CN107219851A - A kind of measurement car driving method for tunnel subsidence monitoring system - Google Patents
A kind of measurement car driving method for tunnel subsidence monitoring system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a kind of measurement car driving method for tunnel subsidence monitoring system, measurement car adherent operation in the inclinometer pipe of the tunnel subsidence monitoring system, the wheel that the driving method passes through measurement car described in voltage controlled oscillator, stepper motor driver and driving stepper motor；Comprise the following steps：S1：Stepper motor starts；S2：The voltage signal that one amplitude monotonic decreasing to steady state value are received by the voltage-controlled end of voltage controlled oscillator make the output end of the voltage controlled oscillator export a frequency with the monotonic decreasing of the voltage signal magnitude synchronous monotonic increase to steady state value copped wave pulse；S3：By the copped wave pulse that the voltage controlled oscillator is exported make described one frequency of stepper motor driver synchronism output with the monotonic increase of the copped wave pulse frequency synchronous monotonic increase to steady state value angular displacement signal, so that the rotating speed of the rotor of the stepper motor reaches steady state value, and pass through the constant revolution for the wheel that car is measured described in the driving stepper motor.
Description
Technical field
The present invention relates to a kind of measurement car driving method for tunnel subsidence monitoring system of engineering construction field.
Background technology
Shield-bored tunnels are embedded in below ground as other hypogee structures, its tunnel internal temperature, humidity with
Ground is different and little with seasonal variations.During subway tunnel normal operation, train operation density is high, the work that train is triggered
Fill in wind, vibration all can produce influence to structure and monitoring apparatus, along with the laws and regulations of Shield-bored tunnels management are to tunnel
Road internal mechanical is installed, line arrangement has strict regulation, and these all propose unique requirements to Shield-bored tunnels monitoring.
For the monitoring of Shield-bored tunnels Longitudinal Settlement, mainly there are following methods：
Static level monitoring can realize a certain degree of automation and digitlization, in tunnel structure sedimentation and deformation Risk Monitoring
In be commonly used, but its equipment instrument is larger, and inconvenience is installed, and is not suitable for the discrepancy in elevation and is changed greatly section；Can be by temperature, gas
The influence of the factors such as pressure, gravity anomaly.
The artificial measurement of the level is widely used, and method is ripe, and instrument price is cheap.But need staff to hold instrument entrance
Tunnel, therefore the round-the-clock monitoring in operation phase tunnel can not be realized, it is only used for the tunnel of non-operation state, and artificial level
Measurement is time-consuming to take a lot of work, inefficiency.
Electric horizon rule is a kind of precision, resolving power is high and sensor that stability is good, easy for installation, in Metro
In use, not only can guarantee that the normal operation of subway, and Real-time Monitoring Data and change curve can be provided incessantly.But
Its disposable input is high, and recycling rate of waterused is low.
The measurement of tunnel subsidence can be carried out using the measurement car under operation in inclinometer pipe at present, however, to ensure that measurement
Accuracy, it is necessary to assure measurement car constant-speed operation in inclinometer pipe, but how to ensure measure car constant speed have not yet to see
To above-mentioned report.
The content of the invention
The invention aims to overcome the deficiencies in the prior art, there is provided a kind of survey for tunnel subsidence monitoring system
Measure car driving method, it is ensured that constant motion of the measurement car in inclinometer pipe, it is ensured that the accuracy of data acquisition.
Realizing a kind of technical scheme of above-mentioned purpose is：A kind of measurement car driving side for tunnel subsidence monitoring system
Method, the measurement car adherent operation in the inclinometer pipe of the tunnel subsidence monitoring system, driving method passes through VCO
The wheel of car is measured described in device, stepper motor driver and driving stepper motor；Comprise the following steps：
S1：Stepper motor starts；
S2：The voltage signal for receiving amplitude monotonic decreasing to a steady state value by the voltage-controlled end of voltage controlled oscillator makes described
The output end of voltage controlled oscillator export a frequency with the monotonic decreasing of the voltage signal magnitude synchronous monotonic increase to perseverance
The copped wave pulse of definite value；
S3：The copped wave pulse exported by the voltage controlled oscillator makes described one frequency of stepper motor driver synchronism output
Rate with the monotonic increase of the copped wave pulse frequency synchronous monotonic increase to steady state value angular displacement signal so that the step
The rotating speed of the rotor of stepper motor reaches steady state value, and is turned by the constant speed for the wheel that car is measured described in the driving stepper motor
It is dynamic.
Further, the amplitude for the voltage signal that the voltage-controlled end of the voltage controlled oscillator is received list in the way of exponential damping
Tune drops to steady state value.
Further, the monotonic decreasing of the voltage signal to steady state value is realized by RC integrators, the voltage
The step signal U that the value of signal amplitude monotonic decreasing is received by the RC integratorsJYAmplitude.
Further, the frequency f of the copped wave pulse of the voltage controlled oscillator output0Formula be：
Wherein VccFor the supply voltage of the voltage controlled oscillator, VcoThe electricity received by the voltage-controlled end of the voltage controlled oscillator
Press the amplitude of signal, and 0≤Vco≤Vcc；The resistance value for the grounding resistance that R10 is connect by the voltage controlled oscillator DIS pins,
The capacitance for the ground capacity that C19 is connect by the voltage controlled oscillator RT pins.
Further, the voltage signal passes through anti-phase processing before inputting the voltage-controlled end of the voltage controlled oscillator.
A kind of technical scheme of measurement car driving method for tunnel subsidence monitoring system of the present invention is employed, it is described
Car adherent operation in the inclinometer pipe of the tunnel subsidence monitoring system is measured, the driving method passes through voltage controlled oscillator, stepping
The wheel of car is measured described in motor driver and driving stepper motor；Comprise the following steps：S1：Stepper motor starts；S2：Pass through
The voltage signal that the voltage-controlled end of voltage controlled oscillator receives amplitude monotonic decreasing to a steady state value makes the defeated of the voltage controlled oscillator
Go out end one frequency of output with the monotonic decreasing of the voltage signal magnitude synchronous monotonic increase to steady state value copped wave pulse；
S3：The copped wave pulse exported by the voltage controlled oscillator makes described one frequency of stepper motor driver synchronism output with described
The monotonic increase of copped wave pulse frequency and synchronous monotonic increase to steady state value angular displacement signal so that the stepper motor
The rotating speed of rotor reaches steady state value, and passes through the constant revolution for the wheel that car is measured described in the driving stepper motor.It can skill
Art effect is：It can ensure to measure constant motion of the car in inclinometer pipe, it is ensured that the accuracy of data acquisition.
Brief description of the drawings
Fig. 1 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
Inclinometer pipe installs front view with measurement car in monitoring system.
Fig. 2 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
Inclinometer pipe installs left view with measurement car in monitoring system.
Fig. 3 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
The scheme of installation of infrared transmitter and infrared remote receiver in monitoring system.
Fig. 4 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
The scheme of installation of first obliquity sensor and the second obliquity sensor in monitoring system.
Fig. 5 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
The structure chart of monitoring system.
Fig. 6 is the tunnel subsidence corresponding to a kind of measurement car driving method for tunnel subsidence monitoring system of the present invention
First reference source circuit and the second reference source circuit connection diagram in monitoring system.
Fig. 7 is used for the flow chart for measuring car driving method of tunnel subsidence monitoring system for a kind of of the present invention.
Embodiment
Referring to Fig. 1, the present inventor is in order to be able to preferably understand technical scheme, lead to below
Specifically embodiment is crossed, and is described in detail with reference to accompanying drawing：
Tunnel subsidence monitoring system includes the inclinometer pipe being sequentially connected along the axial direction in tunnel on the tunnel inner wall
300, and can in inclinometer pipe 300 adherent operation measurement car 400.It is in cross arrangement that some groups are disposed with measurement car 400
Wheel 401, make measurement car 400 and inclinometer pipe 300 adherent, reduce measurement car 400 mechanical oscillation.Wheel 401 passes through precompressed
Tight device 402 is arranged on measurement car 400.
Measure car 400 and be provided with the first reference source circuit 1a, the second reference source circuit 1b, the first obliquity sensor 2, second
Obliquity sensor 3, difference amplifier 4, analog-digital converter 5, ZigBee emitters 6, infrared transmitter 7, infrared remote receiver 8,
Schmidt's reshaper 9, single-chip microcomputer 10, voltage controlled oscillator 11, stepper motor driver 12 and for the constant revolution of driving moment 401
Stepper motor 13.
Wherein, the first reference source circuit 1a connects the first obliquity sensor 2, the power end of the second obliquity sensor 3 simultaneously,
Stable power supply is provided for the first obliquity sensor 2, the second obliquity sensor 3.First reference source circuit 1a is also connected with mould
The reference power source end of number converter 5 and stepper motor driver 12, is that analog-digital converter 5 and stepper motor driver 12 are provided
Stable reference voltage.
Output error response and the stability of power supply due to the first obliquity sensor 2 and the second obliquity sensor 3
It is extremely necessary with close association, therefore using the first reference source circuit 1a.
The first reference source circuit 1a selects REF195 benchmark source chips in the present embodiment, and REF195 benchmark source chip can be carried
For being up to 30 milliamperes and with the premium properties of 2ppm/ DEG C of temperature drift.
First obliquity sensor 2 and the second obliquity sensor 3 use SCA100T type double high-precision obliquity sensors, its
Purpose is that, in order to obtain difference inclination data, the mechanical oscillation effectively suppressed due to measuring car 400 are caused the first inclination angle by this
The common-mode noise that the obliquity sensor 3 of sensor 2 and second is produced.
Its principle is：It is stacked on top of one another after first obliquity sensor 2 and the alignment of the second obliquity sensor 3 to install, make first to incline
The plane that 2 and second obliquity sensor of angle transducer 3 respective X-axis and Y-axis are constituted supports or opposes.First obliquity sensor 2 and second
The X-axis of obliquity sensor 3 is parallel but in opposite direction with the direction of displacement for measuring car 400, the first obliquity sensor 2 and the second inclination angle
The Y-axis of sensor 3 is parallel with the direction of vibration for measuring car 400 and direction is identical.First obliquity sensor 2 is generated and measurement car
400 in corresponding first vibration signal of the internal vibration of inclinometer pipe 300, and corresponding in the intrinsic displacement of inclinometer pipe 300 with measurement car 400
First displacement signal.Second obliquity sensor 3, which generates to vibrate in the internal vibration of inclinometer pipe 300 corresponding second with measurement car 400, to be believed
Number, and with measurement car 400 in the corresponding second displacement signal of the intrinsic displacement of inclinometer pipe 300.
Therefore, the first vibration signal and the second vibration signal are a pair of common-mode signals, after amplifying through difference amplifier 4, should
Common-mode signal is cancelled.Similarly, since the first displacement signal and second displacement signal are a pair of difference mode signals, therefore through difference
The analog signal of the output end final output of amplifier 4 is the superposition of the first displacement signal and second displacement signal.
10 μ Fs of the output end of difference amplifier 4 provided with ground connection noise reduction electric capacity CF, to reach further suppression
The purpose of low-frequency noise, because the primary spectrum of the measurement mechanical oscillation of car 400 is concentrated in low-frequency range.Difference amplifier 4
The analog signal of output is fed into the input of analog-digital converter 5 after being filtered through noise reduction electric capacity CF.Analog-digital converter 5 is 16
Analog-digital converter.The analog signal of the output of difference amplifier 4 is admitted to after being converted to data signal through analog-digital converter 5
ZigBee emitters 6 are CC2530 type ZigBee sensors in ZigBee emitters 6, the present embodiment, complete inclination data
Collection.
The reason for the present embodiment does not use 12 analog-to-digital conversion modules built in ZigBee emitters 6 in the present embodiment exists
It is inadequate in its precision.
The first displacement signal and the first vibration signal is made to correspond to UX1 signals and UY1 signals, the first displacement signal and first
Vibration signal correspondence is exported from the OUT1 ports of the first obliquity sensor 2 and OUT2.Second displacement signal and second is made to vibrate letter
Number correspond to UX2 signals and UY2 signals, second displacement signal and the second vibration signal correspondence are from the second obliquity sensor 3
OUT1 ports and OUT2 outputs.UX1 signals and UX2 signals are one group of difference mode signal, and UY1 signals and UY2 signals are one group of common mode
Signal.First by corresponding first operational amplifier 19, output signal and the second inclination angle sensing to the first obliquity sensor 2
The output signal of device 3 impose proportionality coefficient be a the preposition amplification of low noise, obtain aUX1 signals, aUY1 signals, aUX2 signals and
The INA+ ports of aUY2 signals, aUX1 signals and aUY1 signal access differentials amplifier 4, aUX2 signals and the access of aUY2 signals are poor
Divide the INA- ports of amplifier 4, by the calculus of differences of difference amplifier 4, obtain a (UX1-UX2) signals and a (UY1-UY2)
Signal.Thus achieve with measurement car 400 at the first inclination angle of the parallel direction arranged opposite in the intrinsic displacement direction of inclinometer pipe 300
The X-axis of the obliquity sensor 3 of sensor 2 and second, completes the amendment for the measurement vibration signal of car 400 and displacement signal.
After a (UX1-UX2) signals complete analog-to-digital conversion through analog-digital converter 5, adopted into ZigBee emitters 6,
Central processing unit built in ZigBee emitters 6 is wirelessly communicated to neighbouring to adopting after data carry out related operation processing
Zigbee relays servomotor, and the sedimentation situation in tunnel is carried out according to the data that ZigBee emitters 6 are passed over for backstage
Determine.
Two the first operational amplifiers 19 in the present embodiment are OPA184 operational amplifiers, and it has low noise, list
Power supply is powered, the function of rail-to-rail input and output, the purpose is to be powered in single supply in the case of expand the first displacement as far as possible
Signal, the first vibration signal, the dynamic range of the second vibration signal and second displacement signal transacting.A=2 in the present embodiment, with
Ensure the dynamic range for the analog signal that difference amplifier 4 is exported.Difference amplifier 4 amplifies for high precision instrument in the present embodiment
Device AD620.
Difference amplifier 4 is powered using single supply, therefore its reference power source end end needs one VCC/2 Low ESRs ginseng of access
Examine source.
Second reference source circuit 1b uses ADR4550 benchmark source chips, and its output voltage is 5V, with extremely excellent low
Noise, Low Drift Temperature performance, are that analog-digital converter 5 provides supply voltage.
Analog-digital converter 5 is AD7988 analog-digital converters in the present embodiment, and analog-digital converter 5 is except needing high-precision base
Outside quasi- voltage, its supply voltage needs VCC/2 supply voltage, i.e., 2.5 volt to power；And difference amplifier 4 is also required to one
2.5 Fu Zhongdiancankaoyuan of high stable.In order to produce in 2.5 volts of power supplies of high stable, the present embodiment in the second a reference source
Circuit 1b output end is provided with the second operational amplifier 18, and the second operational amplifier 18 is OP184 operational amplifiers, the second fortune
Calculate amplifier 18 and connect the power end of analog-digital converter 5 and the reference power source end of difference amplifier 4, the second operational amplifier simultaneously
18 follow the second reference source circuit 1b through partial pressure to produce a reference source, obtained 2.5 Fu Dizukang electricity Ya Yuan of high accuracy, are respectively
Analog-digital converter 5 provides power supply, is that difference amplifier 4 provides midpoint reference source.
By infrared transmitter 7 and infrared remote receiver 8, the sense to measurement car 400 position in inclinometer pipe 300 can be achieved
Know, and issuable stuck or stall failure monitoring.Infrared transmitter 7 and infrared remote receiver 8 are each attached to and measured
In car 400 on the corresponding pre-tightening apparatus 402 of any one wheel 401.It is provided with the wheel 401 and supplies infrared transmitter 7 and infrared
The circular hole 403 that receiver 8 is intermittently communicated.The connection Schmidt of infrared remote receiver 8 reshaper 9, Schmidt's reshaper 9 connects list
Piece machine 10, single-chip microcomputer 10 is implemented to supervise by 8 pairs of motion states for measuring car 400 operated in inclinometer pipe 300 of infrared remote receiver
Survey.Its principles illustrated is as follows：When measuring the operation in inclinometer pipe 300 of car 400, wheel 401 often rotates a circle；Infrared transmitter
7 and infrared remote receiver 8 once communicated, infrared remote receiver 8 receives the electric pulse that infrared transmitter 7 is launched, the electric arteries and veins
Punching is fed into single-chip microcomputer 10 after the shaping of Schmidt's reshaper 9 and carries out counting.Because the girth of wheel 401 is a constant, therefore
Calculate electric pulse count value and wheel 401 girth product just can obtain measurement car 400 run in inclinometer pipe 300 away from
From thus obtaining measuring position of the car 400 in inclinometer pipe 300.The electric pulse is also used for the motion shape for knowing measurement car 400
State, when measure car 400 run duration constantly accumulate but electric pulse count value keep it is constant when, you can obtain measure car
400 block in inclinometer pipe 300.The count value of electric pulse and the run duration of measurement car 400 are also by single-chip microcomputer 10
Neighbouring ZigBee, which is sent to, with ZigBee emitters 6 relays servomotor.
Advantage using infrared transmitter 7 and infrared remote receiver 8 is：Need not produce for example needs using during photoelectric tube mode
The secondary light source wanted, and effectively shield due to the maloperation that visible interference of stray light is produced.
In the present embodiment, infrared transmitter 7 is infrared receiving/transmission diode SE304, infrared remote receiver 8, is PIC14043 red
Outer receiver.When being gone to 8 corresponding position of infrared transmitter 7 and infrared remote receiver the circular hole 403 on wheel 401,
Infrared transmitter 7 produces an electric pulse, after the electric pulse is received by infrared remote receiver 8, by the shaping of Schmidt's reshaper 9,
Single-chip microcomputer 10 is read into, starts the timer conter in single-chip microcomputer 10, to counting for feeding electric pulse, and periodic sampling should
The count value T of electric pulse in timer conterCN1, the count value T of computing electric pulseCN1With the perimeter L of wheel 401ZCProduct just
It can obtain measuring position of the car 400 in inclinometer pipe 300.The also external crystal oscillator 101 of the timer conter of single-chip microcomputer 10, crystal oscillator 101
For XCXO type crystal oscillators.Crystal oscillator 101 is through 215The second clock implementation counting operation obtained after frequency dividing, this second clock and infrared transmitter 7,
The turning collar counting number value of wheel 401 that infrared remote receiver 8 is produced, i.e. the count value T of electric pulseCN1It is one-to-one relation, when
When one one-to-one correspondence occurs destroyed, measurement car 400 is issuable stuck or stall failure, and single-chip microcomputer 10 is alarmed,
So as to realize the monitoring of the measurement motion state of car 400.
Single-chip microcomputer 10 connects the voltage-controlled end of voltage controlled oscillator 11, the output end connection driving stepper motor of voltage controlled oscillator 11
The clock end of device 12, the stepper motor 13 of the constant revolution of wheel 401 of the connection control measurement car 400 of stepper motor driver 12.
The purpose for setting voltage controlled oscillator 11 is the driving source of control measurement car 400, it is ensured that the smooth starting and operation of stepper motor 13.
In general, the general not preferably less than 40kHz of the No Load Start frequency of stepper motor 13, otherwise can produce measurement car 400 and vibrate.Step
The startup control frequency of stepper motor 13 is by low to setting stable state；Before stopping, control frequency is by stable state step-down.The control of stepper motor 13
The change of frequency processed should follow exponential type change, and the time of usual acceleration and deceleration is not preferably less than 300 milliseconds, otherwise can produce measurement car
400 step-outs or shake；The measurement car 400 when stepper motor 13 is run can be reduced using micro-stepping control to shake；Measure car 400 at a high speed
Operating needs to maintain certain voltage, otherwise can produce the measurement stall of car 400.
Using function integrated circuit LM566 occurs for the voltage controlled oscillator 11 in the present embodiment.Integrated circuit occurs for function
LM566 is a kind of voltage-controlled function generator, can produce the square wave or triangular signal from low frequency to 1MHz, voltage controlled oscillator 11
The frequency change of output signal is associated with the amplitude of the voltage at voltage-controlled end, thus only need to be in the voltage-controlled end of voltage controlled oscillator 11 and list
A RC integrator 17 is accessed between the output end of piece machine 10 and a high level, RC integrators are sent into RC integrators 17
17 electric capacity C undergo one since zero level and exponentially increase, it is final be a constant level signal process,
Equally, the angular displacement pulse that stepper motor driver 12 is exported experienced since extremely low frequency, exponentially increases, final
Reach the process of stable state.
Conversely, after the input high level of RC integrators 17 is removed, the voltage on the electric capacity of RC integrators 17 will be by finger
Number rule declines, until being zero, so that the frequency for the angular displacement pulse that stepper motor driver 12 is exported is advised by stable state by index
Rule is successively decreased up to being zero, the thus control of the extremely simple acceleration and deceleration chopping frequency for being reliably achieved stepper motor 13.
In the present embodiment, the position that measurement car 400 is moved along inclinometer pipe 300 is passed with the first obliquity sensor 2, the second inclination angle
The data of sensor 3 must comply with strict one-to-one relation, thus, and the movement rate of measurement car 400 must be constant.It is logical
Cross and drive measurement car 400 to move using the stepper motor 13 that is controlled by stepper motor driver 12 to can be achieved.Stepper motor 13
Rotating speed be the frequency of the angular displacement pulse exported by stepper motor driver 12 is determined, also, the rotor of stepper motor 13
Corner can be with precisely subdivided, as long as then 13 unit interval of stepper motor internal rotor turns over angle to the frequency stabilization of angular displacement pulse
It is certain.The frequency of angular displacement pulse is controlled by the crystal oscillator 101 on single-chip microcomputer 10, it is assumed that stepper motor 13
Subdivision rate be 32, the frequency of angular displacement pulse is 5.0kHz, then the rotor of stepper motor 13 rotates one week needs, 11540 angles
Dfisplacement pulse.
The a diameter of 30mm of wheel 401 of car 400 is measured in the present embodiment, it is L that wheel 401, which transports the distance circled,ZC, measurement
The movement rate of car 400 is designed as 0.3m/s, therefore the rotating speed of the rotor of stepper motor 13 is 3.238r/s, then stepper motor 13
Rotor should add the angular displacement pulse that a frequency is 31.30kHz.
The frequency of oscillation of crystal oscillator 101 takes 40MHz in the present embodiment, and the vibration output of the crystal oscillator 101 is used as single-chip microcomputer 10
Clock, the frequency of the angular displacement pulse needed for stepper motor 13 is 31.30kHz, passes through the timer conter built in single-chip microcomputer 10
Obtain.
Single-chip microcomputer 10 is STC12C5628AD single-chip microcomputers in the present embodiment.
It is assumed that before stepper motor 13 starts, the pressure drop U of the electric capacity C on RC integrators 17CIt is zero, stepper motor 13 starts
Afterwards, single-chip microcomputer 10 sends a step signal U to the electric capacity C of RC integrators 17JY, the pressure drop U of the electric capacity C on RC integrators 17C
Start exponentially to be incremented by, approximately pass through after 5-6 τ cycle, the electric capacity C change in pressure drop on RC integrators 17 is UJY, stepping
Motor driver 12 enters stable state.Wherein τ=1/RC, voltage controlled oscillator 11 can be realized from extremely low to 10MHz frequency copped wave pulses
Output, the frequency of copped wave pulse controlled by the voltage-controlled end of voltage controlled oscillator 11, and linear good.At the voltage-controlled end of voltage controlled oscillator 11
When adding a positive linear ramp, the frequency of the copped wave pulse of the output end of voltage controlled oscillator 11 output will occur by it is low to
High repetitive process, similarly, by the pressure drop U of the electric capacity on RC integrators 17CFrom zero starting, exponentially be incremented by up to reaching
To the voltage U of stable stateC, when being added to 11 voltage-controlled end of voltage controlled oscillator, the copped wave pulse of the output end output of voltage controlled oscillator 11
Frequency will undergo a process for increasing and being finally reached stable frequency by zero, exponentially.Adjust RC integrators 17
The τ cycles, can change voltage controlled oscillator 11 output copped wave pulse frequency as zero reach stable state needed for time, so as to light
Change places and meet the functional requirement of the diagonal displacement pulse of stepper motor 13.Therefore, the resistance R of RC integrators 17 is variable resistor.
Single-chip microcomputer 10 sends 5V step signal U to the electric capacity C on RC integrators 17JY, due to RC integrators 17
Electric capacity C has little time charging, a phase inverter 16 is concatenated between RC integrators 17 and the voltage-controlled end of voltage controlled oscillator 11, after paraphase
The voltage-controlled end of feed-in voltage controlled oscillator 11.The closing control pin of voltage controlled oscillator 11, i.e. DIS pins connect the electricity of ground connection simultaneously
Hold C19, the resistance R10 of the external frequency of oscillation timing resistor pin of voltage controlled oscillator 11, i.e. RT pins connection ground connection.
The frequency of oscillation of voltage controlled oscillator 11 is f0：
In formula：VccIt is 5V for the supply voltage of voltage controlled oscillator 11.
VcoFor the amplitude of the output signal of phase inverter 16, scope is 0~5V.
The copped wave pulse of the output of voltage controlled oscillator 11 by resistance R10, electric capacity C19 and phase inverter 16 output signal width
Value VcoDetermine, the frequency of the copped wave pulse of the output of voltage controlled oscillator 11 by zero increase to 40kHz when because with RC integrators
17 electric capacity C's is constantly electrically charged, and the voltage at the voltage-controlled end of voltage controlled oscillator 11 is declined by damped expoential rule, so as to cause pressure
The frequency of the copped wave pulse of the output of controlled oscillator 11 is exponentially incremented by, until the voltage at the voltage-controlled end of voltage controlled oscillator 11
It is zero, the frequency of the copped wave pulse of the output of voltage controlled oscillator 11 reaches stable state.The output end connection stepping of voltage controlled oscillator 11
Stepper motor driver 12 is THB6128 type stepper motor driver chips in the clock end of motor driver 12, the present embodiment.Step
The output A1 output ends and A2 output ends of stepper motor driver 12, are connected and for the A windings of Driving Stepping Motor 13, stepping electricity
The output B1 output ends and B2 output ends of machine driver 12, are connected and for the B windings of Driving Stepping Motor 13.The electricity of stepping simultaneously
Machine driver 12 connects battery pack.
Meanwhile, battery pack connection is by voltage from 16V by for 5.5V high-frequency direct-current/DC converter, the present embodiment
In, the first high-frequency direct-current/DC converter is LM22674 high-frequency direct-currents/DC converter, to ensure the first reference source circuit 1a
What is generated is 5 volts of power supplys of stable DC of low noise, low drifting, the output end of the high-frequency direct-current/DC converter and the first base
Quasi- source circuit 1a is added in the poor voltage-stablizer of linear low voltage, the present embodiment, and linear low voltage difference voltage-stablizer is TPS735 linear low voltages
Poor voltage-stablizer.DC-DC reducing transformer LM117-3.3 DC-DC reducing transformers, 3.3 are turned to 5.5 volts of input voltages to be become
Volt output, is used for Zigbee emitters 6.
In the present embodiment, single-chip microcomputer 10 is connected by single line integrated temperature sensing circuit, the temperature of test environment is monitored, it is single
The preferred DS1820 single lines integrated temperature sensing circuit of line integrated temperature sensing circuit.
A kind of measurement car driving method for tunnel subsidence monitoring system of the present invention, comprises the following steps：
S1：Stepper motor starts；
S2：One step signal U is exported to RC integrators 17 by single-chip microcomputer 10JY, the pressure drop U of RC integrators 17CFrom zero
Start monotonic increase to step signal UJYAmplitude.RC integrators 17 export voltage signal by phase inverter 16 it is anti-phase after,
Input the voltage-controlled end of voltage controlled oscillator 11.
The amplitude for the voltage signal that voltage controlled oscillator 11 is received monotonic decreasing in the way of exponential damping, to steady state value, makes
One Frequency Synchronization of output end synchronism output of voltage controlled oscillator 11 exponentially monotonic increase to steady state value copped wave pulse.
The frequency f for the copped wave pulse that voltage controlled oscillator 11 is exported0Formula be：
Wherein VccFor the supply voltage of voltage controlled oscillator 11, VcoThe voltage letter received by the voltage-controlled end of voltage controlled oscillator 11
Number amplitude, and 0≤Vco≤Vcc；The resistance value for the grounding resistance that R10 is connect by the DIS pins of voltage controlled oscillator 11, C19 is
The capacitance for the ground capacity that the RT pins of voltage controlled oscillator 11 are connect.
S3：The copped wave pulse exported by voltage controlled oscillator 11 make 12 synchronism output of stepper motor driver, one frequency with
The monotonic increase of the copped wave pulse frequency and synchronous monotonic increase to steady state value angular displacement signal so that stepper motor 13
The rotating speed of rotor reach steady state value, and drive by stepper motor 13 constant revolution of the wheel 401 of measured car 400.
Those of ordinary skill in the art it should be appreciated that the embodiment of the above be intended merely to explanation the present invention,
And be not used as limitation of the invention, as long as in the spirit of the present invention, the change to embodiment described above
Change, modification will all fall in the range of claims of the present invention.
Claims (5)
1. a kind of measurement car driving method for tunnel subsidence monitoring system, the measurement car is monitored in the tunnel subsidence is
Adherent operation in the inclinometer pipe of system, the driving method passes through voltage controlled oscillator, stepper motor driver and driving stepper motor institute
State the wheel of measurement car；Comprise the following steps：
S1：Stepper motor starts；
S2：The voltage signal for receiving amplitude monotonic decreasing to a steady state value by the voltage-controlled end of voltage controlled oscillator makes described voltage-controlled
The output end of oscillator export a frequency with the monotonic decreasing of the voltage signal magnitude synchronous monotonic increase to steady state value
Copped wave pulse；
S3：The copped wave pulse exported by the voltage controlled oscillator make described one frequency of stepper motor driver synchronism output with
The monotonic increase of the copped wave pulse frequency and synchronous monotonic increase to steady state value angular displacement signal so that the stepping is electric
The rotating speed of the rotor of machine reaches steady state value, and passes through the constant revolution for the wheel that car is measured described in the driving stepper motor.
2. a kind of measurement car driving method for tunnel subsidence monitoring system according to claim 1, it is characterised in that：
The amplitude for the voltage signal that the voltage-controlled end of the voltage controlled oscillator is received in the way of exponential damping monotonic decreasing to steady state value.
3. a kind of measurement car driving method for tunnel subsidence monitoring system according to claim 1, it is characterised in that：
The monotonic decreasing of the voltage signal to steady state value realized by RC integrators, the voltage signal magnitude monotonic decreasing
It is worth the step signal U received by the RC integratorsJYAmplitude.
4. a kind of measurement car driving method for tunnel subsidence monitoring system according to claim 3, it is characterised in that：
The frequency f of the copped wave pulse of the voltage controlled oscillator output0Formula be：
<mrow>
<msub>
<mi>f</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>c</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>c</mi>
<mi>o</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mi>R</mi>
<mn>10</mn>
<mo>&times;</mo>
<mi>C</mi>
<mn>19</mn>
<mo>&times;</mo>
<msub>
<mi>V</mi>
<mrow>
<mi>c</mi>
<mi>c</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein VccFor the supply voltage of the voltage controlled oscillator, VcoThe voltage signal received by the voltage-controlled end of the voltage controlled oscillator
Amplitude, and 0≤Vco≤Vcc；The resistance value for the grounding resistance that R10 is connect by the voltage controlled oscillator DIS pins, C19 is institute
State the capacitance for the ground capacity that voltage controlled oscillator RT pins are connect.
5. a kind of measurement car driving method for tunnel subsidence monitoring system according to claim 3, it is characterised in that：
The voltage signal passes through anti-phase processing before inputting the voltage-controlled end of the voltage controlled oscillator.
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