CN102677578B - Vehicular high accuracy flexure measurement apparatus and its servo-control system - Google Patents
Vehicular high accuracy flexure measurement apparatus and its servo-control system Download PDFInfo
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- CN102677578B CN102677578B CN201210162680.8A CN201210162680A CN102677578B CN 102677578 B CN102677578 B CN 102677578B CN 201210162680 A CN201210162680 A CN 201210162680A CN 102677578 B CN102677578 B CN 102677578B
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Abstract
The invention discloses a kind of vehicular high accuracy flexure measurement apparatus and its servo-control system, wherein vehicular high accuracy flexure measurement apparatus, including supporting body girder steel and some laser doppler sensors, and some laser doppler sensors are fixedly mounted on supporting body girder steel, supporting body girder steel is placed in floor compartment by passive shake control system, and active shake control system is installed, active shake control system is connected with industrial computer, is provided with measuring cell on supporting body girder steel；Complex controll of the servo-control system using current closed-loop, speed closed loop, the stable closed loop of angular velocity and position closed loop this four closed loops；Which passes through actively and passively shake control system, the disturbance of runner wagon carrier in time, achieving road pavement flexure is carried out at a high speed, measure stably and accurately, and pass through servo-control system, fast and accurately control supporting body girder steel is steady so that the measured value of vehicular high accuracy flexure measurement apparatus road pavement flexure is more accurate.
Description
Technical field
The present invention relates to a kind of vehicular flexure measurement apparatus, more particularly to a kind of simultaneously with actively and passively vibrations control
The vehicular high accuracy flexure measurement apparatus of system processed and its servo-control system.
Background technology
Flexure is the parameter for characterizing subgrade and pavement bulk strength, generally refers to roadbed or road surface in required standard load
Total vertical deformation (total flexure) or rebound vertically deformation values (rebound deflection) that effect lower whorl gap position produces, with 0.01mm as list
Position, pavement deflection are the important technology indexs for characterizing pavement structural strength, are that delivery receiving acceptance and pavement evaluation and maintenance management must
The big event that must be detected.
Since nineteen fifty-one, Beckman is u s. state highway work person western part association (WASHO) in Idaho State road the examination of road
Beam arm formula instrument backman beam (BenkeLman Beam) for devising that a kind of combination amesdial is used is tested, and road surface is determined certain
Characterizing after the method for testing of pavement strength, this method is many in the world rapidly for flexure (vertical displacement) under wheel load action
Country is widely applied, and becomes a kind of main method of pavement strength test.
With the fast development of electronics and computer technology, to the states such as late 1970s, Great Britain and France have developed with
Lacroix benkelman beams deflectometer is that the second filial generation laser automatic bending instrument of representative has larger improvement, and this equipment is with displacement transducer
Automatically test flexure signal, arranges programme-control measuring mechanism by industrial microcomputer and operates automatically, eliminate loaded down with trivial details artificial behaviour
Make, but the test speed of this kind equipment is generally slower, maximum test speed also can only achieve 3～4km/h.Such laser is certainly
The basic test principle of dynamic deflection instrument is the working method for having imitated backman beam, simply substituted for percentage using displacement transducer
Table carries out automatic measurement, while changing the length ratio of test arm, controls measuring mechanism by industrial microcomputer program curing automatic
Operation, and the deflection value that is surveyed is automatically logged in microcomputer, the tedious work amount that staff manually lifts beam is eliminated, greatly
The labor intensity for alleviating tester, ensured the personal safety of tester, while detection speed also relatively artificial shellfish
Gram graceful beam method improves.
Although China starts late in terms of deflection test, starting point is higher, is introduced by equipment, completes technology
Digest and assimilate, design and develop stability abroad on the basis of autodeflectometer more preferably, measuring accuracy is higher, test
The laser automatic bending instrument that efficiency also increases, at present the test speed of this kind equipment can improve to 5～6km/h.
Can be detected with road pavement flexure in addition with a kind of drop hammer type autodeflectometer (FWD), FWD
Operation principle be that it leads to impact or vibration mode road pavement carries out the method for applying dynamic load obtaining pavement deflection value
The hydraulic system that crosses under computer controls lifts and discharges weight, and road pavement applies an impulsive load, carrys out simulated driving load pair
The effect on road surface.The flexure away from road surface at load plate different distance is determined by 7～9 high frequency velocity sensors on undercarriage.
It is widely used in dynamic deflection detection and structural behaviour evaluation by countries in the world at present, this method of testing detection speed is about
4～5km/h.
Existing Road Deflection Testing Technology is suffered from the drawback that：1) test speed is low, the detection of such at present equipment
Speed is relatively slow, and most fast speed is not more than 7km/h, other the key technical indexes such as flatness with respect to pavement of road,
The detection speed (>=50Km/h) of the indexs such as rut, cornering ratio still has larger gap；2) Personal Safety of tester
Cannot be effectively ensured.Due to test speed slower, or need under static conditions test, therefore detect on a highway
When, car rear-end is susceptible to, causes serious vehicle accident；3) deflection value that such testing equipment is obtained be at a slow speed or
Obtain under static conditions, have different with the action effect of vehicle road pavement in real road driving conditions；4) such
Equipment is needed to take path resource or close traffic, have impact on the normal use of road, cause path resource in detection
Waste.
In order to solve the shortcoming that above-mentioned pavement deflection detection means is present, it is proposed that a kind of vehicular high accuracy flexure measurement
Device, its pass through the supporting body girder steel for being provided with laser doppler sensor is placed on detection car, using laser doppler
Sensor road pavement flexure is measured, while utilizing vehicular, improves its efficiency for detecting, so as to solve above-mentioned tradition
The problem that pavement deflection detection means is present.But the thing followed is：Due to adopting vehicular, laser doppler sensor is installed
Supporting body girder steel due to be subject to vehicle vibration disturb and can cause laser sensor focus on fail, laser sensor to be caused should
The deflection basin that alignment is specified, and do not affected by vehicle vibration, stablizing for supporting body girder steel is the premise for ensureing accurate measurement.
At present, solve supporting body girder steel shake control measure and be generally divided into two kinds：
One kind is passive shake control system, that is, elastic dampers.Generally adopt passive control method, including every
Shake, shock-absorbing and power consumption three controls form, reach reduction structure shake using directly minimizing, isolation, transfer, catabiotic method
Dynamic purpose, but which often has that control effect is poor, does not reach the shortcoming of damper requirement.Although can be in supporting body steel
Monitored using gyroscope on beam, and related correction-compensation is carried out when calculating to flexure, but which is difficult to realize, while measurement result
Also inaccurate.As Chinese patent literature CN102162217A discloses a kind of laser dynamic deflection survey vehicle, which has installed additional passively
Damping device, and three fibre optic gyroscopes are provided with supporting body girder steel, and three fibre optic gyroscopes are arranged into orthogonal space,
For carrying out related correction-compensation to flexure when calculating, but the value of calculation deviation which draws can be caused bigger.
Another kind is active shake control system, and active shake control is exactly that intentional generation controllable secondary power is unnecessary to eliminate
Perturbed force shake control mode, be conventional active shake control measure to mechanical system additional power amortisseur, generally
The scheme being integrated using measurement sensor, controller, start executor and frame for movement.For supporting body girder steel is only with master
During autocontrol system, very big active controlling force is needed, so as to cause the cost of active control system to improve, energy consumption is larger, body
Product and weight are also larger, are difficult to realize.And due to system response time slow, it is impossible to solve between the stability of system and precision
Contradiction.
Content of the invention
It is an object of the invention to provide a kind of vehicular high accuracy flexure measurement apparatus and its servo-control system, which leads to
Cross actively and passively shake control system, the disturbance of timely runner wagon carrier, it is achieved that road pavement flexure carries out high speed, stablizes simultaneously
And accurately measure, and by servo-control system, fast and accurately control supporting body girder steel is steady so that vehicular is high
The measured value of precision flexure measurement apparatus road pavement flexure is more accurate.
It is that the present invention is employed the following technical solutions up to this purpose：
A kind of vehicular high accuracy flexure measurement apparatus, including supporting body girder steel and some laser doppler sensors, institute
State some laser doppler sensors to be fixedly mounted on supporting body girder steel, the supporting body girder steel passes through passive shake control
System is placed on platform floor, and is provided with active shake control system, the active shake control system and industrial computer phase
Even, measuring cell is installed on the supporting body girder steel.
Further, the passive shake control system include some to spring supporting bar and passive shake control device,
The each pair spring supporting bar is arranged on supporting body girder steel both sides, and is connected at the top of its upper end and supporting body girder steel, lower end
On two parallel steel pipes, two steel pipes are provided with passive shake control device with platform floor junction.
Further, the active shake control system includes two groups of active shake control devices, and is separately positioned on and holds
Carrier girder steel two ends, per group of active shake control device include shape girder steel frame and a servomotor, the door shape girder steel
Frame both sides bottom welding is provided with servomotor, and servomotor in the middle part of the door shape girder steel frame on two parallel steel pipes
It is connected at the top of lower end and supporting body girder steel.
Further, the measuring cell that installs on the supporting body girder steel includes accelerograph, fibre optic gyroscope and laser
Diastimeter.
Further, four laser doppler sensors are installed with the supporting body girder steel, and wherein more than three
General Le laser sensor uniformly leans on one end on rear side of platform floor installed in supporting body girder steel, used as measurement laser doppler sensing
Device, the other end of another laser doppler sensor installed in supporting body girder steel, used as with reference to laser doppler sensor.
Further, the spring supporting bar is five pairs, and each spring supporting bar upper end, lower end are provided with ball pivot
Head, each pair spring supporting bar upper end are engaged with ear mount a at the top of supporting body girder steel by long pin shaft, by spring supporting bar
It is connected at the top of upper end and supporting body girder steel, lower end is engaged by ear mount b that short pin shaft and steel pipe top are arranged, by spring
Support bar lower end is connected with steel pipe top.
Further, the servomotor is provided with spring shock-absorber with door shape girder steel frame junction, the door shape girder steel
Frame side is provided with triangle fixed mount, and is provided with passive shake control device junction is installed.
Further, the supporting body girder steel adopts stainless steel rectangular girder steel.
Further, the passive shake control device is air spring isolator.
The present invention a kind of servo-control system is also provided, the control system be used for control above-mentioned described in active vibrations control
System processed, constitutes including industrial computer, motion controller, servo-driver, servomotor and supporting body girder steel, wherein servo-drive
Device includes speed control, rheonome and power amplifier,
The servomotor output end current signal feeds back to rheonome input by current sensor, forms electricity
Stream closed loop；
The speed Negotiation speed detector of the supporting body girder steel feeds back to motion controller, forms speed closed loop；
The angular velocity of the supporting body girder steel feeds back to motion controller by angular velocity detector, forms angular velocity stable
Closed loop；
The position of the supporting body girder steel feeds back to motion controller, forming position closed loop by displacement detector；
Wherein：
The current sensor is on servomotor；
The speed detector is the accelerograph on supporting body girder steel；
The angular velocity detector is the fibre optic gyroscope on supporting body girder steel；
The displacement detector is the laser range finder on supporting body girder steel.
Beneficial effects of the present invention are that the vehicular high accuracy flexure measurement apparatus, its pass through to arrange actively and passively
Shake control system, it is achieved that the effect of dual shock absorption, the disturbance of timely runner wagon carrier so that supporting body girder steel is more put down
Surely, the measurement of road pavement flexure is more accurate, carries out at a high speed, stably and accurately so as to preferably achieve road pavement flexure
Measurement；Passive shake control system adopts spring supporting bar, loads in order to support bearing body girder steel, and its simple structure is easy to reality
Existing, and the servomotor power that selects and thrust are greatly reduced, the volume and weight of complete equipment is not only reduced, and
And also reduce overall cost；At floor compartment and fastener for connection and triangle fixed mount is all provided with door shape girder steel frame junction
Air spring isolator is equipped with, the effect of damping is furthermore achieved that, and air spring isolator structure is relatively easy, cost
Low, be conveniently replaceable；Active shake control system is carried using Serve Motor Control using two groups of door shape girder steel framves and servomotor
The balance of body girder steel so that supporting body girder steel is more steady, good measuring accuracy, while servomotor responds fast, action precisely, makes
Supporting body girder steel can be restored balance state with most fast speed；Door shape girder steel frame and servomotor junction be provided with spring every
Shake device, plays cushioning effect, while which has simple structure, the advantage of low cost；Supporting body girder steel adopts stainless steel rectangular steel
Girder construction, its bending strength are high, and thermal coefficient of expansion is little, and degree of the disturbing deformation and corner change impact on girder steel is very small, enters one
Step improves the measuring precision；The servo-control system that the vehicular high accuracy flexure measurement dress is adopted, which passes through electric current and closes
The stable closed loop of ring, speed closed loop, angular velocity and the Compound Control Technique of position closed loop this four closed loops, with high accuracy, Gao Wen
Qualitative and high reliability is a little so that active shake control system response time is fast, control effect is good, and is easily achieved,
So that the measured value of package unit road pavement flexure is more accurate.
Description of the drawings
Fig. 1 is the front view of the vehicular high accuracy flexure measurement apparatus that the specific embodiment of the invention is provided；
Fig. 2 is the side view of the vehicular high accuracy flexure measurement apparatus that the specific embodiment of the invention is provided；
Fig. 3 is the structured flowchart of the servo-control system that the specific embodiment of the invention is provided；
Fig. 4 is supporting body girder steel flexure tachometric survey schematic diagram in the ideal situation in the specific embodiment of the invention；
Fig. 5 is supporting body girder steel flexure tachometric survey schematic diagram in an inclined state in the specific embodiment of the invention.
In figure：
1st, supporting body girder steel, 2, laser doppler sensor, 3, spring supporting bar, 4, steel pipe, 5, door shape girder steel frame, 6, watch
Motor is taken, 7, accelerograph, 8, fibre optic gyroscope, 9, laser range finder, 10, ball pivot head, 11, long pin shaft, 12, ear mount a, 13,
Short pin shaft, 14, ear mount b, 15, spring shock-absorber, 16, triangle fixed mount, 17, air spring isolator, 18, platform floor,
19th, industrial computer.
Specific embodiment
Technical scheme is further illustrated below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Figure 1, 2, the vehicular high accuracy flexure measurement apparatus, including supporting body girder steel 1 and some Doppler
Laser sensor 2, and laser doppler sensor 2 is fixedly mounted on supporting body girder steel 1, further, and Doppler swashs
Optical sensor 2 is four, and wherein three laser doppler sensors 2 uniformly lean on platform floor 18 installed in supporting body girder steel 1
Rear side one end, used as measurement laser doppler sensor, another laser doppler sensor 2 is installed in supporting body girder steel 1
The other end, used as with reference to laser doppler sensor.
Supporting body girder steel 1 is placed on platform floor 18 by passive shake control system, for timely runner wagon carrier
Disturbance.Passive shake control system includes some to spring supporting bar 3 and passive shake control device, each pair spring supporting bar
It is connected at the top of 3 both sides for being arranged on supporting body girder steel 1, and its upper end and supporting body girder steel 1, lower end is parallel installed in two
Steel pipe 4 on, two steel pipes 4 are provided with passive shake control device with 18 junction of platform floor；Further, spring
Strut 3 is five pairs, and each 3 upper end of spring supporting bar, lower end are provided with ball pivot head 10, and 3 upper end of each pair spring supporting bar leads to
Cross long pin shaft 11 by the top of the ball pivot head 10 and supporting body girder steel 1 of upper end ear mount a12 connect, by 3 upper end of spring supporting bar with
It is connected at the top of supporting body girder steel 1, the ear mount that lower end will be arranged at the top of the ball pivot head 10 and steel pipe 4 of lower end by short pin shaft 13
B14 connects, and will be connected at the top of 3 lower end of spring supporting bar and steel pipe 4；Wherein passive shake control device, preferably empty
Gas spring shock-absorber 17.
Active shake control system is installed on supporting body girder steel 1, active shake control system includes that two groups actively shake
Control device, and 1 two ends of supporting body girder steel are separately positioned on, per group of active shake control device includes 5 He of shape girder steel frame
Servomotor 6,5 both sides bottom welding of door shape girder steel frame on two parallel steel pipes 4 are provided with the middle part of door shape girder steel frame 5 and watch
Take motor 6, and be connected at the top of 6 lower end of servomotor and supporting body girder steel 1；Further, servomotor 6 and door shape girder steel
5 junction of frame is provided with spring shock-absorber 15, and 5 side of door shape girder steel frame is provided with triangle fixed mount 16, and is installing connection
Place is provided with passive shake control device；Wherein passive shake control device, preferably air spring isolator 17；Finally lead
Dynamic shake control system is connected with industrial computer 19.
The measuring cells such as accelerograph 7, fibre optic gyroscope 8 and laser range finder 9 are also equipped with supporting body girder steel 1.
Above-mentioned supporting body girder steel 1, preferably adopts stainless steel rectangular girder steel；Steel pipe 4 is preferred to adopt cross section for 80mm
The rectangular steel pipe of × 120mm.
As shown in figure 3, the servo-control system, which is by industrial computer, motion controller, servo-driver, servomotor
Be sequentially connected composition with supporting body girder steel 1, wherein servo-driver by speed control, rheonome and power amplifier according to
Secondary connection composition.
Further, servomotor output end current signal feeds back to rheonome input by current sensor,
Form current closed-loop；
The speed Negotiation speed detector of supporting body girder steel 1 feeds back to motion controller, forms speed closed loop；
The angular velocity of supporting body girder steel 1 feeds back to motion controller by angular velocity detector, forms angular velocity and stably closes
Ring；
The position of supporting body girder steel 1 feeds back to motion controller, forming position closed loop by displacement detector；
Wherein：
Current sensor is on servomotor 6；
Speed detector is the accelerograph 7 on supporting body girder steel；
Angular velocity detector is the fibre optic gyroscope 8 on supporting body girder steel；
Displacement detector is the laser range finder 9 on supporting body girder steel.
During measurement：
As shown in figure 4, when supporting body girder steel 1 carries out flexure tachometric survey in the ideal situation, i.e., supporting body girder steel 1 is not
Run-off the straight.
Measurement laser doppler sensor measuring speed be：
VDS=VD×cosαDS+VK×sinαDS
Wherein VDIt is pavement deflection speed, VDSIt is the measuring speed of laser doppler sensor, VKIt is Vehicle Speed,
αDSIt is to measure incident illumination and the road surface vertical angle that laser doppler sensor 2 sends.
In order to compensate unwanted input, a benchmark Doppler is installed on the supporting body girder steel 1 outside deflection basin and is swashed
Optical sensor, i.e.,：Pavement deflection speed is zero, and its measuring speed is：
VRS=VK×sinαRS
Wherein VRSIt is the measuring speed of benchmark laser doppler sensor, αRSIt is that benchmark laser doppler sensor sends
Incident illumination and road surface vertical direction angle.
By analysis and calculating to each point velocity variations are distributed along deflection basin, can obtain maximum deflection value, the test
As a result it is dynamic deflection, pavement behavior acts on completely the same with actual driving.By corresponding in test carriage most rear side axis wheel
Position uniform three laser doppler sensors 2, i.e. three in deflection basin laser doppler sensor 2 forward successively in compartment
The surface deformation speed of measurement specified location, the 4th outside deflection basin laser doppler sensor 2 are surveyed as a benchmark
Amount point, analyzes the data of sensor of the synchronization on diverse location under the effect of identical load, accurately measures because of loading
The speed of the vertical micro-strain in road surface that car rear axle wheel load is caused, by being finally calculated the real deflection value in road surface.
But in the measurement car of normally travel, the impossible held stationary state forever of supporting body girder steel 1, it may occur that nod and incline
Ramp-like state.
As shown in figure 5, when supporting body girder steel 1 carries out flexure tachometric survey in an inclined state, i.e. 1, supporting body girder steel
During raw point head tilt,
Its angle of inclination is：
Wherein δZIt is that the shift differences of caused two servomotors 6 of institute are inclined due to supporting body girder steel 1,
Now,
The incident illumination that Laser Measurement sensor sends with road surface vertical angle is：αDSθ=αDS+θ
The incident illumination that reference laser sensor sends with road surface vertical angle is：αRSθ=αRSθ+θ
Due to the addition at θ angles so that deviation occurs in the measurement of road pavement flexure.
Now the accelerograph 7 on supporting body girder steel 1 measures the movement velocity of supporting body girder steel 1；Optical fiber top
The angular velocity of supporting body girder steel 1 measured by spiral shell instrument 8, and calculates the speed of supporting body girder steel 1 and the displacement of two servomotors 6
Value of deltaZ；Laser range finder 9 measures distance of the supporting body girder steel 1 away from road surface.And these three measurement signals are fed back to motion
Controller, and be compared with the normal data of input in industrial computer 19, servomotor 6 is controlled by servo-driver then and is opened
Dynamic, the locus of supporting body girder steel 1 are adjusted so as to be promptly restored to plateau, and by setting on servomotor 6
The current sensor that puts accurately is monitored to the electric current of servomotor 6, and signal is fed back to the input of rheonome,
Accurately to be controlled to servomotor 6.
When supporting body girder steel 1 is under the control of servomotor 6, when moving.Acceleration on supporting body girder steel 1
Degree instrument 7 continues the movement velocity for measuring supporting body girder steel 1, and judges whether to reach preset value；Laser range finder 9 continues measurement
Go out distance of the supporting body girder steel 1 away from road surface, and judge whether to reach preset value；Supporting body girder steel 1 measured by fibre optic gyroscope 8
Angular velocity, and calculate supporting body girder steel 1 speed and two servomotor shift differences δZ, and judge δZ=| Z1-Z2|≤ε
(wherein Z1、Z2For the distance of two servomotors 6 and supporting body girder steel 1, ε tends to zero) whether reach preset displacement value or inclination angle
θ；If reaching set preset value, 6 stop motion of servomotor, supporting body girder steel 1 recover plateau.And then ensure
Vehicular high accuracy flexure measurement apparatus road pavement flexure is carried out at a high speed, measure stably and accurately.
The vehicular high accuracy flexure measurement apparatus and its servo-control system, which passes through actively and passively shake control
System, the disturbance of timely runner wagon carrier, it is achieved that road pavement flexure is carried out at a high speed, measure stably and accurately, and is passed through
Servo-control system, fast and accurately control supporting body girder steel is steady so that vehicular high accuracy flexure measurement apparatus are satisfied the need
The measured value of face flexure is more accurate.
Claims (7)
1. a kind of vehicular high accuracy flexure measurement apparatus, including supporting body girder steel (1) and some laser doppler sensors
(2), some laser doppler sensor (2) are fixedly mounted on supporting body girder steel (1), it is characterised in that：Described hold
Carrier girder steel (1) is placed on platform floor (18) by passive shake control system, and is provided with active shake control system,
The active shake control system is connected with industrial computer (19), is provided with measuring cell on supporting body girder steel (1)；
The passive shake control system includes some to spring supporting bar (3) and passive shake control device, bullet described in each pair
Spring support bar (3) is arranged on supporting body girder steel (1) both sides, and is connected at the top of its upper end and supporting body girder steel (1), and lower end is pacified
It is mounted on two parallel steel pipes (4), two steel pipes (4) are provided with passive vibrations control with platform floor (18) junction
Device processed, the passive shake control device are air spring isolator (17)；
The active shake control system includes two groups of active shake control devices, and is separately positioned on supporting body girder steel (1) two
End, per group of active shake control device include shape girder steel frame (5) and servomotor (6), the door shape girder steel frame (5)
Both sides bottom welding on two parallel steel pipes (4) is provided with servomotor (6) in the middle part of the door shape girder steel frame (5), and watches
Take.
2. vehicular high accuracy flexure measurement apparatus according to claim 1, it is characterised in that：The supporting body girder steel
(1) the upper measuring cell that installs includes accelerograph (7), fibre optic gyroscope (8) and laser range finder (9).
3. vehicular high accuracy flexure measurement apparatus according to claim 1, it is characterised in that：The supporting body girder steel
(1) four laser doppler sensors (2) are installed with, and wherein three laser doppler sensors (2) are uniformly installed
One end on rear side of supporting body girder steel (1) is by platform floor (18), used as measurement laser doppler sensor, another Doppler swashs
The other end of the optical sensor (2) installed in supporting body girder steel (1), used as with reference to laser doppler sensor.
4. vehicular high accuracy flexure measurement apparatus according to claim 1, it is characterised in that：The spring supporting bar
(3) it is five pairs, and each spring supporting bar (3) upper end, lower end is provided with ball pivot head (10), spring supporting bar described in each pair
(3) upper end is engaged with ear mount a (12) at the top of supporting body girder steel (1) by long pin shaft (11), by spring supporting bar (3) upper end
Be connected at the top of supporting body girder steel (1), ear mount b (14) phase of the lower end by setting at the top of short pin shaft (13) and steel pipe (4)
Coordinate, will be connected at the top of spring supporting bar (3) lower end and steel pipe (4).
5. vehicular high accuracy flexure measurement apparatus according to claim 1, it is characterised in that：Servomotor (6)
Door shape girder steel frame (5) junction is provided with spring shock-absorber (15), it is solid that door shape girder steel frame (5) side is provided with triangle
Determine frame (16), and passive shake control device is provided with junction is installed.
6. vehicular high accuracy flexure measurement apparatus according to any one of claim 1-3, it is characterised in that：The carrying
Body girder steel (1) adopts stainless steel rectangular girder steel.
7. a kind of servo-control system, the control system are used for controlling the active shake control system described in the claims 1
System, constitutes including industrial computer, motion controller, servo-driver, servomotor (6) and supporting body girder steel (1), and wherein servo is driven
Dynamic device includes speed control, rheonome and power amplifier, it is characterised in that：
Servomotor (6) output end current signal feeds back to rheonome input by current sensor, forms electricity
Stream closed loop；
The speed Negotiation speed detector of supporting body girder steel (1) feeds back to motion controller, forms speed closed loop；
The angular velocity of supporting body girder steel (1) feeds back to motion controller by angular velocity detector, forms angular velocity stable
Closed loop；
The position of supporting body girder steel (1) feeds back to motion controller, forming position closed loop by displacement detector；
Wherein：
The current sense is on servomotor (6)；
The speed detector is the accelerograph (7) on supporting body girder steel (1)；
The angular velocity detector is the fibre optic gyroscope (8) on supporting body girder steel (1)；
The displacement detector is the laser range finder (9) on supporting body girder steel (1).
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| CN201210162680.8A CN102677578B (en) | 2012-05-23 | 2012-05-23 | Vehicular high accuracy flexure measurement apparatus and its servo-control system |
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| CN201210162680.8A CN102677578B (en) | 2012-05-23 | 2012-05-23 | Vehicular high accuracy flexure measurement apparatus and its servo-control system |
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| CN102677578B true CN102677578B (en) | 2017-03-15 |
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| CN103643620B (en) * | 2013-12-18 | 2016-08-24 | 北京市路兴公路新技术有限公司 | A kind of laser beam depth of parallelism regulation system and method measured for pavement deflection |
| CN104929023B (en) * | 2015-06-08 | 2017-08-08 | 北京市路兴公路新技术有限公司 | A kind of quick determination method of pavement deflection |
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