CN103604951B - The GES measuring method and its TT＆C system of a kind of vehicle speed sensor - Google Patents
The GES measuring method and its TT＆C system of a kind of vehicle speed sensor Download PDFInfo
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Abstract
The present invention relates to the GES measuring method and its TT＆C system of a kind of vehicle speed sensor, the measuring method is based on dynamically frequency dividing method, using the measuring method based on motor PWM controlling cycle and the DYNAMIC DISTRIBUTION measurement window in GES cycle.The vehicle speed sensor TT＆C system includes lower computer unit, upper PC human and machine interface unit, speed Work condition analogue unit, Hall-type vehicle speed sensor and automobile speed instrument pack；Speed Work condition analogue unit includes speed motor；Lower computer unit includes slave computer dsp system plate, vehicle speed sensor modulate circuit and speed motor-drive circuit.The GES measuring method of the vehicle speed sensor of the present invention is not only simple, convenient, and GES frequency measurement accuracy is high, and test is directly perceived and demarcation is accurate.The vehicle speed sensor TT＆C system structure design of the present invention is simple, reasonable, and cost is low, and man-machine interface is friendly, can facilitate practical application.
Description
Technical field
The present invention relates to the GES measuring method of vehicle speed sensor technical field, more particularly to a kind of vehicle speed sensor
And its TT＆C system.
Background technology
Sensor laboratory table in the market can not targetedly meet the practical teaching of sensing vehicle technical elements
It is required that.Tested always with easy experiment equipment to develop before us for this.For example " Hall-type vehicle speed sensor " is tested, only
Can sensor it is simply fixed after external power supply, the form that can be manually rotated observation output pulse after input shaft carrys out recognizing sensor
Characteristic, can not deeper into understanding and application, and test process is very inconvenient, is not easy to scale, repetitionization experiment；Car simultaneously
Fast information dependence test and demarcation are inconvenient, not accurate enough in the presence of not directly perceived enough and demarcation is tested.Although existing literature proposes
The development plan of Hall-type vehicle speed sensor test system, due to the project that it is the supporting development of motor corporation, bias toward survey
Performance quality is tried, as there is certain limitation for practical teaching, inconvenience is as the platform for testing and controlling exploitation.
Meanwhile existing GES measuring method mainly has：Measuring Frequency Method, cycle test method, frequency measurement/survey week switching method, clock
Close classification and dynamic frequency dividing method.Measuring Frequency Method has average filter effect, and measurement accuracy is higher when frequency is higher, when frequency is relatively low
Because sample number is less and precision is relatively low.Cycle test method measures the cycle of adjacent pulse in real time, and it is good to measure real-time during low speed, measurement
Because the pulse spacing is short during high speed signal, cyclic swing somewhat obtains larger frequency departure after derivative action.Frequency measurement/
Survey the influence that all switching methods are limited to the two intrinsic gauging error, the numerical measuring precision near switching critical points can not accomplish very
It is high.Clock subdivision law theory precision can accomplish very high, but realize complex.Dynamic frequency dividing method is in X tacho-pulse
Interior (cycle T x, frequency fx), count n timer count clock (cycle T 0, frequency f0).Then meet relational expression：x×Tx=n×
T0, i.e. x/fx=n/f0, so as to obtain relational expression：Fx=f0 × x/ n, f0 is constant in formula.By measured frequency fx when relatively low x take
Less, corresponding n is larger；By measured frequency fx it is higher when x take more, corresponding n wants larger to reach the purpose of average filter.So
N remains a larger number but not constant, the width depending on x Tx.It measures thought i.e. to x measured pulse
Signal has carried out n frequency dividings, and multiplied by with a larger constant coefficient f0, theoretical error is ± 1 error caused by n counting.It is difficult
Point is measurement accuracy when how to determine x number to take into account low frequency and high frequency.
In summary, it is necessary to further perfect to prior art.
The content of the invention
In order to solve the above problems, the present invention is survey be present to solve existing automobile speed information dependence test and demarcation
Examination is not directly perceived enough and demarcation is not convenient enough, accurate, the problems such as measurement accuracy is low and propose a kind of simple and reasonable for structure, operation
Convenient, man-machine interface is friendly, and cost is low, and test is directly perceived and demarcation is accurate, and measurement accuracy is high, and the speed of practical application can be facilitated to pass
The GES measuring method and its TT＆C system of sensor.
The present invention is achieved by the following technical solutions：
The GES measuring method of above-mentioned vehicle speed sensor, it is based on dynamically frequency dividing method, using based on motor
The measuring method of PWM controlling cycles and the DYNAMIC DISTRIBUTION measurement window in GES cycle.
The GES measuring method of described vehicle speed sensor produces square wave with reference signal generator first and carried out
" whether just frequency f- speed v " relations are demarcated, then produce square wave with reference signal generator to verify vehicle speed measurement algorithm again
Really, actual vehicle speed signal measurement is carried out again on this basis；The actual vehicle speed signal measurement is by speed motor characteristic
Analysis experiment determines that motor PWM controlling cycle is TK, and according to the fundamental relation of measurement and control output, measurement period is less than or equal to
TK；Sampling when taking into account low speed and high speed simultaneously calculates frequency, and sampling calculates the speed of frequency and speed height is adapted, with
The speed increases or reduced, and sampling calculates frequency and accelerates or slow down.
The GES measuring method of described vehicle speed sensor, its actual GES measurement concretely comprise the following steps：With
Window on the basis of the motor PWM controlling cycle TK windows, when measurement signal rising edge arrives successively, during CAP5 ports are caught
It is disconnected, read seizure value and be stored in corresponding array, and soft counting adds 1 successively；It is that soft counting is more than to catch interruption at first simultaneously
After 1, the soft counting of interruption for measuring the cycle sequentially adds 1；Selected timer clock, measure corresponding in a controlling cycle
Clock pulses number, calculate measured pulse number decision largest interval, the vehicle speed pulse cycle is finally calculated.
The GES measuring method of described vehicle speed sensor, when measured pulse number crosses over multiple controlling cycles,
The whole story pulse spacing is formed by 3 sections；When measured pulse number crosses over 1 controlling cycle, then one section of centre is 0；When whole pulses
When in 1 controlling cycle, latter 2 sections are 0.
The GES measuring method of described vehicle speed sensor, its observing and controlling flow are：It will be set by host computer first
Speed issues slave computer dsp system plate, and then slave computer dsp system plate passes through the signal that vehicle speed sensor modulate circuit is sent
Bus- Speed Monitoring subprogram is detected, and after setting speed is compared relatively with detection speed, calls feed forward digital recursion PID subprograms to enter
Row closed-loop control, after regulation speed result is stable, measurement result is preserved, the current observing and controlling flow for setting speed terminates.Work as reality
When monitoring velocity increment instantaneously more than a threshold value when, that is, call feedforward control, feed-forward coefficients Kf be multiplied by by speed increment, immediately
The no-delay current PWM outputs that are added to are without waiting until next PWM controlling cycles；Otherwise simple numeral is only carried out to pass
Push away PID control.
Above-mentioned vehicle speed sensor TT＆C system, including lower computer unit and the upper PC that is connected with the lower computer unit
Machine human and machine interface unit；The TT＆C system also includes speed Work condition analogue unit, Hall-type vehicle speed sensor and automobile speed
Instrument pack；The speed Work condition analogue unit includes speed motor；Described Hall-type vehicle speed sensor one end passes through shaft coupling
Device is coupled the speed motor, and the other end connects the automobile speed instrument pack；The lower computer unit includes slave computer DSP
System board, vehicle speed sensor modulate circuit and speed motor-drive circuit；The slave computer dsp system plate two-way communication link institute
Upper PC human and machine interface unit is stated, while controls the connection speed motor-drive circuit and is driven by the speed motor
Circuit connection drives the speed Work condition analogue unit；The automobile speed instrument pack nurses one's health electricity by the vehicle speed sensor
Slave computer dsp system plate described in the feedback link of road.
Described vehicle speed sensor TT＆C system, wherein：The slave computer dsp system plate has signal capture port CAP5
And the output pin PWM3 of PWM waveform；The slave computer dsp system plate is the digital recursion PID control formula with feedforward control
Dsp system plate；The vehicle speed sensor modulate circuit is by resistance R51 ~ R54, diode D5, electric capacity C51 ~ C52, inverting amplifier
U3 connects composition with switch optocoupler U5；One end of the resistance R51 by diode D5 connection inverting amplifiers U3 input,
The other end is plugged with terminal B5 by input terminal CS-IN matchings；The resistance R51 is the negative electrode for connecting the diode D5
End, the anode tap of the diode D5 is the input for connecting the inverting amplifier U3；Resistance R52 one end connection+5V
Power supply, the other end are connected to the tie point of the diode D5 anode taps and inverting amplifier U3 inputs；The electric capacity C51 mono-
End ground connection, the other end are connected to the resistance R51 and diode D5 cathode terminals tie point；The input of the inverting amplifier U3
End ground connection, the anode that output end passes through the resistance R53 connections switch optocoupler U5；The negative electrode of the switch optocoupler U5 connects
Ground, colelctor electrode connection+3.3V power supplys, emitter stage be also grounded by the resistance R54 and also with the signal capture port CAP5
Connection；One end connection switch optocoupler U5 of electric capacity C52 emitter stage, other end ground connection.
Described vehicle speed sensor TT＆C system, wherein：The speed motor-drive circuit is by resistance R91 ~ R94, paraphase
Amplifier U4, switch optocoupler U9, FET Q9, diode D9 and polar capacitor C91 connections composition；The resistance R91 mono-
End ground connection, the other end are connected with the output pin PWM3；The inverting amplifier U4 is at least one pair of, and one of them is described
Phase amplifier U4 input by the resistance R92 connections output pin PWM3, output end be connected to it is another it is described fall
Phase amplifier U4 input, another inverting amplifier U4 output end are connected to the switch by the resistance R93
Optocoupler U9 anode；The minus earth of the switch optocoupler U9, emitter stage are connected to the grid of the FET Q9, colelctor electrode
Described speed motor one end is connected to by lead-out terminal CS-OUT ﹢ matching plugs and is connected with another+5V power supplys；The field effect
Should pipe Q9 drain electrode the speed motor other end is connected to by another lead-out terminal CS-OUT ﹣, source ground simultaneously passes through institute
State resistance R94 connections FET Q9 grid；The diode D9 be connected to the colelctor electrode of the switch optocoupler U9 with
Between FET Q9 drain electrode；The anode tap of the diode D9 connects the drain electrode of the FET Q9, cathode terminal connection
The colelctor electrode of the switch optocoupler U9；The polar capacitor C91 is parallel to the both ends of the speed motor；The polar capacitor
C91 positive pole connects the cathode terminal of the diode D9, and negative pole is connected with the anode tap of the diode D9.
Described vehicle speed sensor TT＆C system, wherein：The automobile speed instrument pack is adjusted with the vehicle speed sensor
Measurement port is additionally provided between reason circuit；The measurement port is also associated with oscillograph；The speed motor is by the slave computer
Dsp system plate exports corresponding PWM waveform by the output pin PWM3 and driven in real time.
Beneficial effect：
The GES measuring method of vehicle speed sensor of the present invention is simple, convenient, not only GES frequency test
Directly perceived and demarcation is accurate, and GES frequency accuracy is high, frequency error is small, while measurement when can take into account low frequency and high frequency
Precision, measurement accuracy realize it is relatively simple, whole measuring method can science, accurately draw GES frequency；It is same with this
When, metering system of the invention can in same window the multiple frequency signals of parallel measurement and be independent of each other, can be conveniently real
Border is applied, and great convenience is provided for the research and practical application of GES frequency, suitable for promoting and applying.
Vehicle speed sensor TT＆C system of the present invention, set based on the GES measuring method of above-mentioned vehicle speed sensor
Meter, its structure design is simple, reasonable, and cost is low, and man-machine interface is friendly, tests directly perceived and demarcation accurately；Wherein, using Hall-type
Vehicle speed sensor have to Magnetic susceptibility height, stable output signal, frequency response are high, anti-electromagnetic interference capability by force, structure
Simply, the features such as easy to use, low speed work well, and fall pulse phenomenon during in the absence of low speed；Vehicle speed sensor signal measurement is accurate
It is really reliable, simulate speed operating conditions quick and stable.Meanwhile speed motor-drive circuit module is worked by optimized driving circuit
Effect, accurate match circuit parameter strengthen job stability；Vehicle speed sensor conditioning circuit module anti-electromagnetic interference capability is strong,
Vehicle speed sensor signal it is shaped after it is precipitous and without clutter, strengthen shaping effect so that the measurement of lower computer unit accurately may be used
Lean on.Moreover flexible modularized design and plug connection, practical application can be facilitated, the practical teaching of correlation can not only be met,
It is the Practice Platform of good graduation project and Electronic Design extracurriliar application.
Brief description of the drawings
Fig. 1 is the flow chart of the GES measuring method of vehicle speed sensor of the present invention；
Fig. 2 is the principle schematic of the GES measuring method of vehicle speed sensor of the present invention；
Fig. 3 is the speed calibration maps of the GES measuring method of vehicle speed sensor of the present invention；
Fig. 4 is the engine power transfer route figure of the GES measuring method of vehicle speed sensor of the present invention；
Fig. 5 is the structure principle chart of vehicle speed sensor TT＆C system of the present invention；
Fig. 6 is the controling circuit structure figure of vehicle speed sensor TT＆C system of the present invention；
Fig. 7 is the electrical schematic diagram of the automobile speed instrument pack of vehicle speed sensor TT＆C system of the present invention；
Fig. 8 is the digital recursion PID of the slave computer dsp system strip feedforward control of vehicle speed sensor TT＆C system of the present invention
Control strategy figure.
Embodiment
The GES measuring method of vehicle speed sensor of the present invention, set based on vehicle speed sensor TT＆C system.This
The GES measuring method of invention vehicle speed sensor is based on dynamically frequency dividing method, using based on motor PWM controlling cycle
With the measuring method of the DYNAMIC DISTRIBUTION measurement window in GES cycle, it produces square wave with reference signal generator first and carried out
Whether just " frequency f- vehicle velocity Vs " relation is demarcated, then produce square wave with reference signal generator to verify vehicle speed measurement algorithm again
Really, actual vehicle speed signal measurement is carried out again on this basis.
Square wave is produced to reference signal generator below in conjunction with specific embodiment and carries out the demarcation of " frequency f- vehicle velocity Vs " relation
Process and the process of actual vehicle speed signal measurement are described:
The reference signal generator produces the process that square wave carries out the demarcation of " frequency f- vehicle velocity Vs " relation in the present embodiment, i.e.,
First by signal generator and instrument altogether, and 24V dc sources are connected to instrument, 5V square wave frequencies is produced with signal generator
F (Hz) input instrument B16 ends, obtain instrument and show vehicle velocity V (km/h).Measurement data is as shown in table 1 below.
The demarcation measurement of the automobile speed coefficient of table 1
Linear fit is carried out with least square method, as shown in Figure 3.Obtain between relation square wave frequency f and instrument vehicle velocity V
Relational expression：
V = 0.6927×f + 0.364 (1)
Or f=1.443 × V -0.5209 (2)
It can be seen that linear relationship is relatively good, zero point error also very little is basic not have to amendment, can be utilized directly as program
Calibration formula.
Relational expression between vehicle velocity V (km/h) and motor speed n (r/min) can further be obtained according to formula (2).By
In vehicle speed sensor 8 pulses weekly, soI.e.： (3)
(2) formula is substituted into above formula (3), obtained：
(4)
Thus formula is understood, when vehicle velocity V reaches speedometer maximum 150km/h, corresponding motor speed n=1608r/min,
The parameter of important references when this is choice of electrical machine.When formula (4) and speed motor control, current vehicle speed motor speed is calculated
Formula.
V-f coefficients in derivation formula (2) are 1.433 rather than other values, wherein, Fig. 4 is engine power transfer route
Figure, therefrom it can be seen that the distributing position of automobile speed, that is, be normally near transmission output shaft, speed is that gearbox is defeated
Go out rotating speed and the linear velocity being converted into after wheel hub is reached after main reducing gear slows down.It is assumed that speed is V (km/h), vehicle speed sensor letter
Number frequency is f (Hz), and wheel diameter footpath is D (m), and gearbox output speed is nb(r/min) it is, i through final driver ratio0,
Wheel hub output speed is n1(r/min), vehicle speed sensor rotating speed n=nb/ k, k export no-load voltage ratio system when sampling for speed from gearbox
Number.Then f-V theoretical relationship is：
BySubstitute into：
(5)
From the foregoing, it will be observed that wheel overall diameter D, no-load voltage ratio coefficient k, base ratio i0V-f actual coefficients ratio is together decided on.
The actual vehicle speed signal measurement process in this real embodiment, i.e., tested by analyzing speed motor characteristic, with electricity
Machine PWM controlling cycles are 10ms, further according to measurement with control output fundamental relation, measurement period within 10ms, meanwhile,
Because the signal period is grown when sampling when taking into account low speed and high speed calculates frequency, i.e. low speed, sampling calculating frequency is slow, otherwise at a high speed
When sampling to calculate frequency fast.Namely the speed of sampling calculating frequency will be adapted with speed height, as the speed increases
Or reduce, sampling calculates frequency and accelerates or slow down.
As shown in Fig. 2 the specific steps of the actual vehicle speed signal measurement, i.e., using motor PWM controlling cycle 10ms windows as
Benchmark window, when measurement signal rising edge arrives successively, CAP5 ports, which are caught, interrupts, and reads seizure value and is stored in corresponding array
Result_cs [i_cap5], and soft counting i_cap5 adds 1 successively；It is soft counting i_cap5 >=1 to catch interruption at first simultaneously
Afterwards, the soft counting T1INT_cs of interruption for carrying out 10ms sequentially adds 1.
Selected timer clock is 3.2us, and 10ms corresponds to 3125 clock pulses.Then obtain vehicle speed pulse cycle TC
With frequency fCComputation formula (6), (7).Fig. 2 illustrates that measured pulse number is more than or equal to two, when measured pulse leap is more
During individual 10ms, the whole story pulse spacing is formed by 3 sections；As 1 10ms of leap, then one section of centre is 0；When whole pulses are at 1
When in 10ms, latter 2 sections are 0.Either whole pulses are completed in 10ms or across 1, any 10ms, the formula is all
It can unify to complete, it is very succinct convenient.
TC=((3125-result_cs[1]+result_cs[i_cap5N])+3125×(T1INT_cs-1))× (i_
cap5N-1)×(3.2/1000) (ms) (6)
fC=1000/TC (Hz) (7)
In the program of slave computer calculates, i_cap5 is variable, and i_cap5N is parameter, and being segmented selection by table 2 catches number
Upper limit i_cap5N.
Limit transformed error (such as overflow by data caused by directly applying mechanically above-mentioned formula during to prevent no pulse or during extremely low speed
Go out), think f when monitoring pulse number in 50ms and being 0C=0.Further to reduce because assembling Concentricity tolerance etc. causes
Fluctuation (if fluctuation more than a threshold value, i.e., call feedforward control first), frequency values carry out moving average medium filtering again.
Table 2 catches the number upper limit and set
Wherein, GES measuring method of the present invention will take into account the requirement of measurement accuracy and match with controlling cycle, by
Segmentation selection catches number upper limit i_cap5N after above-mentioned theory formula (2) calculates, i.e., between the maximum of measured pulse number decision
Every.Several sections of sections, i.e. V ∈ [0,40] are set by setting vehicle velocity V according to table 2 on this basis, (40,80], (80,140],
(140,170], (170, Vmax].I_cap5N (now T in low speedCIt is larger) value is smaller, to ensure the promptness of measurement；
Somewhat amplify during high speed, equivalent to (now T when strengthening higher rotation speedCIt is smaller) average filter effect, to reduce TCBy public affairs
The f being calculated after formula (7) derivative actionCError because TCFluctuating error when smaller somewhat can cause larger fC's
Error.
The observing and controlling flow of the GES measuring method of vehicle speed sensor of the present invention：
Slave computer dsp system plate is issued by speed is set by host computer first, then slave computer dsp system plate is by speed
The signal that Conditioning Circuits of Sensor is sent is detected by Bus- Speed Monitoring subprogram, and setting speed compares with detection speed
Afterwards, call feed forward digital recursion PID subprograms to carry out closed-loop control, after regulation speed result is stable, preserve measurement result, when
The observing and controlling flow of preceding setting speed terminates.
Wherein, when real-time monitoring velocity increment instantaneously more than a threshold value when, that is, call feedforward control, multiplied by speed increment
With feed-forward coefficients Kf, the no-delay immediately current PWM outputs that are added to are without waiting until next PWM controlling cycles；Otherwise
Only carry out simple digital recursion PID control.
As shown in Figs. 5 to 7, using the vehicle speed sensor TT＆C system of above-mentioned measuring method, including speed Work condition analogue list
Member 1, Hall-type vehicle speed sensor 2, automobile speed instrument pack 3, lower computer unit 4 and upper PC human and machine interface unit 5.Its
In, the lower computer unit 4 includes slave computer dsp system plate 41, vehicle speed sensor modulate circuit 42 and speed motor-drive circuit
43。
The one end of speed Work condition analogue unit 1 connection Hall-type vehicle speed sensor 2, the other end drives electricity by speed motor
Road 43 is connected with slave computer dsp system plate 41；Wherein, the speed Work condition analogue unit 1 includes speed motor 11, the speed motor
It is coupled using DC micro-motor and by shaft coupling with Hall-type vehicle speed sensor 2.
The one end of Hall-type vehicle speed sensor 2 connection automobile speed instrument pack 3, GES is sent to automobile speed by it
The automobile instrument panel of instrument pack 3 is shown.
The automobile speed instrument pack 3 connects slave computer dsp system plate 41 by vehicle speed sensor modulate circuit 42, i.e., by
The GES that Hall-type vehicle speed sensor 2 transmits is sent through automobile speed instrument pack 3 by vehicle speed sensor modulate circuit 42
Measured in real time up to slave computer dsp system plate 41, and with carrying out feedback control after setting speed.Wherein, in Automobile
Measurement port is additionally provided between speed meter unit 3 and vehicle speed sensor modulate circuit 42, the measurement port is also associated with oscillograph
6, the currently practical waveform and shaped waveforms of Hall-type vehicle speed sensor 2 can be measured in real time by using oscillograph 6.
One end of the slave computer dsp system plate 41 carries out the upper PC man-machine interface 5 of two-way communication link by serial ports, separately
One end connects regulation speed motor-drive circuit 43 and by speed motor-drive circuit 43 come drive connection speed Work condition analogue
Unit 1.The slave computer dsp system plate 41 has the output pin PWM3 of signal capture port CAP5 and PWM waveform.Wherein, by
In processing and assembling process, it can not ensure that the axiality between speed motor 11 and Hall-type vehicle speed sensor 2 is completely preferable,
And some gaps between keyway and key, a side direction perturbation is added equivalent to system in motor operation.Therefore, such as Fig. 8 institutes
Show, the slave computer dsp system plate 41 can guarantee that using the dsp system plate of the digital recursion PID control formula with feedforward control
It is controlled when disturbing rather than compensates control afterwards, can more effectively eliminates shadow of the disturbance to controlled parameter
Ring.The slave computer dsp system plate 41 compares simple PID control, car using the digital recursion PID control strategy with feedforward control
The fluctuation of speed motor is effectively improved.Meanwhile to reduce the control overshoot in motor start-up procedure, can be real by open loop
Test the initial duty cycle of the dutycycle, as motor control corresponding to the dead zone voltage for determining motor.
The vehicle speed sensor modulate circuit 42 is by resistance R51 ~ R54, diode D5, electric capacity C51 ~ C52, inverting amplifier U3
Composition is connected with switch optocoupler U5；Wherein, resistance R51 one end is plugged with terminal B5 by input terminal CS-IN matchings, another
The input that end passes through diode D5 connection inverting amplifiers U3；Wherein, diode D5 cathode terminal connection resistance R51, anode
End is the input for connecting inverting amplifier U3；Resistance R52 one end is connected to diode D5 anode taps and inverting amplifier U3 is defeated
Enter the tie point at end, the other end of resistance 52 is then connected to+5V power supplys；Electric capacity C51 one end is grounded（Simulation ground）, other end connection
In resistance R51 and the tie point of diode D5 cathode terminals, i.e. electric capacity C51 forms RC filter circuits together with resistance R51；Paraphase is put
Big device U3 input end grounding（Simulation ground）, anode that output end passes through resistance R53 connecting valve optocouplers U5；Switch optocoupler U5's
Minus earth（Simulation ground）, colelctor electrode connection+3.3V power supplys, emitter stage is grounded by resistance R54（Digitally）And also with bottom
The CAP5 of machine unit 4 catches port connection；Electric capacity C52 one end connecting valve optocoupler U5 emitter stage, other end ground connection（Numeral
Ground）.
Because vehicle speed sensor modulate circuit 42 is empty by the brush of speed motor 11 and other such as magnetoelectric tachometric transducers
Between the factor such as electromagnetic interference influence, so the signal exported from automobile speed instrument pack 3 through terminal B5 is not standard
Square-wave signal, but it is mingled with a large amount of spikes and burr, so needing further processing to be just sent to slave computer dsp system plate 41
Signal capture port CAP5.Output pulse signal first passes around the RC filter circuits being made up of resistance R51 and electric capacity C51 and carried out
Filtering, filters out high-frequency interferencing signal.Then a diode D5 pull-up circuit played a reversed role is passed through, input terminal CS-IN is low electricity
Usually diode D5 conductings output low level signal, diode D5 cut-offs output high level signal when input is high level.By
When spike burr mainly appears on high level input, therefore interference caused by further filtering out spike burr.To make output
Waveform is more precipitous, and output signal is again inverting amplifier U3 by the hysteresis comparator schmitt inverter with positive feedback, and
Noise and hump interference phenomenon can further be overcome.Then it is sent to slave computer DSP after switch optocoupler carries out Phototube Coupling again
The signal capture port CAP5 of system board 41, with avoiding sensor and digitally between crosstalk.
The speed motor-drive circuit 43 is by resistance R91 ~ R94, a pair of inverting amplifier U4, switch optocoupler U9, field-effect
Pipe Q9, diode D9 and polar capacitor C91 connections composition；Wherein, resistance R91 one end is grounded（Digitally）, other end company
It is connected to the output pin PWM3 of slave computer dsp system plate 41；A pair of inverting amplifier U4 are serially connected, i.e., one of them falls
Phase amplifier U4 input is then connected by the output pin PWM3 of resistance R92 connection slave computer dsp systems plate 6, output end
In another inverting amplifier U4 input, another inverting amplifier U4 output end is then connected to switch light by resistance R93
Coupling U9 anode；Switch optocoupler U9 minus earth（Digitally）, emitter stage is connected to FET Q9 grid, and colelctor electrode leads to
The matching plug of lead-out terminal CS-OUT ﹢ terminals is crossed to be connected to the one end of speed motor 11 and be connected with another+5V power supplys；FET
Q9 drain electrode is connected to the other end of speed motor 11, source ground by another lead-out terminal CS-OUT ﹣（Simulation ground）And pass through
Resistance R94 connection FETs Q9 grid；Diode D9 is silicon diode, and it is connected to switch optocoupler U9 colelctor electrode and field
Between effect pipe Q9 drain electrode, i.e. the anode tap connection FET Q9 of diode D9 drain electrode, diode D9 cathode terminal connects
Connect switch optocoupler U9 colelctor electrode；Polar capacitor C91 is parallel to the both ends of speed motor 11, i.e., polar capacitor C91 positive pole with
Diode D9 cathode terminal connection, polar capacitor C91 negative pole are connected with diode D9 anode tap.
When in real time measurement speed and setting speed relatively after, lower computer unit 4 by after software control algorithm by output
Pin PWM3 exports corresponding PWM waveform to drive speed motor 11 in real time.PWM waveform is paraphase amplification by two-stage phase inverter
After switch optocoupler U9 progress isolation drives are sent to after device U4 drivings, go to control IRF540N type FETs Q9 grid, make load
The path of speed motor 11 and ground carries out break-make control.Anti- diode D9 simultaneously plays a part of fly-wheel diode, when speed electricity
The induced potential energy that machine 11 generates after slowing down suddenly is discharged by diode D9, avoids puncturing FET Q9.Speed motor
11 both ends parallel connection polar capacitor C91, can smooth PWM waveform, run speed motor 11 more steady.
Wherein, as shown in Figure 6,7, automobile speed instrument pack 3 connects+24V power supplys by terminal B13, while also passes through end
Sub- B1 ground connection（Simulation ground）.Hall-type vehicle speed sensor 2 also passes through end by terminal B17 connection operating voltages (+8.6V)
Vehicle speed sensor signal is inputted inside automobile speed instrument pack 3 and shown by sub- B16, and is exported through terminal B5.Therefore can be straight
Connect and utilize terminal B5, the speed square-wave signal that automobile speed instrument pack 3 exports is sent to rear class directly as GES source
Vehicle speed sensor modulate circuit 42 and slave computer dsp system plate 41.
Upper PC human and machine interface unit 5 synchronously shown after receiving the vehicle speed measurement data that lower computer unit 4 transmits,
Concurrently set the desired speed of operator and be sent to lower computer unit 4.
The GES measuring method of vehicle speed sensor of the present invention is simple, convenient, GES frequency measurement accuracy
Height, can take into account measurement accuracy when low frequency and high frequency, and test is directly perceived and demarcation is accurate, can science, accurately show that speed is believed
Number frequency, suitable for promoting and application.
Vehicle speed sensor TT＆C system of the present invention is designed based on Hall-type vehicle speed sensor, its structure design is simple,
Rationally, cost is low, wherein, flexible modularized design and plug connection, practical application can be facilitated, the reality of correlation can not only be met
Trample teaching, and the Practice Platform of graduation project and Electronic Design extracurriliar application well.
Claims (8)
1. a kind of GES measuring method of vehicle speed sensor, it is based on dynamically frequency dividing method, using based on motor PWM control
The measuring method of the DYNAMIC DISTRIBUTION measurement window in cycle processed and GES cycle；
First with reference signal generator produce square wave carries out " frequency f- speed v " relations demarcation, then sent out again with standard signal
Raw device produces square wave to measure, and carries out actual vehicle speed signal measurement again on this basis；
The actual vehicle speed signal measurement process be by speed motor characteristic analyze test, using motor PWM controlling cycle as
TK, further according to the fundamental relation of measurement and control output, measurement period is within TK, while sampling when taking into account low speed and high speed
Frequency is calculated, sampling calculates the speed of frequency and speed height is adapted, and as the speed increases or reduces, sampling calculates frequency
Accelerate or slow down；
Its actual GES measurement concretely comprises the following steps：The window on the basis of the motor PWM controlling cycle TK windows, works as survey
When amount signal rising edge arrives successively, CAP5 ports, which are caught, interrupts, and reads seizure value and is stored in corresponding array, and soft counting is successively
Add 1；While it is that the soft counting of interruption that the cycle is measured after soft counting is more than or equal to 1 sequentially adds 1 that interruption is caught at first；
Selected timer clock, measures corresponding clock pulses number in a controlling cycle；
According to " frequency f- speed v " relations, calculate the GES cycle by setting vehicle speed value, fall further according to the GES cycle
Determining to catch number upper limit i_cap5N in the situation of benchmark window, it is less to catch the number upper limit i_cap5N values during low speed,
To ensure the promptness of speed calculating；As speed increases, catch number upper limit i_cap5N values accordingly increase, strengthen compared with
Average filter effect during high rotating speed；
The largest interval of measured pulse number decision is calculated, the vehicle speed pulse cycle is finally calculated.
2. the GES measuring method of vehicle speed sensor as claimed in claim 1, it is characterised in that：When measured pulse number
During across multiple controlling cycles, the whole story pulse spacing is formed by 3 sections；When measured pulse number crosses over 1 controlling cycle then in
Between one section be 0；When whole pulses are in 1 controlling cycle, latter 2 sections are 0.
3. the observing and controlling flow of the GES measuring method based on the vehicle speed sensor described in claim 1, it is characterised in that：Institute
Stating observing and controlling flow is：Slave computer dsp system plate is issued by speed is set by host computer first, then slave computer dsp system plate
The signal that vehicle speed sensor modulate circuit is sent is detected by Bus- Speed Monitoring subprogram, setting speed and detection speed phase
After comparing, call feed forward digital recursion PID subprograms to carry out closed-loop control, after regulation speed result is stable, preserve measurement knot
Fruit, the observing and controlling flow of current vehicle speed signal measurement terminate；
GES measuring method of the Bus- Speed Monitoring subprogram based on described vehicle speed sensor.
4. the observing and controlling flow of the GES measuring method of vehicle speed sensor as claimed in claim 3, it is characterised in that：Work as reality
When monitoring velocity increment instantaneously more than a threshold value when, that is, call feedforward control, feed-forward coefficients Kf be multiplied by by speed increment, immediately
The no-delay current PWM outputs that are added to are without waiting until next PWM controlling cycles；Otherwise simple numeral is only carried out to pass
Push away PID control.
5. a kind of observing and controlling flow of the GES measuring method of the vehicle speed sensor based on described in the claims 3 or 4
Vehicle speed sensor TT＆C system, including lower computer unit and the upper PC man-machine interface list that is connected with the lower computer unit
Member；It is characterized in that：The TT＆C system also includes speed Work condition analogue unit, Hall-type vehicle speed sensor and automobile speed instrument
Table unit；
The speed Work condition analogue unit includes speed motor；
Described Hall-type vehicle speed sensor one end is coupled the speed motor by shaft coupling, and the other end connects the automobile speed
Instrument pack；
The lower computer unit includes slave computer dsp system plate, vehicle speed sensor modulate circuit and speed motor-drive circuit；
Upper PC human and machine interface unit described in the slave computer dsp system plate two-way communication link, while control described in connection
Speed motor-drive circuit simultaneously drives the speed Work condition analogue unit by speed motor-drive circuit connection；
The automobile speed instrument pack passes through slave computer dsp system described in the vehicle speed sensor modulate circuit feedback link
Plate.
6. vehicle speed sensor TT＆C system as claimed in claim 5, it is characterised in that：The slave computer dsp system plate has
Signal capture port CAP5 and PWM waveform output pin PWM3；
The slave computer dsp system plate is the dsp system plate of the digital recursion PID control formula with feedforward control；
The vehicle speed sensor modulate circuit is by resistance R51 ~ R54, diode D5, electric capacity C51 ~ C52, inverting amplifier U3 and opens
Close optocoupler U5 connections composition；
One end of the resistance R51 passes through input terminal by diode D5 connection inverting amplifiers U3 input, the other end
CS-IN matchings are plugged with terminal B5；
The resistance R51 is the cathode terminal for connecting the diode D5, and the anode tap of the diode D5 is the connection paraphase
Amplifier U3 input；
Resistance R52 one end connection+5V power supplys, it is defeated that the other end is connected to the diode D5 anode taps and inverting amplifier U3
Enter the tie point at end；
Electric capacity C51 one end ground connection, the other end are connected to the resistance R51 and diode D5 cathode terminals tie point；
The input end grounding of the inverting amplifier U3, the sun that output end passes through the resistance R53 connections switch optocoupler U5
Pole；
The minus earth of the switch optocoupler U5, colelctor electrode connection+3.3V power supplys, emitter stage are also grounded by the resistance R54
And also it is connected with the signal capture port CAP5；
One end connection switch optocoupler U5 of electric capacity C52 emitter stage, other end ground connection.
7. vehicle speed sensor TT＆C system as claimed in claim 6, it is characterised in that：The speed motor-drive circuit is by electricity
Hinder R91 ~ R94, inverting amplifier U4, switch optocoupler U9, FET Q9, diode D9 and polar capacitor C91 connections composition；
Resistance R91 one end ground connection, the other end are connected with the output pin PWM3；
The inverting amplifier U4 is at least one pair of, and one of them inverting amplifier U4 input passes through the resistance
The R92 connections output pin PWM3, output end are connected to another inverting amplifier U4 input, another paraphase
Amplifier U4 output end is connected to the anode of the switch optocoupler U9 by the resistance R93；
The minus earth of the switch optocoupler U9, emitter stage are connected to the grid of the FET Q9, and colelctor electrode passes through output
Terminal CS-OUT ﹢ matching plugs are connected to described speed motor one end and are connected with another+5V power supplys；
The drain electrode of the FET Q9 is connected to the speed motor other end, source electrode by another lead-out terminal CS-OUT ﹣
It is grounded and passes through the grid of the resistance R94 connections FET Q9；
The diode D9 is connected between the colelctor electrode of the switch optocoupler U9 and FET Q9 drain electrode；The diode
D9 anode tap connects the drain electrode of the FET Q9, cathode terminal connection switch optocoupler U9 colelctor electrode；
The polar capacitor C91 is parallel to the both ends of the speed motor；The positive pole of the polar capacitor C91 connects two pole
Pipe D9 cathode terminal, negative pole are connected with the anode tap of the diode D9.
8. vehicle speed sensor TT＆C system as claimed in claim 6, it is characterised in that：The automobile speed instrument pack and institute
State and be additionally provided with measurement port between vehicle speed sensor modulate circuit；The measurement port is also associated with oscillograph；
The speed motor exports corresponding PWM waveform in real time by the slave computer dsp system plate by the output pin PWM3
Driving.
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| CN105116199A (en) * | 2015-09-15 | 2015-12-02 | 欧朗科技（苏州）有限公司 | High precision automatic function testing device of rail transit sensor |
| CN108241071A (en) * | 2016-12-23 | 2018-07-03 | 大陆汽车电子（连云港）有限公司 | There are the test system and method for the velocity sensor of angle detecting |
| CN107093227B (en) * | 2017-05-05 | 2020-04-14 | 苏州海格新能源汽车电控系统科技有限公司 | Method and device for identifying running condition of whole vehicle and running control system of whole vehicle |
| CN107436363B (en) * | 2017-06-30 | 2019-10-18 | 南京中车浦镇海泰制动设备有限公司 | A kind of rail traffic vehicles speed dynamic measurement method |
| CN109032031B (en) * | 2018-08-21 | 2021-08-17 | 中车株洲电力机车有限公司 | Method, device and equipment for adjusting sampling period and readable storage medium |
| CN112240776B (en) * | 2020-12-09 | 2021-03-23 | 延锋伟世通电子科技（南京）有限公司 | Mileage total testing method based on adjustment of testing rate |
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| CN1032079A (en) * | 1987-08-27 | 1989-03-29 | 江苏省计量测试技术研究所 | Multifunction digital control checker for measuring standerd rotating speed |
| DE19824362A1 (en) * | 1998-05-30 | 1999-12-16 | Micronas Intermetall Gmbh | Process for monitoring the function of a sensor module and sensor module for carrying out the process |
| US6591209B1 (en) * | 2000-12-18 | 2003-07-08 | Delphi Technologies, Inc. | Automatic calibration of speed signal scaling |
| CN201340430Y (en) * | 2008-12-09 | 2009-11-04 | 宁波思创机电有限公司 | System for detecting comprehensive performance of wheel speed sensor |
| CN202837328U (en) * | 2012-10-11 | 2013-03-27 | 杭州创联电子技术有限公司 | Checkout equipment for pulse mode automobile speed sensor |
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