CN102680725A - System and method for measuring wheel speed of single-axis gyroscope - Google Patents
System and method for measuring wheel speed of single-axis gyroscope Download PDFInfo
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- CN102680725A CN102680725A CN2012101791877A CN201210179187A CN102680725A CN 102680725 A CN102680725 A CN 102680725A CN 2012101791877 A CN2012101791877 A CN 2012101791877A CN 201210179187 A CN201210179187 A CN 201210179187A CN 102680725 A CN102680725 A CN 102680725A
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Abstract
The invention provides a system and a method for measuring the wheel speed of a single-axis gyroscope. According to the system, wheel angular speed of the single-axis gyroscope is collected and converted into voltage parameter which is then sent to an AD (Analog Digital) conversion module of a microprocessor, then the data is sent to a wireless transmitting module by the microprocessor through a serial port/an SIP interface, and finally the data is sent out by the wireless transmitting module. The method comprises the following steps: firstly, the single-axis gyroscope is mounted on the rotating shaft of the wheel at a certain inclined angle, and the measuring range of the single-axis gyroscope is increased by utilizing the projection of the single-axis gyroscope in the direction of the rotating shaft of the wheel; secondly, when the wireless transmitting module receives an acquisition instruction, the wheel angular speed of the single-axis gyroscope is converted into voltage parameter which is then sent to the microprocessor through the AD conversion module; thirdly, the microprocessor converts the received voltage parameter into data and then stores the data in an external memory after the data is subjected to internal processing; and fourthly, when the wireless transmitting module receives the instruction of uploading the data, the data is sent out at a 2.4 gHz wireless frequency band.
Description
Technical field
The present invention relates to a kind of measuring system and method for the vehicle wheel rotational speed based on the single shaft gyro, relate in particular to a kind of vehicle wheel rotational speed measuring method that increases after the gyro to measure scope.
Background technology
Along with the fast development of transport by road, the high-mechanic that truck combination has, economy, characteristics such as efficient receive industry and pay close attention to, and become the main vehicle of long-distance logistics gradually.The skidding harmony of research truck combination is for the safe driving of truck combination, and standard operation etc. all have very important significance.Through survey record truck combination each wheel wheel speed in brake process, observe each wheel wheel speed along with the curve that the time changes, measure each brake coordination time, be a kind of method of effective research brake coordination property.So how to measure the basis that vehicle wheel rotational speed is this research method rapidly and accurately.
The measuring method of vehicle wheel rotational speed has a lot, generally can be divided into two types: one type is direct method, and promptly the directly mechanical motion of observation machinery or motor is measured the number of turns of mechanical rotation in the special time, thereby measured the rotating speed of mechanical motion; Another kind of is indirect method, promptly measures because mechanical rotation causes the variation of its other physical quantity, obtains rotating speed from the variation of these physical quantitys and the relation of rotating speed.Speed-measuring method commonly used both at home and abroad at present has photoelectric code disk velocimetry, Hall element velocimetry, centrifugal tachometer mensuration, tech-generator velocimetry, magnetic velocimetry and flash of light velocimetry.These methods all have relative merits separately: simple in structure, the low price of photoelectric code disk, but can not long time continuous working, damage easily; Hall element is highly sensitive, volume is little, but interchangeability is poor, and signal is with temperature variation, and is non-linear output, need carry out non-linear and temperature correction; Centrifugal mensuration has the characteristics accurate and visual, that equipment reliable is durable, but its structure is complicated; Tech-generator need carry out some transformations, complicated operation to the automotive interior structure; Magnetic element is simple in structure, volume is little, but poor anti jamming capability, and the output signal is nonstandard; The flash of light method can measure unusual wisp rotating speed or can not near the position in measure, but cost an arm and a leg.
Summary of the invention
The requirement of actual working condition that combines the research of truck combination skidding harmony to above problem the present invention; Used a kind of vehicle wheel rotational speed measuring system and method based on the single shaft gyro; And to the narrower shortcoming of single shaft gyro to measure scope; Put forward a kind of method that increases the gyro to measure scope, have characteristics such as simple in structure, easy for installation, that measurement is accurate.
In order to overcome the above problems the vehicle wheel rotational speed measuring system that the invention provides a kind of single shaft gyro, it is characterized in that: comprise the MEMS gyroscope, promptly the single shaft gyro also comprises microprocessor, wireless transmitter module;
The angular velocity that the MEMS gyroscope is gathered wheel is transformed to the AD modular converter that voltage parameter is sent to microprocessor with it; Through serial ports/SIP interface data are passed to wireless transmitter module by microprocessor again; By wireless transmitter module data are sent at last, show by computing machine or instrument.
The vehicle wheel rotational speed measuring method of single shaft gyro is characterized in that: may further comprise the steps:
The first step: the single shaft gyro is with tilt angle theta, and promptly the deflection angle of single shaft gyro and rotation shaft of wheel is installed on the rotation shaft of wheel, utilizes the single shaft gyro to increase the measurement range of single shaft gyro 1 in the projection of rotation shaft of wheel direction
;
Second step: wireless transmitter module is after receiving acquisition instructions, and single shaft gyro 1 converts the angular velocity of wheel to corresponding voltage parameter, passes to microprocessor through the AD modular converter again;
The 3rd step: microprocessor converts the voltage parameter that receives to digital value, after inter-process, saves the data in the external memory storage;
The 4th step: wireless transmitter module sends the radio band of data through 2.4gHz after receiving the data upload instruction.
Last terminal module in automobile instrument will receive, handles and show vehicle wheel rotational speed.
Of the first step, the vehicle wheel rotational speed of single shaft gyro institute perception is ω * cos θ, i.e. the projection of single shaft rotational rate gyroscope on rotation shaft of wheel, and wherein ω is the rotational angular velocity of wheel; As long as tilt angle theta is adjusted to suitable value with regard to the high rotating speed of energy measurement, tilt angle theta is confirmed through following formula:
.
Beneficial effect: the present invention has been applied to the single shaft gyro in the middle of the measurement of vehicle wheel rotational speed, and has solved the narrow problem of gyro range.The single shaft gyro can be measured along an axle or the several angular velocity that move; Utilize single shaft gyro to measure angular velocity to have high precision and response speed; The MEMS gyroscope that the present invention selects for use can the small vibration of perception, compares with other traditional speed-measuring methods such as photoelectric code disks and can measure extremely low vehicle wheel rotational speed and simple in structure.The present invention transmits data through wireless transmitter module, has reduced the rat tail in the vehicle body, has advantages such as volume is little, antijamming capability is strong, easy for installation.
Description of drawings
Fig. 1 is the structural representation of system of the present invention;
Fig. 2 installs signal for the gyroscope deviation angle;
Fig. 3 is the linear relationship of voltage and rotating speed.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further description.
As shown in Figure 1, the vehicle wheel rotational speed measuring system of this single shaft gyro comprises MEMS gyroscope (that is single shaft gyro), microprocessor, (at a distance) wireless transmitter module;
The MEMS gyroscope (promptly; The single shaft gyro) angular velocity of collection wheel is transformed to the AD modular converter that voltage parameter is sent to microprocessor with it; Through serial ports/SIP interface data are passed to wireless transmitter module by microprocessor again; By wireless transmitter module data are sent at last, show by computing machine or instrument.
Like Fig. 1, shown in Figure 2, the vehicle wheel rotational speed measuring method of this single shaft gyro may further comprise the steps:
The first step: single shaft gyro 1 is installed on the rotation shaft of wheel 2 with tilt angle theta (that is, the deflection angle of single shaft gyro 1 and rotation shaft of wheel 2), utilizes single shaft gyro 1 to increase the measurement range of single shaft gyro 1 in the projection of rotation shaft of wheel 2 directions;
Second step: wireless transmitter module is after receiving acquisition instructions, and single shaft gyro 1 converts the angular velocity of wheel to corresponding voltage parameter, passes to microprocessor through the AD modular converter again;
The 3rd step: microprocessor converts the voltage parameter that receives to digital value, after inter-process, saves the data in the external memory storage;
The 4th step: wireless transmitter module sends the radio band of data through 2.4gHz after receiving the data upload instruction.
Last terminal module in automobile instrument will receive, handles and show vehicle wheel rotational speed.
Of the first step; The vehicle wheel rotational speed of 1 perception of single shaft gyro this moment is ω * cos θ (ω is the rotational angular velocity of wheel); Be the projection of single shaft gyro 1 rotational speed on rotation shaft of wheel 2, as long as tilt angle theta is adjusted to suitable value with regard to the high rotating speed of energy measurement; For example the diameter of wheel of truck is 1 meter, 80 kilometers/hour of speed per hours, and this moment, wheel approximately changeed 7 circles p.s., and common MEMS gyroscope range is about 200 °/s, and then gyroscope and rotation shaft of wheel need about 86 ° of deflection, and promptly tilt angle theta is 86 °.Tilt angle theta is confirmed through following formula:
.
The MEMS gyroscope is along with wheel rotates together, and the Coriolis force of perception self rotation utilizes the Coriolis principle that the angular velocity that MEMS gyroscope importation applies is changed into the voltage parameter that a special circuit can detect.The rotating speed of this voltage signal and wheel is linear as shown in Figure 3, and the magnitude of voltage of its output is about 4.75V when gyro reaches the maximum forward rotating speed, and its output voltage values is about 0.25V when the gyro reverse speed reaches maximum (top) speed.
The above is merely the preferred embodiments of the present invention, is not restricted to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the claim scope of the present invention.
Claims (3)
1. the vehicle wheel rotational speed measuring system of single shaft gyro, it is characterized in that: comprise the MEMS gyroscope, promptly the single shaft gyro also comprises microprocessor, wireless transmitter module; The angular velocity that the MEMS gyroscope is gathered wheel is transformed to the AD modular converter that voltage parameter is sent to microprocessor with it; Through serial ports/SIP interface data are passed to wireless transmitter module by microprocessor again; By wireless transmitter module data are sent at last, show by computing machine or instrument.
2. the vehicle wheel rotational speed measuring method of single shaft gyro is characterized in that: may further comprise the steps:
The first step: single shaft gyro (1) is with tilt angle theta; It is the deflection angle of single shaft gyro (1) and rotation shaft of wheel (2); Be installed on the rotation shaft of wheel (2), utilize single shaft gyro (1) to increase the measurement range of single shaft gyro (1) in the projection of rotation shaft of wheel (2) direction
;
Second step: wireless transmitter module is after receiving acquisition instructions, and single shaft gyro (1) converts the angular velocity of wheel to corresponding voltage parameter, passes to microprocessor through the AD modular converter again;
The 3rd step: microprocessor converts the voltage parameter that receives to digital value, after inter-process, saves the data in the external memory storage;
The 4th step: wireless transmitter module sends the radio band of data through 2.4gHz after receiving the data upload instruction;
Last terminal module in automobile instrument will receive, handles and show vehicle wheel rotational speed.
3. the vehicle wheel rotational speed measuring method of single shaft gyro according to claim 2; It is characterized in that: of the first step; The vehicle wheel rotational speed of single shaft gyro (1) institute perception is ω * cos θ; Be the projection of single shaft gyro (1) rotational speed on rotation shaft of wheel (2), wherein ω is the rotational angular velocity of wheel; As long as tilt angle theta is adjusted to suitable value with regard to the high rotating speed of energy measurement, tilt angle theta is confirmed through following formula:
.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101791877A CN102680725A (en) | 2012-06-04 | 2012-06-04 | System and method for measuring wheel speed of single-axis gyroscope |
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| CN2012101791877A CN102680725A (en) | 2012-06-04 | 2012-06-04 | System and method for measuring wheel speed of single-axis gyroscope |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105954533A (en) * | 2016-07-19 | 2016-09-21 | 北京耘华科技有限公司 | Vehicle wheel speed measuring device and vehicle |
| CN106353528A (en) * | 2015-07-13 | 2017-01-25 | 现代摩比斯株式会社 | Apparatus and method for measuring motor speed |
| CN110085013A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | A kind of automobile wheel speed wireless sensing measuring system |
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| CN101033975A (en) * | 2006-03-10 | 2007-09-12 | 上海乐金广电电子有限公司 | Mobile position information measuring and calculating device |
| CN101710027A (en) * | 2009-11-24 | 2010-05-19 | 江苏大学 | Non-linear dynamic characteristic monitoring system and method of vehicle tyre |
| CN102135420A (en) * | 2010-12-10 | 2011-07-27 | 浙江大学 | Method for improving angular displacement measurement accuracy of optical fiber gyroscope |
| CN202083396U (en) * | 2011-04-28 | 2011-12-21 | 上海全一通讯技术有限公司 | Vehicle-mounted navigation system |
-
2012
- 2012-06-04 CN CN2012101791877A patent/CN102680725A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033975A (en) * | 2006-03-10 | 2007-09-12 | 上海乐金广电电子有限公司 | Mobile position information measuring and calculating device |
| CN101710027A (en) * | 2009-11-24 | 2010-05-19 | 江苏大学 | Non-linear dynamic characteristic monitoring system and method of vehicle tyre |
| CN102135420A (en) * | 2010-12-10 | 2011-07-27 | 浙江大学 | Method for improving angular displacement measurement accuracy of optical fiber gyroscope |
| CN202083396U (en) * | 2011-04-28 | 2011-12-21 | 上海全一通讯技术有限公司 | Vehicle-mounted navigation system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353528A (en) * | 2015-07-13 | 2017-01-25 | 现代摩比斯株式会社 | Apparatus and method for measuring motor speed |
| CN105954533A (en) * | 2016-07-19 | 2016-09-21 | 北京耘华科技有限公司 | Vehicle wheel speed measuring device and vehicle |
| CN110085013A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | A kind of automobile wheel speed wireless sensing measuring system |
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Application publication date: 20120919 |