CN108180983A - The emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering - Google Patents

The emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering Download PDF

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Publication number
CN108180983A
CN108180983A CN201711468636.9A CN201711468636A CN108180983A CN 108180983 A CN108180983 A CN 108180983A CN 201711468636 A CN201711468636 A CN 201711468636A CN 108180983 A CN108180983 A CN 108180983A
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frequency
signal
domain
time
frequency domain
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巩明德
张航
陈浩
王豪豪
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Yanshan University
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Yanshan University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01HMEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles
    • G01M17/06Steering behaviour; Rolling behaviour

Abstract

The invention discloses a kind of emergency management and rescue vehicle vibration displacement reconstructing methods of adaptive time-frequency domain mixed filtering, and the time domain acceleration signal measured is changed into frequency-region signal by discrete Fourier transform, and integration for the first time is carried out in frequency domain and obtains speed signal;It is again time domain speed signal by inverse Fourier transform;Second of integration is carried out in time domain and obtains preliminary displacement signal.Highway pavement is classified based on road-ability boundary simultaneously, selection calculates different pavement grade lower body vibration frequency values, and as high-pass digital filter threshold frequency, filtering obtains body oscillating displacement.The method of the present invention can effectively eliminate the accumulated error individually generated using time domain or Frequency Domain Integration method using frequency domain and time domain mixed integrating method;Sef-adapting filter threshold frequency meets the requirement that vehicle vibration displacement reconstructs under different brackets road surface, improves Vehicular vibration displacement reconstruction accuracy and accuracy, controls vehicle body pose for emergency management and rescue vehicle, ride performance and control stability is kept to provide foundation.

Description

The emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering
Technical field
The present invention relates to Vehicular vibration displacement measurement fields, and in particular to a kind of towards emergency management and rescue vehicle vibration displacement weight The signal processing method of structure.
Background technology
The accurate acquisition of vibration displacement is emergency management and rescue vehicle control vehicle body pose, keeps ride performance and manipulates steady Qualitatively important evidence.Emergency management and rescue vehicle loading capacity is big, driving cycle is complicated, shape is larger and irregular, and displacement in addition passes Restriction of the sensor to test conditions such as installation site, installation spaces, it is entitled referring to a document《Dynamic bit during vehicle gauge is checked The static measurement of shifting》, acquire a certain degree of difficulty for the measurement tool of body oscillating displacement.
The scheme relative ease tested using acceleration transducer and integrated to obtain displacement signal twice is easy, please join See that a document is entitled《For the high-precision accumulation numerical integration method research of STRONG MOTION DATA emulation motion displacement》.But time domain Integration inevitably makes to contain the disturbing factors such as band trend term in acceleration signal, while with noise signal.So in time domain Trend term and filtering process are carried out in integration, however the trend term error of signal can not possibly be rejected completely, residual volume It can be amplified during quadratic integral by accumulation.It is entitled referring to Chinese patent《Acceleration signal based on numerical integration is surveyed Fetch bit shifting method》(application No. is 201310637543.X).It is existing that the displacement that integrated acceleration is calculated will appear drift distortion As.
Using the scheme of Frequency Domain Integration, by Fourier transformation, can in frequency domain directly with just, the integration of cosine form it is mutual Domain integral is to the accumulation amplification of slight error when the relationship of changing is evaded.But Frequency Domain Integration have low frequency sensitivity is lacked Point, it is entitled referring to a document《Frequency Domain Integration algorithm research and application based on trend term control errors》.It is low in Frequency Domain Integration Frequency cutoff frequency selection subjectivity is strong, and information under signal cutoff frequency can be caused to lose.
Invention content
Present invention aims at provide a kind of simple and practicable, effective adaptive time-frequency domain mixed filtering reliable, with high accuracy Emergency management and rescue vehicle vibration displacement reconstructing method.
To achieve the above object, following technical scheme is employed:The method of the invention is using frequency domain and time domain mixed product Offshoot program, the signal acquired by acceleration transducer carry out a Frequency Domain Integration and a time-domain integration successively, straight by removing Item and adaptive-filtering processing are flowed, eliminates the accumulated error individually generated using time domain or Frequency Domain Integration method;In speed one Under conditions of fixed, emergency management and rescue vehicle is in different brackets road traveling, and pavement grade is higher, and body oscillating displacement is smaller, with this For foundation, selection calculates the threshold frequency of sef-adapting filter, meets vehicle vibration displacement weight under different track grades The requirement of structure.
The method is as follows:
Step1:The collected discrete acceleration time domain signal of acceleration transducer is subjected to discrete Fourier transform, is obtained Its frequency-domain expression;
Step2:According to Frequency Domain Integration method, the signal value A (k) of frequency component is subjected to a Frequency Domain Integration;
Step3:Inverse Fourier transform is carried out to the signal obtained after Frequency Domain Integration, obtains the time domain expression of speed signal Formula;
Step4:DC terms processing is removed to time domain speed signal;
Step5:Time domain numerical integration is carried out to the signal that Step4 is obtained, obtains the time-domain signal of displacement;
Step6:It is classified based on road-ability boundary road pavement unevenness, calculates the different classification road surfaces of selection and get off Body vibration frequency;
Step7:High-pass digital filter is inputted using vibration frequency as threshold frequency, reconstructs Vehicular vibration displacement signal.
Further, in Step1, acceleration transducer is mounted under the driver's seat in vehicle drive room, is measured and is driven Acceleration information at member position;Discrete Fourier transform is carried out to the acceleration signal a (t) that acceleration transducer measurement obtains, It is made to be changed into frequency-region signal from time-domain signal;The calculation formula of discrete Fourier transform is
In formula:f0For sample frequency, v (k) is sequence of complex numbers in the frequency domain after Fourier transformation, and f (k) is corresponding frequency Rate.
Amplitude, circular frequency and the Initial phase of the corresponding monochromatic waves of a (k) can be obtained by following formula, the monochromatic wave expression of characterization Formula
a(t)k=Akcos(ωkt+φk)。
Further, in Step2, the signal value A (k) of each Fourier components is converted to the value after primary integration; Due to an integrated value and input signal values phase by pi/2, it is corresponding to an integrated value D (k) of the frequency component then
D (k)=d1k+d2kj
In formula:ωk=2 π k/T.
Further, in Step3, according to
N=0,1 ..., N-1
Inverse Fourier transform is carried out to the signal that Step2 is obtained and obtains time domain speed signal.
Further, in Step4, since speed signal contains DC terms, must be to speed signal before integration at Reason is so as to remove influence factor;The average value of N number of sampled point is obtained, then average value is subtracted with the value of sampled point;Its expression-form For
In formula:viFor the value after removal DC component, v 'iSignal value for sampling instant.
Further, in Step5, the numerical value removal DC terms signal v (t) obtained in Step4 carried out in time domain accumulates Point, the result after integration can obtain displacement signal;Using Simpson Numerical Integral Formulas
In formula:V is speed signal, and s is displacement signal, and Δ t is the sampling time.
Further, it in the Step6 and Step7, is classified based on road-ability boundary road pavement unevenness;Root Frequency multiplication spatial frequency is corresponded to according to GB7031-1986 standard lookups, is converted by spatial frequency and temporal frequency, selection is calculated and obtains Wave filter threshold frequency.
Compared with prior art, the invention has the advantages that:
1st, it using the method for time-frequency domain mixed integrating method, solves the common accumulated error defect of single integration method, improves Vehicular vibration displacement reconstruction accuracy.
2nd, selection adaptive-filtering threshold frequency is calculated according to vibration frequency of the emergency management and rescue vehicle on different brackets road surface, Method is simple and practicable, effectively reliable, adjusts pose for vehicle real-time online, ride performance and control stability is kept to establish Basis.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention;
Fig. 2 is the accelerometer schematic view of the mounting position that this method is implemented;
Fig. 3 is car body theory vibration displacement curve and time-domain integration vibration displacement curve contrast schematic diagram;
Fig. 4 is car body theory vibration displacement curve and Frequency Domain Integration vibration displacement curve contrast schematic diagram;
Fig. 5 is car body theory vibration displacement curve and time-frequency domain mixed integrating method vibration displacement curve contrast schematic diagram.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings:
Vibration displacement reconstructing method flow chart for the adaptive time-frequency domain mixed filtering of the present invention as shown in Figure 1.Specific packet Include following steps:
Step1, Fig. 2 are the accelerometer schematic view of the mounting position that this method is implemented.Wherein:Acceleration transducer 3 is installed Under driver's seat 2 in driver's cabin 1.Discrete fourier is carried out to the acceleration signal a (t) that acceleration transducer measurement obtains Transformation, makes it be changed into frequency-region signal from time-domain signal.The calculation formula of discrete Fourier transform is
In formula:f0For sample frequency, v (k) is sequence of complex numbers in the frequency domain after Fourier transformation, and f (k) is corresponding frequency Rate.
Amplitude, circular frequency and the Initial phase of the corresponding monochromatic waves of a (k) can be obtained by following formula, the monochromatic wave expression of characterization Formula
a(t)k=Akcos(ωkt+φk)
The signal value A (k) of each Fourier components is converted to the value after primary integration by Step2.Due to once integrating Value and input signal values phase by pi/2 are then corresponding to an integrated value D (k) of the frequency component
D (k)=d1k+d2kj
In formula:ωk=2 π k/T.
Step3 according to equation below, carries out inverse Fourier transform to the signal that Step2 is obtained and obtains time domain speed signal.
Step4, is the influence of DC terms in release rate signal, and the direct current scheme of going of use is:Seek the flat of N number of sampled point Mean value.Again average value is subtracted with the value of sampled point.Its expression-form is
In formula:viFor the value after removal DC component, v 'iSignal value for sampling instant.
The removal DC terms signal v (t) obtained in Step4 is carried out the numerical integration in time domain, after integration by Step5 As a result displacement signal can be obtained.Simpson Numerical Integral Formulas is applied herein
In formula:V is speed signal, and s is displacement signal, and Δ t is the sampling time.
Step6, general road roughness be with zero-mean, ergodic steady Gauss random processes, therefore, Coupled vibrations of the vehicle under road excitation is substantially also a kind of randomness vibration.
Various road surfaces and the cross-country road that vehicle travels, the system of road roughness are suitable for according to GB7031-1986 standards It counts characteristic and uses vertical displacement one-sided power spectrum density Gd(n) it describes, such as following formula
In formula:N is spatial frequency, and unit is m-1, be wavelength X inverse;n0For reference frequency;Gd(n0) it is reference Spatial frequency n0Under Road Surface Power Spectrum Density value, referred to as road roughness coefficient, unit are [m3], depending on highway pavement etc. Grade;ω is frequency index, determines the frequency structure of Road Surface Power Spectrum Density.
Road surface based on power spectral density, is divided into eight grades by reference standard GB7031-1986.Such as table 1 road roughness point Grade is, it is specified that various road roughness coefficient ranges and its geometrical mean.
1 road roughness of table is classified
It is classified based on road-ability boundary road pavement unevenness, by the pass between road roughness and Human decidual System understands:When other conditions are constant, Gd(n0) increase to S times of Gd(n0), i.e. SGd(n0) when, the total weighted acceleration of human body is equal Root value is also increased to by aAccording to this rule, first calculate in Gd(n)=1.0 × 10-6m3The acceleration value of lower human body, Then on the basis of the comfort boundary of Whole Body vibration, inverse road roughness coefficient.Speed 40km/h is selected to be counted It calculates, by taking emergency management and rescue vehicle as an example, specific result of calculation is shown in Table 2.
Table 2 is classified based on human body comfort road surface
Rule is classified based on above-mentioned road-ability boundary road surface, when emergency management and rescue vehicle track grade is it is known that root According to GB7031-1986 standard lookup corresponding grade road roughness coefficient boundaries, road roughness mean value is calculated, and according to mark Quasi- subordinate list, the irregularity coefficient range and its geometrical mean on various road surfaces under entitled each frequency multiplication centre frequency determine corresponding times Frequency spatial frequency.By taking the emergency management and rescue vehicle speed v=40km/h as an example, according to the respective object of spatial frequency n and temporal frequency f Reason meaning is converted, i.e., v=fn obtains threshold frequency.The emergency management and rescue vehicle obtained is under four kinds of pavement grades Corresponding temporal frequency such as table 3:
3 emergency management and rescue vehicle of table corresponds to time of vibration frequency under four kinds of pavement grades
Comfortably It is relatively comfortable Generally Difference
0.33Hz 3.99Hz 6.99Hz 19.15Hz
Threshold frequency is inputted high-pass digital filter by Step7.On the one hand high-pass filtering process can exclude low frequency part and do It disturbs;On the other hand trend term error can be eliminated, obtains vibration displacement signal.FILTER TO CONTROL algorithm involved by this patent is one Kind is suitable for the ADAPTIVE CONTROL of emergency management and rescue vehicle gear-adjustable under different brackets road surface.
This patent is proposed, different brackets road vehicles ride frequency is as High Pass Filter Cutoff Frequency Reason is explained as follows:
1. the signal that the acceleration transducer is reflected is body oscillating displacement, low frequency signal influences it maximum, will Vehicle ride set of frequency under different brackets road surface is filter cutoff frequency, can effectively filter out low-frequency information, is protected Stay body oscillating displacement signal.
2. excluding the influence of resonant interaction, body oscillating inevitably generates covibration, by different brackets road surface vehicle Ride set of frequency can be effectively prevented from the amplification of covibration for cutoff frequency.
As shown in Fig. 3, Fig. 4 and Fig. 5, respectively conventional Time-domain integration method, Frequency Domain Integration method, integration of the present invention Method and car body theory vibration displacement curve comparison diagram.It reduces the results show that the method for the invention can promote reconstruction accuracy The accumulation of error controls vehicle body pose for emergency management and rescue vehicle, and ride performance and control stability is kept to provide important evidence.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention It encloses and is defined, under the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to the technical side of the present invention The various modifications and improvement that case is made should all be fallen into the protection domain that claims of the present invention determines.

Claims (7)

1. the emergency management and rescue vehicle vibration displacement reconstructing method of a kind of adaptive time-frequency domain mixed filtering, which is characterized in that described Method using frequency domain and time domain mixed integrating method scheme, the signal acquired by acceleration transducer carry out successively a Frequency Domain Integration and Time-domain integration handles by removing DC terms and adaptive-filtering, eliminates and individually use time domain or Frequency Domain Integration method The accumulated error of generation;Under conditions of speed is certain, emergency management and rescue vehicle is got in different brackets road traveling, pavement grade Height, body oscillating displacement is smaller, and on this basis, selection calculates the threshold frequency of sef-adapting filter, meets different travelings The requirement that vehicle vibration displacement reconstructs under pavement grade;
The method is as follows:
Step1:The collected discrete acceleration time domain signal of acceleration transducer is subjected to discrete Fourier transform, obtains its frequency Domain expression formula;
Step2:According to Frequency Domain Integration method, the signal value A (k) of frequency component is subjected to a Frequency Domain Integration;
Step3:Inverse Fourier transform is carried out to the signal obtained after Frequency Domain Integration, obtains the time-domain expression of speed signal;
Step4:DC terms processing is removed to time domain speed signal;
Step5:Time domain numerical integration is carried out to the signal that Step4 is obtained, obtains the time-domain signal of displacement;
Step6:It is classified based on road-ability boundary road pavement unevenness, calculates the different classification road surface lower bodies of selection and shake Dynamic frequency;
Step7:High-pass digital filter is inputted using vibration frequency as threshold frequency, reconstructs Vehicular vibration displacement signal.
2. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:In Step1, acceleration transducer is mounted under the driver's seat in vehicle drive room, measures position of driver Locate acceleration information;The acceleration signal a (t) obtained to acceleration transducer measurement carries out discrete Fourier transform, make its from Time-domain signal is changed into frequency-region signal;The calculation formula of discrete Fourier transform is
In formula:f0For sample frequency, v (k) is sequence of complex numbers in the frequency domain after Fourier transformation, and f (k) is corresponding frequency;
Amplitude, circular frequency and the Initial phase of the corresponding monochromatic waves of a (k) can be obtained by following formula, the monochromatic wave expression formula of characterization
3. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:In Step2, the signal value A (k) of each Fourier components is converted to the value after primary integration;Due to one Secondary integrated value and input signal values phase by pi/2 are then corresponding to an integrated value D (k) of the frequency component
D (k)=dIk+d2kj
In formula:
4. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:In Step3, according to formula
Inverse Fourier transform is carried out to the signal of Step2 outputs and obtains time domain speed signal.
5. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:It is the influence of DC terms in release rate signal, using seeking the average value of N number of sampled point, then use in Step4 The method that the value of sampled point subtracts average value;Its calculation formula is as follows
In formula:viFor the value after removal DC component, v 'iSignal value for sampling instant.
6. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:In Step5, the speed signal v (t) after the removal DC terms obtained in Step4 is subjected to the numerical value in time domain It integrates, displacement signal is obtained after integration;Using Simpson Numerical Integral Formulas
In formula:V is speed signal, and s is displacement signal, and Δ t is the sampling time.
7. the emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering according to claim 1, It is characterized in that:In the Step6 and Step7, it is classified based on road-ability boundary road pavement unevenness;Further according to GB7031-1986 standard lookups correspond to frequency multiplication spatial frequency, are converted by spatial frequency and temporal frequency, calculate selection and obtain filter Wave device threshold frequency.
CN201711468636.9A 2017-12-29 2017-12-29 The emergency management and rescue vehicle vibration displacement reconstructing method of adaptive time-frequency domain mixed filtering Pending CN108180983A (en)

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