CN201680834U - Dynamic inclination angle detection device for dynamic driving simulator of automobile - Google Patents
Dynamic inclination angle detection device for dynamic driving simulator of automobile Download PDFInfo
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- CN201680834U CN201680834U CN 201020158293 CN201020158293U CN201680834U CN 201680834 U CN201680834 U CN 201680834U CN 201020158293 CN201020158293 CN 201020158293 CN 201020158293 U CN201020158293 U CN 201020158293U CN 201680834 U CN201680834 U CN 201680834U
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Abstract
The utility model discloses a dynamic inclination angle detection device for a dynamic driving simulator of an automobile. The device comprises two acceleration sensors, a signal conditioning circuit, a microcontroller, data processing modules, a communication circuit and an upper computer; both the sensors adopt acceleration sensors outputting analogue value or digital pulse value; the probes of the two sensors are respectively mounted on an object to be detected and a motion carrier carrying the object to be detected, and are connected with the signal conditioning circuit; the microprocessor comprises an A/D interface, an SPI interface, and the data processing modules used for converting and processing the output analogue value and the digital pulse value; and the microprocessor transmits data to the upper computer via the communication circuit. The dynamic inclination angle detection device is used for angle and taper detection in dynamic carrier, and enlarges the application range of acceleration sensors.
Description
Technical field
The utility model relates to a kind of pick-up unit that is used for measuring angle or tapering, relates in particular to a kind of metering footrest mechanism of automotive dynamic driving simulator or pick-up unit of handbrake mechanism angle or gear mechanism tapering of being used for.
Background technology
The collection of vehicle driving state signal, processing and transmission directly have influence on the interactivity and the real-time of whole driving simulation system, and it is an important indicator of weighing the automobile driving simulator Practical Performance.
In traditional automobile driving simulator,, mainly be to adopt angle or displacement transducer to detect the variation at parts attitude inclination angle for the inclination angle variable signal of vehicle accelerator pedal, service brake pedal, clutch pedal; For the extraction of gear, parking brake signal, adopt Hall switch or travel switch to extract corresponding signal more.Because the structure that these sensor bulk are big, cost is higher, need change the car body operating mechanism when installing makes troubles for the manufacturing, installation, maintenance and maintenance etc.
Microelectromechanical systems (MEMS) is the forward position research field of the multidisciplinary intersection that grows up on the microelectric technique basis.Based on the 3-axis acceleration sensor of MEMS technology can three of X, Y, Z axially on, gather gravity at the variable signal that falls, tilts, moves, places, vibrates and wave with high sensitivity.
In the automobile driving simulator of the prior art, adopt above-mentioned MEMS three-axis sensor to substitute the attitude variable signal of original acquisition mode collection vehicle footrest mechanism, gear, parking brake, can adopt surperficial bonding method to install, have easy for installation flexibly, avoided traditional sensors that the difficulty that needs to change body construction is installed; Pick-up unit can adopt unified specification, brings convenience for use, maintenance and debugging; It is little to adopt the pick-up unit of MEMS three-axis sensor to have a volume simultaneously, and signals collecting and transmission are reliable, ratio of performance to price advantages of higher.But in automotive dynamic driving simulator, the carrier (dynamic driving cabin) of testee (pedal, hand brake lever, gear bar) reference system relative to the earth is a motion carrier, the detected signal of testee three-axis sensor this moment, the attitude variable signal that not only comprises the relative carrier of testee, also comprise carrier the attitude variation and the inertial acceleration signals such as vibration of itself of reference system relative to the earth, therefore, this MEMS sensor to signal can not reflect correctly that the attitude of the relative carrier of testee changes, thereby limited its application scenario.
The utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of dynamic inclination detecting device that is used for automotive dynamic driving simulator, when dynamic driving cabin (carrier of testee) when reference system is a motion carrier relative to the earth, two acceleration transducer probes are installed in automobile foot rest respectively, on hand brake lever or gear bar (testee) and the adjacent with it carrier, two sensor probes are installed in respectively on testee and the residing motion carrier of this testee with identical attitude, its installation site should be tried one's best close, two sensors is similar to is in the rigid body.Extract the three-dimensional output signal on testee and the carrier simultaneously, two groups of signals are by the calculation process of embedded microprocessor, remove its total inertia and attitude and change common-mode signal, keep the difference mode signal that the relative attitude of carrier of testee changes, detect data by the microprocessor serial port to the host computer transmission and carry out respective handling, finally obtain testing result.
At above-mentioned technical matters, the utility model is used for the technical scheme that the dynamic inclination detecting device of automotive dynamic driving simulator is achieved: comprise power circuit, two acceleration transducer probes, signal conditioning circuit, microprocessor, communicating circuit and host computers, described two acceleration transducers probe adopts the acceleration transducer of analog quantity output simultaneously, or adopts the acceleration transducer of digit pulse amount amount output simultaneously; Described two acceleration transducers probe is installed in respectively on testee and the residing motion carrier of this testee, and described two acceleration transducers probe all is connected with described signal conditioning circuit; Described microprocessor comprises the data processing module that is used to receive the A/D interface of described two acceleration transducers probe analog quantity and is used to change and handle above-mentioned output analog quantity; Described microprocessor comprises SPI interface that receives described two acceleration transducers probe digit pulse amount and the data processing module that is used to change and handle above-mentioned digit pulse amount; Realize data transmission by described communicating circuit between described microprocessor and the host computer.
The utility model is used for the dynamic inclination detecting device of automotive dynamic driving simulator, wherein, described testee is accelerator pedal mechanism, clutch footrest mechanism, brake pedal plate mechanism, handbrake mechanism and gear mechanism, and described motion carrier is the automotive dynamic simulator cockpit.
Compared with prior art, the beneficial effects of the utility model are:
The dynamic inclination detecting device that the utility model is used for automotive dynamic driving simulator can make acceleration transducer use in the detection of measuring angle or tapering, not only can when static state, detect testee inclination angle variable quantity relative to the earth, and be applicable to that attitude of carrier changes and exist when carrier itself occasion of inertial acceleration signals such as vibration, detects the inclination angle variable quantity of testee relative dynamic carrier.The method of utilizing the utility model dynamic inclination detecting device to detect mainly is that two sensor probes are installed in respectively on testee and the residing motion carrier of this testee with identical attitude, its installation site should be tried one's best close, two sensors is similar to is in the rigid body.Adopting the differential mode method to extract two groups of three-dimensional acceleration transducing signals line data of going forward side by side simultaneously merges and handles, avoid motion carrier and reached measured object relative motion carrier relative to the earth, the loaded down with trivial details mathematical computations of two reference frame datas conversions has been expanded the range of application of acceleration transducer.The utility model substitutes original acquisition mode, has that easy for installation flexibly maintenance and debugging is convenient, has avoided traditional sensors that the difficulty that needs to change body construction is installed, and pick-up unit adopts unified specification, brings convenience for use, maintenance and debugging.To have a volume little for this device simultaneously, and signals collecting and transmission are reliable, ratio of performance to price advantages of higher.
Description of drawings
Fig. 1 is the formation block diagram of the utility model dynamic inclination detecting device of being used for automotive dynamic driving simulator;
Fig. 2-the 1st, the schematic diagram of power circuit in the dynamic inclination detecting device shown in Figure 1;
Fig. 2-the 2nd, the interface synoptic diagram in the dynamic inclination detecting device shown in Figure 1 between host computer and the communicating circuit;
Fig. 2-the 3rd, the schematic diagram of communicating circuit in the dynamic inclination detecting device shown in Figure 1;
Fig. 2-the 4th, the schematic diagram of signal conditioning circuit in the dynamic inclination detecting device shown in Figure 1;
Fig. 2-the 5th, microprocessor circuit schematic diagram in the dynamic inclination detecting device shown in Figure 1;
Fig. 3-the 1st, a sensor and signal conditioning circuit connection diagram in the dynamic inclination detecting device shown in Figure 1;
Fig. 3-the 2nd, another sensor and signal conditioning circuit connection diagram in the dynamic inclination detecting device shown in Figure 1;
Fig. 4 is that to detect with the pedal angle of inclination be the utility model dynamic inclination detecting device installation site synoptic diagram of example;
Fig. 5 is the utility model dynamic inclination detecting device installation site synoptic diagram to be example with the lever attitude detection;
Fig. 6 is the process flow diagram that utilizes the utility model pick-up unit to detect.
Embodiment
Below in conjunction with accompanying drawing and instantiation the utility model is done to describe in further detail.
As shown in Figure 1, the dynamic inclination detecting device that the utility model is used for automotive dynamic driving simulator comprises power circuit 200, represent with first acceleration transducer 102 and second acceleration transducer 101 in two acceleration transducer probes, signal conditioning circuit 103, microprocessor 300 and host computer 400, described microprocessor 300 is provided with SPI interface 301 or A/D interface 302, realize getting in touch by a communicating circuit 500 between described microprocessor 300 and the host computer 400, described two acceleration transducers probe is installed in respectively on testee and the residing motion carrier of this testee, and described two acceleration transducers probe all is connected with described signal conditioning circuit 103; Described microprocessor 300 also includes: be used to change and handle the analog data processing module 304 of described two acceleration transducers probe output, or be used to handle the digital data processing module 305 of described two acceleration transducers probe output.
Certainly, the acceleration transducer in the utility model can be the application of the acceleration transducer form of one dimension output, two dimension output or three-dimensional output.The utility model dynamic inclination detecting device detects the application that comprises analog quantity output and two kinds of acceleration transducer forms of digital quantity output.
For further reduce to vibrate and moment of inertia to the influence of measuring accuracy, should be respectively arranged with vibration absorber between a described testee and the acceleration transducer and between described motion carrier and another acceleration transducer.
The utility model is used for each separate unit that the dynamic inclination detecting device of automotive dynamic driving simulator relates to, such as: power circuit 200, first acceleration transducer 102 and second acceleration transducer 101, signal conditioning circuit 103, microprocessor 300 and host computer 400 and communicating circuit 500 etc., its structure all belongs to the matured product in present technique field, specific to their installation, except having the special requirement for two acceleration transducer probe mounting positions, the installation of other unit is unrestricted.
The utility model adopts the acceleration transducer of analog quantity output, and it is as follows to be used for the interlock circuit that the dynamic inclination detecting device of automotive dynamic driving simulator relates to: Fig. 2-1 shows the schematic diagram of power circuit; Fig. 2-2 shows and upper machine communication and acceleration transducer interface circuit figure; Fig. 2-3 shows the schematic diagram of communicating circuit; Fig. 2-4 shows the schematic diagram of acceleration transducer and modulate circuit; Fig. 2-5 shows chip and the circuit that microprocessor comprises.
When the dynamic inclination detecting device that utilizes the utility model to be used for automotive dynamic driving simulator detects, when testee was in initial position, two probes that are mounted respectively the acceleration transducer on testee and the residing motion carrier of this testee should keep identical posture position.It is close to try one's best in two sensor probe installation sites, makes that two sensors is approximate to be in the rigid body.No matter whether detect carrier and move this moment, the detection signal equal and opposite in direction of this two acceleration transducer probes output, difference mode signal is close to zero.When the relative carrier generation of testee relative attitude changes, shown in Fig. 3-1 and Fig. 3-2, the output signal of above-mentioned two acceleration transducer collections is respectively X1, Y1, Z1 and X2, Y2, Z2, and as shown in Figure 1 by signal conditioning circuit 103 and corresponding SPI interface (or A/D interface), timesharing is input to microprocessor 300, microprocessor 300 carries out digital digital filtering and calculation process, the vibration that shielding is total, common-mode signals such as moment of inertia and attitude variation, keep the difference mode signal that testee relative motion carrier cone angle changes, and realize the angle metric conversion of detection signal amount corresponding tilt.Angular metric detect data successively the serial ports by microprocessor 300 and communicating circuit 500 export signal acquisition process unit in the host computer 400 to, its communication modes can adopt wired and wireless dual mode communication.
As shown in Figure 6, present embodiment is the acceleration transducer that adopts analog quantity output, and the testing process of dynamic inclination that is used for automotive dynamic driving simulator is as follows:
To sum up, the utility model is that dynamic inclination detecting device is directly used is in having the automobile driving simulator of vivid platform, that is: utilize above-mentioned dynamic inclination detecting device and automobile driving simulator to constitute an automotive dynamic driving simulator dynamic inclination detecting device, comprise the moving parts of pedal operating mechanism, the moving parts and the gear positions motion of mechanism parts of handbrake mechanism with vivid platform; An acceleration transducer probe in the dynamic inclination detecting device is installed on the above-mentioned corresponding moving parts with surperficial bonding method, another acceleration transducer probe is installed to the body surface that relative car body is a stationary state with surperficial bonding method, two sensor probes are identical in the identical attitude of original state, the installation site should be tried one's best close, two sensors is similar to is in the rigid body.Adopt the differential mode method to extract two groups of three-dimensional acceleration transducing signals line data of going forward side by side simultaneously and merge and handle, finish extraction the vehicle driving state signal.The utility model has been avoided motion carrier relative to the earth, and measured object relative motion carrier, and the loaded down with trivial details mathematical computations of two reference frame datas conversion has been expanded the range of application of acceleration transducer.Utilize this dynamic inclination detecting device to finish extraction to the vehicle driving state signal.Traditional relatively angular transducer or displacement transducer, it is little to have a volume; Need not change car body physical construction, easy for installation flexible; Collection and transmission are reliable; Ratio of performance to price advantages of higher, its cost of development are significantly less than other existing simulative automobile driving equipment.
In the practical application, automotive dynamic driving simulator need be installed many cover dynamic inclination detecting devices, that is: the probe with an acceleration transducer in every cover dynamic inclination detecting device adopts surface stickup mounting means to be connected to automobile treadle plate operating mechanism, handbrake mechanism and gear positions, and another acceleration transducer in every cover dynamic inclination detecting device is installed to the body surface that relative car body is a stationary state with surperficial bonding method.The distance of two sensors should be near as much as possible, when reducing carrier movement everywhere the moment of inertia difference to the influence of measuring accuracy.
In like manner, the utility model also can be used in the road test automobile in the driving test, gathers and is examined personnel's driver behavior status signal, is applied to can be used in the evaluation system in the road test automobile in the driving test, personnel's driver behavior status signal is examined in collection, is applied in the evaluation system.Its detection method is identical with above-mentioned automotive dynamic driving simulator application, and just the encapsulation of dynamic inclination detecting device should be considered waterproof problem.
Certainly, the utility model also can be used in the static state automobile driving simulator of (not containing vivid platform), that is: the surperficial bonding method with an acceleration transducer in the dynamic inclination detecting device is installed on the corresponding sports parts, finishes pedal operating mechanism (such as gas pedal, service brake pedal and clutch pedal), parking brake, gear positions mechanism's extractions of the change in gravitational acceleration signal of reference system relative to the earth such as (neutral gear, reverse gear and the gears that respectively advances).
Embodiment one: with the example that is extracted as of the single shaft dip angle signal of automobile driving simulator pedal
Usually pedal signal comprises: the signal of clutch pedal, brake pedal, gas pedal, their signal acquisition method is similar, when detecting the pedal rotational angle, can pass through axial variation of 3-axis acceleration sensor, detect the pedal angle changing, generally select X-axis or Y-axis as sensitive axes.Fig. 4 shows and detects with the pedal angle of inclination is the dynamic inclination detecting device scheme of installation of example.In the installation, two sensors probe is fixed on pedal gear and the adjacent static position of car body in the Surface Mount mode, the distance of two sensors probe should be near as much as possible, when reducing carrier movement everywhere the moment of inertia difference to the influence of measuring accuracy.Should guarantee acceleration sensor sensitive axes (level point) perpendicular to the ground, this moment, this sensor output sensitivity was the highest, and had the better linearity degree in ° scope of pitch angle ± 45.
When pedal is stepped on, when measured object generation attitude changes, owing to produce corresponding angular, under the effect of static weight acceleration, corresponding 3-axis acceleration sensor sensitive axes has the output signal of respective change, two signals link to each other with the input interface of microcontroller through signal condition separately, the touring output signal of gathering two acceleration transducers of microcontroller, and carry out digital filtering, data operation is handled, thereby the common-mode signals such as vibration, moment of inertia and attitude variation that shielding is total keep the difference mode signal that testee relative motion carrier cone angle changes; And realize the conversion that the corresponding pedal of 3-axis acceleration sensor sensitive axes output quantity angle of inclination changes relatively, obtain the variable quantity data at the corresponding measured object of this acceleration change amount angle of inclination.
Embodiment two: with the example that is extracted as of three axial cone degree signals of automobile driving simulator gear
Fig. 5 shows degree of will speed up sensor and is installed in position on the automobile lever; Detection to gear signal, detect different with pedal, the detection of gear need be measured lever three axial inclination angle output valves of 3-axis acceleration sensor when each gear, and these data are recorded in the RAM storer, when gear change, it is two groups of detection signal X1 of the 3-axis acceleration sensor on the body surface of stationary state that microprocessor is gathered on this lever with relative car body, Y1, Z1 and X2, Y2, Z2, through signal condition, gather, the AD conversion, digital filtering and algorithm process, shield the total vibration of described two groups of signals, common-mode signals such as moment of inertia and attitude variation, keep the difference mode signal that testee relative motion carrier cone angle changes, through the data operation module of microprocessor, realize the angle metric conversion of detection signal amount corresponding tilt.And compare with the gear attitude data that is recorded in the RAM storer, to determine the range state of variator.In sensor installation when probe on lever, will pop one's head in flatly is attached to the lower curtate of shift bar as far as possible, moves centrifugal force to reduce to shift gears to the influence of acceleration transducer, as shown in Figure 5.
In a word, when utilizing the utility model to carry out the vehicle driving state signals collecting, at first, should guarantee that described two acceleration transducers probe is identical in the attitude of original state, the installation site should be tried one's best close, Fig. 4 and shown in Figure 5 be scheme of installation.After entering duty, at first, host computer is to the calibration of making zero of the initial position of each dynamic inclination detecting device, and then, host computer is according to the address that configures in advance, and the order timesharing is got in touch with each dynamic inclination detecting device, reads to upgrade and detects data.Each dynamic inclination detecting device is finished collection, processing, the transmission of data as slave computer.
The utility model mainly is in the detection that is applied at measuring angle (footrest mechanism, handbrake mechanism) or tapering (gear mechanism), when the carrier (automotive dynamic driving simulator) of testee when reference system is a motion carrier relative to the earth, utilize acceleration transducer, realize the detection of inspected object relative motion attitude of carrier and tilt variation.When the utility model is applied to the detection of tapering (two groups of three-dimensional output quantity collections), at testee initial position state, two sensor probe attitudes are identical, and the installation site should be tried one's best close, make that two sensors is approximate to be in the rigid body.No matter whether detect carrier and move this moment, the three-dimensional acceleration voltage signal equal and opposite in direction of two acceleration transducer probes output, difference mode signal is close to zero.When the utility model is applied to detection angles, can only detect certain one dimension converted quantity (sensitive axes), the component of acceleration that this axle (sensitive axes) is born when initial state should be near zero (zero crossing of sine function), and this moment, the acceleration transducer accuracy of detection was the highest.Adopt in the acceleration transducer actual detected,, can influence accuracy of detection when inertial acceleration signal＞1g such as the vibration of carrier itself and attitude variation during to subangle＞± 45 of the gravity g of relative ground reference system °.
The utility model is applied to, and detects the occasion that relative attitude of carrier of measured object and inclination angle change on dynamic carrier, is with a wide range of applications.Can be used in the road test automobile in the driving test, gather and examined personnel's driver behavior status signal, be applied in the evaluation system.Its detection method is identical with above-mentioned automotive dynamic driving simulator application, and just the encapsulation of dynamic inclination detecting device should be considered waterproof problem.Also can utilize dynamic inclination detecting device to detect relative attitude of carrier of testee and tilt variation in the dynamic carrier in addition, thereby carry out judgement the relative car body binding state of testee.Testee is fixed in the car body, the surperficial bonding method of one of them acceleration transducer in the dynamic inclination detecting device is installed on the above-mentioned testee, the surperficial bonding method of another one acceleration transducer is installed on the car body, thus the signal of the displacement of the relative car body of extraction testee, rotation, tilt variation.For example: in transportation by railroad, this device Surface Mount can collect the variations such as displacement, rotation, inclination in the relative compartment of goods and materials in real time on valuable cargo (measured object) and compartment (carrier), judge whether the goods and materials binding state is normal.In above-mentioned application, should be provided with vibration absorber (damping material) respectively between a described testee and the acceleration transducer and between described motion carrier and another acceleration transducer.
Although in conjunction with figure the utility model is described above; but the utility model is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; under the situation that does not break away from the utility model aim, can also make a lot of distortion, these all belong within the protection of the present utility model.
Claims (3)
1. a dynamic inclination detecting device that is used for automotive dynamic driving simulator comprises power circuit, two acceleration transducers, signal conditioning circuit, microprocessor, communicating circuit and host computers, it is characterized in that:
The probe of described two acceleration transducers adopts the acceleration transducer of analog quantity output simultaneously, or adopts the acceleration transducer of digit pulse amount amount output simultaneously;
Described two acceleration transducers probe is installed in respectively on testee and the residing motion carrier of this testee, and described two acceleration transducers probe all is connected with described signal conditioning circuit;
Described microprocessor comprises the data processing module that is used to receive the A/D interface of described two acceleration transducers probe analog quantity and is used to change and handle above-mentioned output analog quantity;
Described microprocessor comprises SPI interface that receives described two acceleration transducers probe digit pulse amount and the data processing module that is used to change and handle above-mentioned digit pulse amount;
Realize data transmission by described communicating circuit between described microprocessor and the host computer.
2. according to the described dynamic inclination detecting device that is used for automotive dynamic driving simulator of claim 1, it is characterized in that: described testee is accelerator pedal mechanism, clutch footrest mechanism, brake pedal plate mechanism, handbrake mechanism and gear mechanism, and described motion carrier is the automotive dynamic simulator cockpit.
3. according to the described dynamic inclination detecting device that is used for automotive dynamic driving simulator of claim 2, it is characterized in that: be provided with vibration absorber respectively between described testee and one of them acceleration transducer probe and between described motion carrier and another acceleration transducer probe.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201020158293 CN201680834U (en) | 2010-04-14 | 2010-04-14 | Dynamic inclination angle detection device for dynamic driving simulator of automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201020158293 CN201680834U (en) | 2010-04-14 | 2010-04-14 | Dynamic inclination angle detection device for dynamic driving simulator of automobile |
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| CN201680834U true CN201680834U (en) | 2010-12-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813453A (en) * | 2010-04-14 | 2010-08-25 | 中国人民解放军军事交通学院 | Dynamic inclination detecting device for automotive dynamic driving simulator and method thereof |
| CN109488763A (en) * | 2018-11-08 | 2019-03-19 | 中国科学技术大学 | A kind of recognition methods of motor vehicle gear and system based on three axis accelerometer |
| CN110082565A (en) * | 2018-01-26 | 2019-08-02 | 精工爱普生株式会社 | Physical quantity transducer, electronic equipment and moving body |
-
2010
- 2010-04-14 CN CN 201020158293 patent/CN201680834U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813453A (en) * | 2010-04-14 | 2010-08-25 | 中国人民解放军军事交通学院 | Dynamic inclination detecting device for automotive dynamic driving simulator and method thereof |
| CN110082565A (en) * | 2018-01-26 | 2019-08-02 | 精工爱普生株式会社 | Physical quantity transducer, electronic equipment and moving body |
| CN110082565B (en) * | 2018-01-26 | 2022-11-18 | 精工爱普生株式会社 | Physical quantity sensor, electronic apparatus, and moving object |
| CN109488763A (en) * | 2018-11-08 | 2019-03-19 | 中国科学技术大学 | A kind of recognition methods of motor vehicle gear and system based on three axis accelerometer |
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Granted publication date: 20101222 Termination date: 20130414 |