CN115325992A - Method for measuring articulation angle of automobile train based on recursive average filtering - Google Patents
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Abstract
The application discloses an automobile train articulation angle measuring method based on recursive average filtering, which comprises the following steps of: firstly, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point and sends acquired original data to a filtering module; then, after receiving the displacement variable quantity acquired by the data acquisition module, the filtering module performs filtering processing on the data by adopting a recursive average filtering method and transmits the filtered data to the calculation module; and finally, the calculation module is combined with the positions of the front vehicle frame fixed reference point, the rear vehicle frame fixed reference point and the vehicle hinge point to calculate the data filtered by the filtering module so as to obtain the hinge angle of the vehicle. The method can effectively reduce the interference of the external environment on the measured value, so that the smoothness of the output measured value is high; the adopted indirect measurement mode is simple, the accumulated error is small, and the requirement on the numerical precision of the hinge angle in actual engineering can be met.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a method for measuring an articulation angle of an automobile train based on recursive average filtering.
Background
In recent years, urban rail transit systems tend to mature and gradually develop towards intellectualization. As a new traffic system, the electronic guide rubber-tyred vehicle is an intelligent guide rubber-tyred system. Compared with the traditional mechanically-guided urban rail transit systems such as subways and light rails, the electronic-guided rubber-tyred vehicle has the advantages that the vehicle structure, the configuration, the rail structure and the like are different, the electronic-guided rubber-tyred vehicle needs to be guided and run by the electronic-guided rubber-tyred vehicle, and the intelligent degree is higher. The electronic guide rubber-tyred vehicle consists of rubber-tyred vehicles which can be grouped, and the rubber-tyred vehicles are connected through a mechanical hinge structure. The articulation angle is the angle formed by the axial axes of adjacent marshalling vehicles. In the process of driving of the electronic guide rubber-tyred vehicle, the change condition and the numerical value of the articulation angle can reflect the lateral stability of the vehicle, and the articulation angle is also an important input parameter in the automatic driving process of the electronic guide rubber-tyred vehicle.
Existing devices for measuring articulation angle include contact sensors and non-contact sensors. The touch sensor needs to be installed at the position of a hinge point, but the electronic guide rubber-tyred vehicle has larger vibration at the position of the hinge point in the driving process, and is accompanied with the erosion of silt, so that the sensor is easily damaged. The method of direct contact measurement has high requirements on the protection of the sensor, the size and the dimension of the sensor are required to be customized for different forms of articulated vehicles, the measurement cost is increased, and the practicability is poor. The non-contact sensor does not need to be directly installed at the position of a hinge point, and the hinge angle is indirectly measured by directly converting the hinge angle through a camera, a distance meter or a mechanical structure on a plurality of objects. The measuring device of the method is high in price, so that the measuring limitation is large, and the practical application is difficult.
Patent CN110208784A discloses a method for measuring articulation angle according to millimeter wave radar, which measures the distances from different positions of adjacent cars to a reference plane by setting the reference plane, and calculates the articulation angle of the adjacent cars according to the distances and by using geometric relations. Patent CN106274907A discloses a method for measuring the articulation angle visually according to kalman filtering. The numerical value of the hinge angle measured by a vision system is corrected by mainly utilizing a corner signal of the steering wheel, so that the measurement precision of the hinge angle is ensured. The methods have good effect on the measurement of the articulation angle, but the cost of the used instruments is too high, and factors such as external interference and the like in the running process of the articulated vehicle are not considered in the measurement method, so that the measurement accuracy of the articulation angle is influenced. Aiming at the problems, the invention designs the method for measuring the hinge angle of the automobile train based on the recursive average filtering, which can effectively avoid the interference of the external environment based on the recursive average filtering. Meanwhile, the price of the measuring equipment is low, the precision of the hinge angle obtained through the geometric relation is high, and the actual requirements of engineering can be met.
Disclosure of Invention
The method and the device aim to solve the problems that the existing method and the technology for measuring the hinge angle of the automobile train are easily interfered by the outside world, the measurement cost is high, and the precision is insufficient.
In order to achieve the aim of the invention, the invention discloses a method for measuring the articulation angle of an automobile train based on recursive average filtering, which is characterized by comprising the following steps of:
step 1, a data acquisition module acquires displacement variation between a front vehicle framework fixed reference point and a rear vehicle framework fixed reference point and sends acquired original data to a filtering module;
step 2, after receiving the displacement variable quantity acquired by the data acquisition module, the filtering module performs filtering processing on the data by adopting a recursive average filtering method and transmits the filtered data to the calculation module;
and 3, calculating the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame, the fixed reference point of the rear vehicle frame and the hinge point of the vehicle by the calculating module to obtain the hinge angle of the vehicle.
Furthermore, the data acquisition module acquires displacement variation between a fixed reference point of the front vehicle framework and a fixed reference point of the rear vehicle framework, a vehicle hinge point is a crossing point of a front vehicle hinge disc and a rear vehicle hinge disc support, and the fixed reference point is a preset fixed point position on the vehicle; the displacement sensor is arranged between the front frame fixed reference point and the rear frame fixed reference point.
Further, the filtering module is used for filtering the data acquired by the data acquisition module, and the recursive average filtering method specifically comprises the following steps:
step 2-1, collecting through a data collecting modulenDisplacement variation of the fixed reference point of the next front frame and the fixed reference point of the rear framenTaking the data as an initial data set;
step 2-2, when the data acquisition module acquires a new displacement variable quantity, putting the acquired new data at the tail of the original initial data set, and removing the first data of the original initial data set to obtain a new data set;
and 2-3, carrying out arithmetic mean calculation on the data of the new data set to obtain a filtering result of the previously collected new data.
Further, the calculation module is configured to calculate the data filtered by the filtering module, and specifically includes the following steps:
step 3-1, leading in the distance between the vehicle hinge point and the fixed reference point of the front vehicle frameaDistance between vehicle articulation point and rear frame fixed reference pointbInitial distance between fixed reference point of front frame and fixed reference point of rear framec(ii) a Wherein the content of the first and second substances,a、bthe vehicle driving state is a known preset value and cannot be changed during vehicle driving;
step 3-2, introducing an initial included angle between a connecting line of the vehicle hinge point and a fixed reference point of the front vehicle frame and between the vehicle hinge point and a fixed reference point of the rear vehicle frameθ，θIs a known preset value;
3-3, according to the initial distance between the fixed reference point of the front vehicle framework and the fixed reference point of the rear vehicle frameworkcAnd the filter module is used for introducing the displacement variation between the front frame fixed reference point and the rear frame fixed reference point to obtain a new distance between the front frame fixed reference point and the rear frame fixed reference pointc’；
Step 3-4, solving a new included angle between a connecting line of the vehicle hinge point and the fixed reference point of the front vehicle frame and a new included angle between the vehicle hinge point and the fixed reference point of the rear vehicle frame according to a cosine formulaθ' the concrete formula is:
step 3-5, according to the included angleθAnd new included angleθ' calculating an articulation angle for vehicle travel.
Further, in step 3-5, the hinge angle is calculated by:
3-5-1, defining the positive direction of the hinge angle variation, wherein the hinge angle is positive when the vehicle turns left, and the hinge angle is negative when the vehicle turns right;
step 3-5-2, according to the defined positive direction of the hinge angle variation, obtaining the hinge angleφ，φIs equal toθ-θ’Orθ’-θ。
Further, in step 4, after the calculation module obtains the articulation angle of the vehicle, the obtained result is used as the input of a vehicle control system to control the running of the whole vehicle.
Further, the displacement sensor comprises various displacement sensors, such as a slide rheostat, and the length change value is obtained by converting the voltage difference; for example, a non-contact displacement sensor, a length change value is obtained through conversion of the difference value of the magnetic fields; the displacement sensor is connected between the fixed reference point of the front frame and the fixed reference point of the rear frame through a hinge.
Further, in step 2-1, the collection times of the data collection modulenPresetting according to the running condition of the vehicle,nthe range of (A) is 5 to 60 times.
Furthermore, the fixed positions of the front frame fixed reference point and the rear frame fixed reference point are rigid bodies and are not deformed by external pressure.
Further, in step 1, the data acquisition module sends the acquired original data to the data filtering module and the calculation module respectively; and after the computing module obtains the original data and the filtering data, comparing the original data with the filtering data, and analyzing the filtering effect of the filtering module.
Compared with the prior art, the invention has the remarkable improvements that: 1) The displacement sensor used in the method is low in cost and high in precision, and can fully meet the requirements and application in engineering; 2) The filtering module can effectively reduce the interference of the external environment on the measured value by using a recursive average filtering algorithm, so that the smoothness of the output measured value is high; 3) The method has the advantages that the indirect measurement mode is simple, the accumulated error is small, the numerical value calculated according to the geometric relation is stable and accurate, and the requirement for the numerical precision of the hinge angle in actual engineering can be met.
To more clearly illustrate the functional characteristics and structural parameters of the present invention, the following description is given with reference to the accompanying drawings and the detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic overall workflow of the present invention;
FIG. 2 is a schematic diagram of the actual position of the displacement sensor;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is a schematic structural diagram of the embodiment;
FIG. 5 is a schematic illustration of an embodiment vehicle connection.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a method for measuring an articulation angle of a motor train based on recursive average filtering includes the following steps:
step 1, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point and sends acquired original data to a filtering module;
step 2, after the filtering module receives the displacement variable quantity acquired by the data acquisition module, filtering the data by adopting a recursive average filtering method, and transmitting the filtered data to the calculation module;
and 3, calculating the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame, the fixed reference point of the rear vehicle frame and the hinge point of the vehicle by the calculating module to obtain the hinge angle of the vehicle.
Specifically, in this embodiment, the data acquisition module sends the acquired raw data to the data filtering module and the calculation module, respectively; and after the calculation module obtains the original data and the filtering data, comparing the original data with the filtering data, and analyzing the filtering effect of the filtering module.
As shown in fig. 2 and 3, the data acquisition module acquires displacement variation between a fixed reference point of a front vehicle framework and a fixed reference point of a rear vehicle framework, a vehicle hinge point is a crossing point of a front vehicle hinge disc and a rear vehicle hinge disc support, and the fixed reference point is a preset fixed point position on the vehicle; the displacement sensor is connected between the fixed reference point of the front frame and the fixed reference point of the rear frame through a hinge, comprises various displacement sensors such as a slide rheostat, and obtains a length change value through conversion of a voltage difference value; for example, a non-contact displacement sensor, the change value of the length is obtained by converting the difference value of the magnetic fields.
Example 1
As shown in fig. 3 and 4, the data acquisition module acquires the acquired data by using the displacement sensor, where point a is a vehicle hinge point, point B is a rear frame fixed reference point, and point C is a front frame fixed reference point. The displacement sensor is arranged between the point B and the point C to collect displacement values,AB、AC、BCare known as 175, 495.92, 411.95 and are respectivelyBACIs known as 52 deg. during driving of the vehicleABAndACis fixed. When the vehicle is running, the hinged disk rotates to makeBCThe change is that the number of the first and second,BCthe variation is measured by a displacement sensor of the data acquisition module, and then the data acquisition module transmits the data to the data filtering module and the calculation module.
Because the data of the data acquisition module can be interfered by the external environment, the data fluctuation is fast and certain deviation exists between the data and an actual measured value, and therefore the data acquisition module guides the data into the filtering module for filtering. The filtering module firstly acquires 20 displacement values through the data acquisition module, and the 20 displacement values are regarded as an initial data set; then, putting the collected new data into the last of the initial data set, and removing the first data of the initial data set to obtain a new data set; performing arithmetic mean calculation on the data of the new data set to obtain the filtering result of the previously acquired new data, i.e.BCAnd sending the filtered displacement value to the calculation module. This way has a good suppression of disturbances to the environment and its smoothness is high.
And the calculation module indirectly calculates the hinge angle by using the geometric relation after obtaining the numerical value obtained after filtering. Of length 411.95BCThe edge corresponds to the initial length of the angle sensor; angle of erectionBACThe angle zero position is an angle zero position when the hinge angle is zero at 52 degrees, and the actual hinge angle can be obtained by calculating the difference between the changed angle zero position and the angle zero positionφ. When relative rotation occurs between the vehicle bodies, the length of the displacement sensor changes. By acquiring the length, new angle is obtained through conversionBACAnd the value, in turn, yields the hinge angle. Novel angleBACThe value is calculated according to the cosine formula
In whichBC’Is composed ofBCThe new length of the edge and the collected displacement value after calculation. Defining articulation angleφThe direction is changed from left to positive and right to negative, taking the sensor in the figure as an example, when the vehicle turns leftBACDecrease, find the angleBACNew value of-BAC1，∠BAC1< 52 DEG, in which case the angle of articulationφComprises the following steps:
1(ii) a When the vehicle turns rightBACIncrease to obtain an angleBACNew value of-BAC2，∠BAC2＞At 52 deg. the hinge angleφThe absolute value of (a) is:
。
example 2
As shown in fig. 5, the automobile train of the present embodiment is composed of 3 cars, which are a motor train MC1, a vehicle body T, and a motor train MC2; the MC1, the vehicle body T and the motor car MC2 are connected through a first hinged disk and a second hinged disk respectively, whereinφ 12 Is the hinge angle between MC1 and T,φ 23 is the hinge angle between T and MC 2.
Points a and a 'are the first vehicle articulation point and the second vehicle articulation point, respectively, points B and C are fixed reference points on the vehicle body T and the motor car MC1, and points B' and C are fixed reference points on the motor car MC2 and the vehicle body T. Two displacement sensors are arranged at a point B and a point C, and displacement values and angles are acquired between the point B and the point CBACIs known as the initial angle ofθ， ∠B’A’C’Is known as the initial angle ofθ’。
Novel angleBACValue sum-B’A’C’Calculating according to cosine formula, defining articulation angleφThe direction is that the left turn of the motor car MC1 is positive, and the right turn is negative, taking the sensor in the figure as an example:
when the vehicle head is an MC1 end, the left side of MC1 connected with T is a displacement sensor, and when the vehicle head rotates left, an angle is formedBACBecome small and angularB’A’ C’Enlarging; angle of right turnBACBecome large and angularB’A’C’Becomes smaller and therefore:
when the vehicle head MC1 turns left, the angle is obtainedBACNew value of-BAC3，∠BAC3＜θ(ii) a CornerB’A’C’New value of-B’ A’C’3，∠B’A’C’3＞θ’(ii) a Thus:
articulation angleφ 12 Comprises the following steps:
φ 12 =θ-∠BAC3
articulation angleφ 23 The absolute value of (a) is:
φ 23 =∠B’A’C’3-θ’
when the vehicle head MC1 turns right, the angle is obtainedBACNew value of angleBAC4，∠BAC4＞ θ(ii) a CornerB’A’C’New value of-B’ A’C’4, ∠B’A’C’4＜ θ’；
Articulation angleφ 12 The absolute value of (a) is:
φ 12= ∠BAC4-θ
articulation angleφ 23 Comprises the following steps:
φ 23 =θ’-∠B’A’C’4
when the vehicle head is an MC2 end, the left side of the T connection MC2 is a displacement sensor, and when the vehicle head rotates left, the angle BAC is increased, and the angle BAC is increasedB’A’C’The size is reduced; angle of turning rightBACBecome small and angularB’A’C’Becomes large, and therefore:
when the vehicle head MC2 turns left, the angle is obtainedBACNew value of-BAC5，∠BAC5＞θ(ii) a CornerB’A’C’New value of-B’ A’C’5，∠B’A’C’5＜ θ’(ii) a Thus:
articulation angleφ 12 Comprises the following steps:
φ 12 =∠BAC5-θ
articulation angleφ 23 The absolute value of (a) is:
φ 23 =θ’-∠B’A’C’5
when the vehicle head MC2 turns right, the angle is obtainedBACNew value of-BAC6，∠BAC6＜θ(ii) a CornerB’A’C’New value of-B’ A’C’6，∠B’A’C’6＞θ’；
Hinge angleφ 12 The absolute value of (a) is:
φ 12 =θ-∠BAC6
articulation angleφ 23 Comprises the following steps:
φ 23 =∠B’A’C’6-θ’
it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method for measuring an articulation angle of a motor train based on recursive average filtering is characterized by comprising the following steps:
step 1, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point and sends acquired original data to a filtering module;
step 2, after receiving the displacement variable quantity acquired by the data acquisition module, the filtering module performs filtering processing on the data by adopting a recursive average filtering method and transmits the filtered data to the calculation module;
and 3, calculating the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame, the fixed reference point of the rear vehicle frame and the hinge point of the vehicle by the calculating module, and solving the hinge angle of the vehicle.
2. The method for measuring the articulation angle of the automobile train based on the recursive average filtering is characterized in that the data acquisition module acquires the displacement variation between a fixed reference point of a front automobile frame and a fixed reference point of a rear automobile frame, the vehicle articulation point is the intersection point of a front automobile articulation disc and a rear automobile articulation disc support, and the fixed reference point is a preset fixed point position on the vehicle; the displacement sensor is arranged between the front frame fixed reference point and the rear frame fixed reference point.
3. The method for measuring the articulation angle of the train based on the recursive average filtering as claimed in claim 1, wherein the filtering module is configured to filter the data collected by the data collection module, and the recursive average filtering method specifically includes the following steps:
step 2-1, collecting through a data collecting modulenDisplacement variation of the fixed reference point of the next front frame and the fixed reference point of the rear framenTaking the data as an initial data set;
step 2-2, when the data acquisition module acquires a new displacement variable quantity, putting the acquired new data at the tail of the original initial data set, and removing the first data of the original initial data set to obtain a new data set;
and 2-3, carrying out arithmetic mean calculation on the data of the new data set to obtain a filtering result of the previously collected new data.
4. The method for measuring the articulation angle of the motor train based on the recursive average filtering as claimed in claim 2, wherein the calculating module is configured to calculate the data filtered by the filtering module, and specifically includes the following steps:
step 3-1, leading in the distance between the vehicle hinge point and the fixed reference point of the front vehicle frameaDistance between the vehicle articulation point and the rear frame fixed reference pointbInitial distance between front frame fixed reference point and rear frame fixed reference pointc(ii) a Wherein, the first and the second end of the pipe are connected with each other,a、bthe vehicle driving speed is a known preset value and cannot be changed during vehicle driving;
step 3-2, introducing an initial included angle between a connecting line of the vehicle hinge point and a fixed reference point of the front vehicle frame and between the vehicle hinge point and a fixed reference point of the rear vehicle frameθ，θIs a known preset value;
3-3, according to the initial distance between the fixed reference point of the front vehicle framework and the fixed reference point of the rear vehicle frameworkcAnd the filter module is used for introducing the displacement variation between the front frame fixed reference point and the rear frame fixed reference point to obtain a new distance between the front frame fixed reference point and the rear frame fixed reference pointc’；
Step 3-4, solving a new included angle between a connecting line of the vehicle hinge point and the fixed reference point of the front vehicle frame and a new included angle between the vehicle hinge point and the fixed reference point of the rear vehicle frame according to a cosine formulaθ' the concrete formula is:
step 3-5, according to the included angleθAnd new included angleθ' calculating an articulation angle for vehicle travel.
5. The method for measuring the articulation angle of the motor train based on the recursive average filtering as claimed in claim 4, wherein in the steps 3-5, the method for calculating the articulation angle is as follows:
3-5-1, defining the positive direction of the hinge angle variation, wherein the hinge angle is positive when the vehicle turns left, and the hinge angle is negative when the vehicle turns right;
step 3-5-2, obtaining the articulation angle according to the defined positive direction of the articulation angle variationφ，φIs equal toθ-θ' orθ’-θ。
6. The method for measuring the articulation angle of the automobile train based on the recursive average filtering as claimed in claim 1, wherein in step 4, after the calculation module finds the articulation angle of the automobile, the obtained result is used as the input of the automobile control system to control the running of the whole automobile.
7. The method for measuring the articulation angle of a motor train based on recursive average filtering as claimed in claim 2, wherein the displacement sensor is connected between the front frame fixed reference point and the rear frame fixed reference point through a hinge.
8. The method for measuring the articulation angle of a motor train based on recursive average filtering as claimed in claim 3, wherein in step 2-1, the data acquisition module acquires the number of timesnPresetting according to the running condition of the vehicle,nthe range of (2) is 5 to 60 times.
9. The method for measuring the articulation angle of the motor train based on the recursive average filtering as claimed in claim 1, wherein the fixed positions of the fixed reference points of the front frame and the rear frame are rigid bodies and are not deformed by external pressure.
10. The method for measuring the articulation angle of the automobile train based on the recursive average filtering as claimed in claim 1, wherein in the step 1, the data acquisition module respectively sends the acquired original data to the data filtering module and the calculation module; and after the computing module obtains the original data and the filtering data, comparing the original data with the filtering data, and analyzing the filtering effect of the filtering module.
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| CN113085905A (en) * | 2021-05-11 | 2021-07-09 | 中车株洲电力机车有限公司 | Railway vehicle platform passing system and control method thereof |
| CN114543733A (en) * | 2022-01-19 | 2022-05-27 | 江苏大学 | Wheel type vehicle driving wheel steering angle measuring device and control method |
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