireless module, serial port module power supply.MCU is for the communication conversion of rs 232 serial interface signal and wireless signal; Serial port module, for communicating by letter with industrial computer, receives the order of host computer and the data of acquisition module is returned to industrial computer; Wireless transport module is for carrying out exchanges data with acquisition module.
Figure 15 has provided the method for vehicle power step-down in transport module.Adopt the LM2576HV-3.3V of National Semiconductor, the scope of this chip input is 7～60V, has met the various scopes of vehicle power, and its output maximum current is 3A simultaneously, and carrying load ability is very strong.In the situation that design is correct, the ripple of out-put supply can be controlled in 4%.In actual design, 3V power supply ripple has reached in 20mV in the time of normal work, even also can be controlled in 100mV in startup moment, meets 5% Ripple Design requirement.In figure, LM2576HV-3.3V label is U22, its No. 1 pin access vehicle power, and 3, No. 5 pin ground connection, No. 4 pins are feedback end, No. 5 pins are the output of 3.3V power supply.C44 and C45 are for vehicle power filtering, and L2, D15 and C46 have controlled the ripple size of output voltage, and C47 and L1 have formed LC filtering circuit, to the further filtering of output voltage.
Figure 16 has provided in transport module the method with host computer communication.RS-232 interface and host computer communication for data transmission module end.Because the level that the UART interface of microcontroller uses is Transistor-Transistor Logic level, and RS-232 adopt be negative logic, logical one represents with-5 ~-15V; Logical zero represents with+5 ~+15V, therefore when the UART of MCU and RS-232 interface, need to carry out level conversion.Native system uses modal MAX232 to carry out level conversion.
Rotating part in the present invention has comprised elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module, rotating part is all arranged on wheel, and keep relative static with wheel, because wheel can rotate in Vehicle Driving Cycle, therefore this part adopts powered battery mode.
Rotating part in the present invention in dormant state, to reduce power consumption, extends the service time of battery at ordinary times.When in dormant state, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, all in closed condition, only have wireless telecommunications in state of activation, greatly reduce the energy consumption of whole acquisition system; In the time that needs are measured wheel six-dimensional force, host computer sends an activation command to acquisition module by transport module, and rotating part is waken up from dormant state.
The sensor of the measurement wheel 6 DOF that the present invention discloses, formed by elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, acquisition module and transport module, can be in Vehicle Driving Cycle process, measure in real time power in suffered orthogonal three directions of single wheel and the moment of torsion in orthogonal three directions, realized to automotive wheel six-dimensional force accurately, measure reliably.
The above; it is only the specific embodiment of the present invention; but protection scope of the present invention is not limited to this; any those of ordinary skill in the art are in the disclosed technical scope of the present invention; the variation that can expect without creative work or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claims were limited.
Claims (6)
1. measure the sensor of wheel six-dimensional force for one kind, comprise and be arranged on the rotating part and static non-rotating part relative to vehicle itself that on wheel, rotate with wheel, it is characterized in that, described rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module, described non-rotating part comprises transport module, described elastic body can produce deformation under the effect of the suffered six-dimensional force of wheel, and the resistance that makes to stick on the resistance strain gage on elastic body changes; Described group bridge circuit changes into the change in resistance of foil gauge on elastic body the differential voltage variable signal of answering in contrast; Described acquisition module is by voltage change signal conditioning and amplify, and after the angle signal that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered packs, gives and static transport module relative to vehicle body by wireless way for transmitting; Described transport module can be transferred to host computer by the signal after packing by Serial Port Line, just obtains current wheel six-dimensional force signal after host computer carries out data analysis and process.
2. according to the sensor of the measurement wheel 6 DOF described in claim 1, it is characterized in that, described rotating part adopts battery-powered.
3. according to the sensor of the measurement wheel 6 DOF described in claim 1, it is characterized in that, described elastic body adopts has 8 equally distributed spoke structures of strain beam, difference adhering resistance strain sheets on 8 strain beams.
4. according to the sensor of the measurement wheel 6 DOF described in claim 1, it is characterized in that, described acquisition module comprises weak voltage amplifying circuit, voltage signal conditioning circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.
5. according to the sensor of the measurement wheel 6 DOF described in claim 1, it is characterized in that the angle signal that the differential voltage signal of described acquisition module collection group simultaneously bridge circuit and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER gather.
6. according to the sensor of the measurement wheel 6 DOF described in claim 1, it is characterized in that, between described acquisition module and transport module, adopt the mode of high frequency wireless telecommunications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210071761.7A CN102636299B (en) | 2012-03-19 | 2012-03-19 | Sensor for measuring six-dimensional force of wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210071761.7A CN102636299B (en) | 2012-03-19 | 2012-03-19 | Sensor for measuring six-dimensional force of wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102636299A CN102636299A (en) | 2012-08-15 |
| CN102636299B true CN102636299B (en) | 2014-06-04 |
Family
ID=46620781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210071761.7A Expired - Fee Related CN102636299B (en) | 2012-03-19 | 2012-03-19 | Sensor for measuring six-dimensional force of wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102636299B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132763B (en) * | 2014-08-14 | 2016-03-02 | 哈尔滨工业大学 | There is planet detection vehicle wheel and the forces testing method of grand micro object test function |
| CN105374196A (en) * | 2014-08-27 | 2016-03-02 | 武汉普创数码科技有限公司 | Data acquisition device and system based on six-component wheel force transducer |
| CN106872084B (en) * | 2017-02-15 | 2019-03-22 | 清华大学 | Single-wheel self-aligning torque measuring device and method when a kind of running car |
| CN108613819B (en) * | 2018-05-02 | 2020-05-05 | 北京尖翼科技有限公司 | Test system |
| CN110160810B (en) * | 2019-06-14 | 2020-11-24 | 青岛科技大学 | Method for testing rolling resistance of tire under indoor multiple working conditions |
| CN111896164A (en) * | 2020-06-12 | 2020-11-06 | 吉林大学 | Three-component force measuring sensor |
| CN114969975B (en) * | 2022-05-30 | 2023-03-24 | 北京理工大学 | Wheel multidimensional force measuring method and system based on hub bolts |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2650092Y (en) * | 2003-11-13 | 2004-10-20 | 东南大学 | Automobile wheel multi-dimensional force measuring sensor |
| CN2650103Y (en) * | 2003-11-13 | 2004-10-20 | 东南大学 | Automobile wheel multi-dimensional force measuring device |
| JP4764619B2 (en) * | 2004-08-23 | 2011-09-07 | 株式会社エー・アンド・デイ | Rotary component force measuring device |
| JP4184350B2 (en) * | 2005-01-26 | 2008-11-19 | 株式会社東京測器研究所 | 6 component force measuring system for wheel |
| KR100886113B1 (en) * | 2008-11-12 | 2009-02-27 | 주식회사 포엠 | 6omni wheel-3dof mobile robot platform using two superposed 3omni wheel mobile robot platform |
| CN102317750B (en) * | 2009-02-06 | 2015-07-22 | Abb股份公司 | Set of multiaxial force and torque sensor and assembling method |
| CN101710027B (en) * | 2009-11-24 | 2011-06-01 | 江苏大学 | Non-linear dynamic characteristic monitoring system and method of vehicle tyre |
| CN102095534B (en) * | 2010-12-08 | 2014-02-19 | 上海交通大学 | Double rood beam high-sensitivity six-dimensional moment sensor |
| CN202485850U (en) * | 2012-03-19 | 2012-10-10 | 东南大学 | Sensor for measuring vehicle wheel six dimensions |
-
2012
- 2012-03-19 CN CN201210071761.7A patent/CN102636299B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102636299A (en) | 2012-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102636299B (en) | Sensor for measuring six-dimensional force of wheel | |
| CN101598555B (en) | Micro-inertia measuring device based on ZigBee wireless singlechip | |
| CN103968976A (en) | System and method for detecting vehicle wheel movement state vector | |
| CN204359908U (en) | A kind of servo driving performance test and proof of algorithm device | |
| CN202485850U (en) | Sensor for measuring vehicle wheel six dimensions | |
| WO2018120335A1 (en) | Capacitive sensor for absolute angular displacement measurement | |
| CN102032900A (en) | Digital dip-angle sensor | |
| CN204346630U (en) | A kind of six-dimension force sensor | |
| CN102853958B (en) | Six-axis force sensor of bicycle pedal | |
| CN202956389U (en) | Portable wind speed measuring device | |
| CN204128560U (en) | A kind of quadrotor inertial measurement system | |
| CN103606206A (en) | Automobile driving state sensing device and method | |
| CN102928141A (en) | Metal resistance strain piece type torque transducer | |
| CN203550961U (en) | Low-cost flexible gyroscopic force balancing circuit | |
| CN203869794U (en) | Wheel motion state vector acquisition apparatus | |
| CN201897473U (en) | Digital inclination sensor | |
| CN204788412U (en) | Inertial sensor subassembly suitable for small -size unmanned helicopter | |
| CN104567933B (en) | Suppress the common-mode error of three axle inertial sensors and the method and apparatus of coherent noise | |
| CN204346555U (en) | A kind of full digital belted electronic balance | |
| CN103591925B (en) | Based on the mobile platform rotation angle measurement method of 3-axis acceleration sensor | |
| CN105021176A (en) | Mems gyroscope measurement and control circuit | |
| CN202274880U (en) | Direction recognition magnetic resistance sensor module | |
| CN107806909A (en) | A kind of impulse type cereal flow transducer signal acquisition and processing apparatus | |
| CN204389002U (en) | A kind of instrument high-speed AD sampling module | |
| CN209044375U (en) | Engineering machinery assemble production line moment measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140604 Termination date: 20170319 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |