CN202485850U

CN202485850U - Sensor for measuring vehicle wheel six dimensions

Info

Publication number: CN202485850U
Application number: CN2012201022432U
Authority: CN
Inventors: 林国余; 王东; 张为公
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2012-03-19
Filing date: 2012-03-19
Publication date: 2012-10-10
Anticipated expiration: 2022-03-19

Abstract

The utility model discloses a sensor for measuring vehicle wheel six dimensions. The sensor for measuring the vehicle wheel six dimensions comprises a rotating portion and a non-rotating portion. The rotating portion is disposed on a vehicle wheel and rotates with the vehicle, and the non-rotating portion is stationary relative to a vehicle. The rotating portion comprises an elastic body, a bridge-group circuit, a single-ring absolute type encoder and a collection module. The non-rotating portion comprises a transmission module. Through the arrangement, in the process of running of the vehicle, force and torque received by the single vehicle wheel in three mutually perpendicular directions can be measured in real time, and therefore accurate and reliable measurement of six dimensions of the vehicle wheel is achieved.

Description

A kind of sextuple sensor of wheel of measuring

Technical field

The utility model relates to automobile observation and control technology field, is specifically related to Design of Mechanical Structure, and signals collecting and transmission system, relates in particular to a kind of sextuple sensor of wheel of measuring.

Background technology

The motion of automobile is wheel and road surface results of interaction, therefore for the wheel force measurement in automotive test technology and even road are analyzed, all have the significance that can not be substituted.Specifically, wheel receives the effect of three power and three moments of torsion under steam respectively, is respectively longitudinal force, side force, vertical force and moment resulting from sidesway, side direction moment, aligning torque.From the seventies in 20th century, General Motors Overseas Corporation's early start is to the research of wheel force, and states such as the U.S., Germany, Switzerland and Japan all have similar products like to come out at present.China starts late for the research of six-dimension force sensor; The research that can be applied to the wheel power measuring technology of automobile almost is blank in a very long time; Research to it is in theory stage basically; When actual vehicle design or Performance Evaluation, often adopt and use for reference external correlation parameter and combine the method for design experiences in the past, be difficult to the Apparatus and method for of quantitative data analysis and processing.

Along with the popularization of GB with for the strict further requirement of Automobile Design, to the also increase day by day of demand of wheel force, imported product is all selected to buy in automobile production producer and testing field mostly now, but has following problem:

1, imported product costs an arm and a leg, and is unfavorable for reducing R&D costs;

2, employing standard is different, is unfavorable for the popularization of China's GB;

3, gordian technique is blocked China's technical application, is unfavorable for the independent research of domestically-made vehicle.

Therefore, the low-cost wheel six-dimension force sensor that research and development have independent intellectual property right, significant for the development of Domestic Automotive Industry.

In the prior art, number of patent application is that the patent of ZL 200320110714.5 discloses a kind of automotive wheel multidimensional force measurement device, is a kind of device that is used for the real-time measurement of the wheel stress under the automobile running working condition; Number of patent application is that ZL 200320110713.0 discloses a kind of wheel multidimensional force measurement sensor, is the force transducer in a kind of automobile running working condition detection system.Yet there is the following deficiency in the mentioned wheel force of above-mentioned patent:

When 1, being installed in wheel force on the wheel hub, fastening bolt can apply a bigger pretightning force to wheel force, thereby the side force measuring accuracy is produced considerable influence;

2, the collection of sextuple force signal of wheel and angular signal is asynchronous, and this will directly influence follow-up decoupling zero precision;

3, the inner photoelectricity transmission mode that adopts of wheel force adopt photoemission diode and receive diode as transmission channel, so data transmission stability is poor, and the data packet loss is higher.

The utility model content

To above-mentioned defective; The purpose of the utility model is to provide a kind of sextuple sensor of wheel of measuring; Can be in the vehicle ' process; Measure in real time power and the moment of torsion on orthogonal three directions on suffered orthogonal three directions of single wheel, realized accurately, measure reliably the sextuple power of automotive wheel.

In order to address the above problem; The technical scheme of the utility model is; A kind of sextuple sensor of wheel of measuring is provided; Comprise be installed in the rotating part that rotates with wheel on the wheel and with the static relatively non-rotating part of vehicle itself, described rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module, described non-rotating part comprises transport module; Described elastic body can produce deformation under the effect of the suffered sextuple power of wheel, make the resistance that sticks on the resistance strain gage on the elastic body change; Described group of bridge circuit can change into the change in resistance of foil gauge on this elastic body corresponding differential voltage change signal with it; Described acquisition module is with voltage change signal conditioning and amplify, and after the angle signal that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered packed, through wireless mode be transferred to and with the static relatively transport module of vehicle body; Signal after described transport module can will be packed through Serial Port Line is transferred to host computer, after host computer carries out data analysis and handles, just obtains the sextuple force signal of current wheel.

In preferred embodiment of the utility model, described rotating part adopts battery-powered.

In preferred embodiment of the utility model, described elastic body adopts the spoke structure with many beam symmetry characteristics, difference adhering resistance strain sheets on 8 strain beams.

In preferred embodiment of the utility model, described acquisition module comprises weak voltage amplifying circuit, voltage signal modulate circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.

In preferred embodiment of the utility model, the angle signal that the differential voltage signal of described acquisition module collection group simultaneously bridge circuit and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered.

In preferred embodiment of the utility model, adopt the mode of high frequency wireless telecommunications between described acquisition module and the transport module.

The sensor that the measurement wheel that the utility model discloses is sextuple; Form by elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, acquisition module and transport module; Can be in the vehicle ' process; Measure in real time power and the moment of torsion on orthogonal three directions on suffered orthogonal three directions of single wheel, realized accurately, measure reliably the sextuple power of automotive wheel.

Description of drawings

Fig. 1 is the utility model described wheel right hand orthogonal coordinate system and sextuple power definition figure;

Fig. 2 is the described elastomeric stereographic map of the utility model;

Fig. 3 is the described elastomeric vertical view of the utility model;

Fig. 4 is the described elastomeric front view of the utility model;

Fig. 5 is the described elastomeric side view of the utility model;

Fig. 6 is described group of bridge circuit figure of the utility model;

Fig. 7 is the circuit block diagram of the described acquisition module of the utility model;

Fig. 8 is the circuit diagram of described acquisition module of the utility model and transport module controller;

Fig. 9 is the wireless transmission circuit figure of described acquisition module of the utility model and transport module;

Figure 10 is the described acquisition module power supply of the utility model modulate circuit figure;

Figure 11 is the described acquisition module electric weight of the utility model testing circuit figure;

Figure 12 is that the described acquisition module of the utility model reads RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER Digital Circuit figure;

Figure 13 is described group of bridge circuit signal amplification circuit of the utility model figure;

Figure 14 is the described transport module circuit block diagram of the utility model;

Figure 15 is the described transport module power circuit diagram of the utility model;

Figure 16 is the described transport module serial port circuit of the utility model figure.

Embodiment

Below in conjunction with accompanying drawing the preferred embodiment of the utility model is set forth in detail, thereby the protection domain of the utility model is made more explicit defining so that advantage of the utility model and characteristic can be easier to it will be appreciated by those skilled in the art that.

A kind of sextuple sensor of wheel of measuring; Comprise be installed in the rotating part that rotates with wheel on the wheel and with the static relatively non-rotating part of vehicle itself; Rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module; Non-rotating part comprises transport module, adopts the mode of high frequency wireless telecommunications between acquisition module and the transport module.Wherein, rotating part adopts battery-powered, and can when the electric battery dump energy is not enough, send alerting signal; Non-rotating part is transport module, receives the signal of acquisition module transmission and can upload the data to host computer via serial ports through wireless communication mode and analyze and handle.

Elastic body in the utility model is installed on the wheel; And rotate with wheel; Elastic body can produce deformation under the effect of sextuple power, and this makes the resistance that sticks on the resistance strain gage on the elastic body change, and the group bridge circuit can change into corresponding with it voltage change signal with this change in resistance; Acquisition module is with voltage change signal conditioning and amplification; And after the angle signal packing that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered, through wireless mode be transferred to and with the static relatively transport module of vehicle body, transport module does not rotate with wheel; And the signal after can will packing through Serial Port Line is transferred to host computer, after host computer carries out data analysis and handles, just can obtain the sextuple force signal of current wheel.

Elastic body in the utility model adopts the spoke structure with many beam symmetry characteristics, difference adhering resistance strain sheets on 8 strain beams, and this elastomer structure axial dimension is little, can bear very big radial force, and less to the overall performance influence of vehicle.

Acquisition module in the utility model comprises weak voltage amplifying circuit, voltage signal modulate circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.This acquisition module can be with the angle signal of gathering greater than the differential voltage signal and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER of the speed collection group simultaneously bridge circuit of 200Hz, and the dump energy of monitoring battery in real time, when electric weight is not enough, can send alerting signal.

Fig. 1 has provided three the measured power of wheel right hand orthogonal coordinate system and wheel six-dimension force sensor and the define method of three moments of torsion.Tire split perpendicular to the wheel rotation is called wheel plane, and the round dot O of coordinate system is the intersection point of wheel plane and the projection on ground level of wheel rotation.The intersection of definition wheel plane and ground level is the Xw axle, and forward for just; The Zw axle is vertical with ground level, and points upwards is for just; The Yw axle points to left for just during towards the wheel working direction on ground level.ω is the wheel angular velocity of rotation among the figure, and α is a side drift angle, and γ is a camber angle.Six of wheel force is measured component and is defined in (w system) in the wheel coordinate system, is the right hand rectangular coordinate system of initial point at wheel center.Measure six component and be defined as longitudinal force Fxw (Longitudinal Force), side force Fyw (Lateral Force), vertical force Fzw (Vertical Load) and moment resulting from sidesway Mxw (Overturning Moment), side direction moment Myw (Lateral Moment), aligning torque Mzw (Aligning Moment) respectively.Wherein, side direction moment comprises driving torque (Driving Torque), braking torque (Braking Torque) and rolling resistance moment (Rolling Resistance Moment).Force component along the coordinate axis forward for just, moment components along the coordinate axis forward counterclockwise for just.

Elastic body shown in Fig. 2-5; This elastic body is divided into inside and outside two circles, and middle continuous with 8 elastic beams, 8 little mounting holes of inner ring are used for and fixed axle; 8 big mounting holes of outer ring are used for fixing with wheel, and 8 elastic beams are evenly distributed between inner ring and the outer ring.When wheel was stressed, elastic deformation can take place in 8 elastic beams, and 8 elastic beams can obtain separate vehicle wheel forces with the mode of structure decoupling through different combinations.The structural alloy steel of elastomeric material selection high-quality has higher limit of elasticity and impact flexibility, has good machining and heat treatment performance.After confirming elastomer structure, need carry out finite element analysis, confirming the strained situation of structure under stress condition, thereby find out the paste position the most rationally of foil gauge it.Use ANSYS software; Elastic body is divided into 138717 unit; The supposition inner ring is fixed in software simulation, and sextuple power is applied on the elastic body through 8 mounting holes of outer ring uniformly, through the stress and strain of analysing elastic body when stressed; Confirm to be used to measure the patch location of the resistance strain gage of sextuple power, patch location is described below said:

1) pastes tension and

compression foil gauge

10,13,28,31 respectively at C beam and G beam upper and lower surfaces medial axis place, measure longitudinal force Fxw.

2) paste shearing

foil gauge

15,16,17,18 and 33,34,35,36 respectively at D beam and H beam side surface medial axis place, measure side force Fyw.

3) paste tension and

compression foil gauge

20,23,2,5 respectively, measuring vertical power Fzw at E beam and A beam upper and lower surfaces medial axis place.

4) paste shearing

foil gauge

1,3,4,6 and 19,21,22,24 respectively at A beam and E beam side surface medial axis place, measure moment resulting from sidesway Mxw.

5) paste tension and

compression foil gauge

7,8,25,26 respectively at B beam and F beam side surface root axis place, measure side direction moment Myw.

6) be chosen in the C beam and G beam side surface medial axis place pastes shearing

foil gauge

9,11,12,14 and 27,29,30,32 respectively, measure aligning torque Mzw.

Choose accurately in paster point position, each foil gauge resistance equates, and the sensor elastomer structure is fully under symmetry, these three prerequisites of isotropy, and above-mentioned paster mode has realized the structure decoupling of the sextuple power of wheel.For each dimension power, it is right to be chosen at the foil gauge that deformation trend is opposite under this dimension power effect, with low impedance leads it is linked to each other, and has formed six differential bridges, the corresponding one dimension power of the differential output of each electric bridge, and the group bridge method is as shown in Figure 6.Six group bridge circuits are analyzed, obtained the group bridge scheme of foil gauge cloth sheet of the sextuple force signal decoupling zero of wheel six-dimension force sensor, realized that multidimensional power direct decoupling measures, the relation that each power of wheel force and moment and electric bridge are exported strain is:

Gi (i=1,2 wherein ... 6) be the calibration coefficient of corresponding bridge circuit, Si (i=1,2 ... 32) be foil gauge output strain.

The circuit block diagram of acquisition module is as shown in Figure 7; Acquisition module is supplied power through electric battery; Battery voltage is monitored by controller; The group bridge circuit elastomeric deformation of induction wheel force transducer also produces analog voltage signal output, and aanalogvoltage is gathered by the A/D mouth of MCU through filtering, amplification at last.Code-disc adopts RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, is used to gather the wheel steering angle signal, and to be used for follow-up decoupling zero, code-disc links to each other with MCU through the I/O mouth.Add packet header bag tail after the digital signal packing with electric bridge and code-disc, send via the wireless transmission chip through the SPI mouth.

In the wheel six-dimension force sensor; Controller need have A/D conversion (being used for signals collecting), voltage ratio (being used to detect battery electric quantity), spi bus (being used to drive the wireless transmission chip), serial ports functions such as (being used for and the host computer communication); Therefore; To the processing power of microcontroller be provided with higher requirement outward, consider acquisition module simultaneously by battery-powered, the power consumption of controller also should be low as far as possible.The utility model is selected the C8051F005 single-chip microcomputer of U.S. Cygnal company for use; This single-chip microcomputer adopts pipeline organization on the basis of traditional 51 single-chip microcomputers; Cycle is become a system clock cycle by 12 system clock cycles of standard, and processing power, processing speed improve greatly, and peak performance can reach 25MIPS; In addition, its idle (idle) and shutdown (stop) two kinds of power managements all are vital performance for battery powered acquisition system.Fig. 8 has provided the circuit diagram of the controller C8051F005 minimum system of acquisition module and transport module.The label of C8051F005 is U1 among the figure.No. 20 pin is used to reset, and is connected to high level through a RC reset circuit.21, No. 22 pins are used for online programming and debugging, and the label of DLL is JP1.18, the passive crystal oscillator of No. 19 external 12MHz of pin, and the capacity earth through two 22pF.Capacitor C 4, C5, C6, C7, C8 are used for power filter.Magnetic bead L3 has realized the single-point grounding on simulation ground.

Fig. 9 has provided the wireless transmission circuit figure of acquisition module and transport module.Adopt the wireless digital transmission chip nRF2401 of Nordic company to realize.NRF2401 wireless receiving and dispatching one chip is the same with bluetooth, all is operated in the free frequency range of the open ISM in the 2.4GHz whole world, can be unblocked in global radio market.NRF2401 supports multi-point communication, maximum transmission rate 1Mbit/s, and also the BELAND toilet article have higher transmission speed.Different with bluetooth is, nRF2401 does not have complicated communication protocol, and it is fully to user transparent, can free communication between the product of the same race, and be the low cost radio frequency system level chip that the industry volume is minimum, power consumption is minimum, peripheral cell is minimum.Its adopts the design of SOC method, and all high-frequency components comprise that inductance, oscillator etc. all have been integrated in chip internal, make consistance good, stable performance and do not receive ectocine.NRF2401 label in the drawings is U2, and 3,5,6,12, No. 13 pins are continuous respectively at 47,46,45,44, No. 43 pins of U1.No. 1 pin of U2 links to each other through the resistance of 10k Ω and 48, No. 49 pins of U1 respectively.

Figure 10 has provided acquisition module power supply Opsonizing method.Because acquisition module and sensing body all adopt powered battery, so the low power dissipation design of system is particularly important.In order to reduce power consumption, system is designed under the low-voltage of 3V, work, and the maximum electrical source consumption of acquisition module is exactly the power supply of electric bridge, adopts the low-voltage power supply scheme of 3V to prolong its working time effectively than the current drain of low electric bridge.This module adopts 7.2V; 4000mAh's is battery-powered, in the process of using, adopts Voltage stabilizing module 7805 that voltage is surely arrived 5V earlier; Use the linear voltage stabilization chip TPS76903 of Texas Instruments again, 5V is converted to the 3V that satisfies electric bridge power supply and simulation, digital circuit operate as normal.TPS76930 is exclusively used in linear low pressure drop (LDO) voltage stabilizer of battery power supply system, has low pressure drop, super low-power consumption work and encapsulates minimized advantage.Compare with common LDO voltage stabilizer, lower drop-away voltage (minimum is 71mV) and ultralow quiescent current (maximal value is 28 μ A) are arranged.TPS76930 adopts 5 end Small Scale Integration SOT-23 encapsulation, can be used for the design of little power consumption operation and attention circuit board space ideally, and the drop-away voltage characteristic that it is ultralow and the operation of super low-power consumption obviously increase battery service life.TPS76930 also has the sleep pattern of logic-enabled (logic-enabled), draws high the level of No. 3 pins through control and can close voltage stabilizer, makes quiescent current be reduced to representative value 1 μ A.

Figure 11 has provided acquisition module electric quantity of power supply detection method.In the image data process, the dump energy of the real-time monitoring battery group of module meeting.In reality, adopt the method for voltage detecting,, when conversion value is lower than a certain threshold voltage, can report to the police to host computer through the battery voltage after the dividing potential drop being carried out the AD conversion.

Figure 12 has provided the circuit of reading of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER in the acquisition module.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is used for measuring in real time the absolute angle of wheel, in acquisition module, has selected 12 RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER for use; This scrambler adopts 232 patterns; Baud rate is 115200bit/s, and output format is a Gray code, has improved the reliability of system.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER has an absolute zero position code, after power failure or shutdown, when start remeasures again, still can read the code that has a power failure or shut down the position exactly, and find the zero-bit code exactly.RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER links to each other with acquisition module through serial ports, and that the serial port drive chip adopts is MAX232.

Figure 13 has provided the amplification method of differential bridge signal in the acquisition module.Under the situation of vehicle wheel forces sensing body normal load, electric bridge output-0.5mV is to the feeble signal of+0.5mV.Need to adopt instrument amplifier that it is amplified, faint unipolarity differential voltage is converted into the large-signal of OK range.Because this module adopts single supply, low voltage power supply, and general instrument amplifier only could operate as normal when negative and positive dual power is supplied power.Select the instrument amplifier INA122PA of U.S. Burr-Brown company here for use.This device is because the PMOS of Burr-Brown company technology, is able under the situation of the single supply WV that is low to moderate 2.2V and can obtains good performance.INA122PA makes device have the extremely low quiescent current and the power range of broad through the composite design of 2 amplifiers.Through the revised circuit of laser, have very low input imbalance, input drift and fabulous common-mode rejection ratio.Its gain can be set to 5-10000 times amplifying power easily through an outer meeting resistance.Shown in figure 13, Vin+, Vin-are the differential signal input, and 7 pin and 4 pin insert the 3.3V power supply, and the VREF of 5 pin is the reference voltage input, insert enlargement factor between 1 pin and 8 pin and regulate resistance.R2 and C2 have constituted low-pass first order filter, and concrete parameter can be regulated according to cutoff frequency.After amplification and filtering, analog voltage signal An sends into the AD module of MCU and samples.

The transport module circuit block diagram is shown in figure 14, is divided into power supply, MCU, serial communication, four parts of wireless transmission.Power module converts the 9-24V vehicle power into system required 3.3V power supply, is respectively MCU, wireless module, serial port module power supply.MCU is used for the communication conversion of rs 232 serial interface signal and wireless signal; Serial port module is used for communicating by letter with industrial computer, receives the order of host computer and gives industrial computer with the returning data of acquisition module; Wireless transport module is used for carrying out exchanges data with acquisition module.

Figure 15 has provided the method for vehicle power step-down in the transport module.Adopt the LM2576HV-3.3V of National Semiconductor, the scope of this chip input is 7～60V, has satisfied the various scopes of vehicle power, and its output maximum current is 3A simultaneously, and carrying load ability is very strong.Under the correct situation of design, the ripple of out-put supply can be controlled in 4%.The 3V power supply ripple has reached in the 20mV when operate as normal in the actual design, even also can be controlled in the 100mV starting moment, satisfies 5% ripple designing requirement.The LM2576HV-3.3V label is U22 among the figure, and its No. 1 pin inserts vehicle power, 3, No. 5 pin ground connection, and No. 4 pins are feedback end, No. 5 pin is the output of 3.3V power supply.C44 and C45 are used for vehicle power filtering, and L2, D15 and C46 have controlled the ripple size of output voltage, and C47 and L1 have constituted the LC filtering circuit, to the further filtering of output voltage.

Figure 16 has provided in the transport module method with the host computer communication.The data transmission module end is with RS-232 interface and host computer communication.Because the employed level of UART interface of microcontroller MCU is a Transistor-Transistor Logic level, be negative logic and RS-232 adopts, promptly logical one with-5 ~-15V representes; Logical zero with+5 ~+15V representes, so when the UART of MCU and RS-232 interface, need carry out level conversion.Native system uses modal MAX232 to carry out level and transforms.

Rotating part in the utility model has comprised elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module; Rotating part all is installed on the wheel; And static relatively with the wheel maintenance, owing to wheel can rotate in vehicle ', so this part adopts powered battery mode.

Rotating part in the utility model is in dormant state at ordinary times, to reduce power consumption, prolong the service time of battery.When being in dormant state, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER all are in closed condition, have only wireless telecommunications to be in state of activation, greatly reduce the energy consumption of whole acquisition system; When needs were measured wheel 6 DOF power, host computer sent an activation command to acquisition module through transport module, and rotating part is waken up from dormant state.

The above; Be merely the embodiment of the utility model; But the protection domain of the utility model is not limited thereto; Any those of ordinary skill in the art are in the technical scope that the utility model disclosed, and variation or the replacement that can expect without creative work all should be encompassed within the protection domain of the utility model.Therefore, the protection domain of the utility model should be as the criterion with the protection domain that claims were limited.

Claims

1. sensor of measuring the sextuple power of wheel; Comprise be installed in the rotating part that rotates with wheel on the wheel and with the static relatively non-rotating part of vehicle itself; It is characterized in that; Described rotating part comprises elastic body, group bridge circuit, RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER and acquisition module; Described non-rotating part comprises transport module, and described elastic body can produce deformation under the effect of the suffered sextuple power of wheel, makes the resistance that sticks on the resistance strain gage on the elastic body change; Described group of bridge circuit changes into corresponding differential voltage change signal with it with the change in resistance of foil gauge on the elastic body; Described acquisition module is with voltage change signal conditioning and amplify, and after the angle signal that itself and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered packed, through wireless mode be transferred to and with the static relatively transport module of vehicle body; Signal after described transport module can will be packed through Serial Port Line is transferred to host computer, after host computer carries out data analysis and handles, just obtains the sextuple force signal of current wheel.

2. the sensor that measurement wheel according to claim 1 is sextuple is characterized in that, described rotating part adopts battery-powered.

3. the sensor that measurement wheel according to claim 1 is sextuple is characterized in that, described elastic body adopts the spoke structure with many beam symmetry characteristics, difference adhering resistance strain sheets on 8 strain beams.

4. the sensor that measurement wheel according to claim 1 is sextuple; It is characterized in that described acquisition module comprises weak voltage amplifying circuit, voltage signal modulate circuit, wheel steering angle metering circuit, wireless transmission circuit and battery dump energy supervisory circuit.

5. the sensor that measurement wheel according to claim 1 is sextuple is characterized in that, the angle signal that the differential voltage signal of described acquisition module collection group simultaneously bridge circuit and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER are gathered.

6. the sensor that measurement wheel according to claim 1 is sextuple is characterized in that, adopts the mode of high frequency wireless telecommunications between described acquisition module and the transport module.