CN203629581U - Self-adaptive rotation speed measuring system based on inertial sensor - Google Patents

Abstract

The utility model relates to a self-adaptive rotation speed measuring system based on an inertial sensor. The self-adaptive rotation speed measuring system comprises a rotation speed detector and a display terminal, wherein an accelerometer, a gyroscope, a first microprocessor, a first wireless transmission module and a first power supply battery are arranged in the rotation speed detector; a second wireless transmission module, a second microprocessor, a display and a second power supply battery are arranged in the display terminal; the first wireless transmission module is in wireless connection with the second wireless transmission module; and Z axes of the accelerometer and the gyroscope are parallel with a rotation shaft of a rotator. In combination with the functions of the gyroscope and the accelerometer, the system self-adaptively calculates a rotation radius of the rotator according to output of the gyroscope and meanwhile outputs a rotation speed when the rotator rotates at a low speed; and the system self-adaptively calculates, processes and outputs a high rotation speed according to a centripetal acceleration output by the accelerometer and a low speed calculation result when the rotator rotates at a high speed.

Description

Self-adaptation speed measuring system based on inertial sensor

Technical field

The utility model relates to the tachometric survey technical field of rotary body, relates in particular to a kind of self-adaptation speed measuring system based on inertial sensor.

Background technology

Traditional rotating speed measurement method is divided into two large classes, and a class is the tachometric survey based on Hall effect, and another kind of is tachometric survey based on photoelectric reflection.

Hall effect is measured rotating speed need to install magnet on rotary body, and hall sensing device is installed nearby on the rotational trajectory of magnet, detects the switching signal of hall sensing device output calculate rotating speed by microprocessor.There are 2 deficiencies in the method for measuring rotating speed by Hall effect, first installation requirement is high, hall device is installed on magnet rotational trajectory nearby, distance is controlled difficulty, it two is under rotary body low rotation speed, to need much more very more switching signals of magnet point formation, could effectively measure the slow-speed of revolution, but, while carrying out test of low rotating speed by the method, the distance of effective controlling magnet quantity and magnet hall device in advance, once design, rotation-speed measuring device can not change, and easily limit the dirigibility of tachometric survey.

Photoelectric reflection is measured rotating speed, is on rotary body, to stick interruption reflecting strips, and rotating speed is measured in the outside reflective pulse by Photoelectric Detection module detection reflecting strips.Measure rotating speed by photoelectric reflection and also have following 2 deficiencies, first reflecting strips mounts cumbersome, need tested rotary body have parallel and disc rotation axis, it two is that photoelectricity test test side will stable placement parallel with reflecting strips, otherwise measures unstable or cannot measure at all.

Both traditional rotating speed measurement methods are all difficult to measure flexibly and accurately the rotating speed of rotary body in the time of slow-speed of revolution campaign, simultaneously measuring equipment to install complexity high.

Summary of the invention

Technical problem to be solved in the utility model is to have measuring equipment complex structure, be difficult for installing and the slow-speed of revolution is difficult for the problem of measuring for existing rotating speed measurement method, provides a kind of and can arbitrarily install, simple in structure and have a self-adaptation speed measuring system based on inertial sensor of low, high rotating speed adaptive measuring function.

For addressing the above problem, a kind of technical scheme of the present utility model is:

A kind of self-adaptation speed measuring system based on inertial sensor, comprise the revolution detector being arranged on rotary body and the display terminal that carries out with it radio communication, in described revolution detector, be provided with the accelerometer for exporting rotary body 3-axis acceleration, for exporting the gyroscope of rotary body three axis angular rates, for controlling and carry out the first microprocessor of data processing, the first wireless transport module transmitting for data and the first supplying cell for powering, first microprocessor respectively with accelerometer, gyroscope is connected with the first wireless transport module, in described display terminal, be provided with the second wireless transport module transmitting for data, the second microprocessor, display and the second supplying cell for powering, the second microprocessor is connected with the second wireless transport module with display respectively, the second wireless transport module wireless connections in the first wireless transport module in described revolution detector and display terminal, the Z axis of described accelerometer and gyrostatic Z axis all with the shaft parallel of rotary body.

Preferably, described gyroscope is three axle micro-mechanical gyroscopes, and accelerometer is three axle micro-mechanical accelerometers.

Preferably, described the first wireless transport module and the second wireless transport module are 2.4G module.

Preferably, be also provided with the indicating module for showing revolution detector running status in described revolution detector, indicating module is connected with the first supplying cell with first microprocessor respectively.

Be compared to prior art, self-adaptation speed measuring system based on inertial sensor of the present utility model is in conjunction with the function of gyroscope and accelerometer, in the time that rotary body slowly runs, system self-adaption ground is according to gyrostatic output, calculate the radius of turn of rotary body, output speed simultaneously, in the time of rotary body high-speed rotation, the centripetal acceleration that system self-adaption ground is exported according to accelerometer, and export high speed rotating speed in conjunction with the result of calculation computing of low speed; Revolution detector in the utility model can arbitrarily be installed on rotary body, and easy for installation, directionless and angle requirement has effectively solved the slow-speed of revolution and has been difficult for accurately measurement and the difficult problem of installing of revolution detector.

Accompanying drawing explanation

Fig. 1 is the theory diagram of the self-adaptation speed measuring system of the utility model based on inertial sensor.

Fig. 2 is embodiment mono-structural representation in the self-adaptation speed measuring system of the utility model based on inertial sensor.

Fig. 3 is embodiment bis-structural representations in the self-adaptation speed measuring system of the utility model based on inertial sensor.

Fig. 4 is embodiment tri-structural representations in the self-adaptation speed measuring system of the utility model based on inertial sensor.

Embodiment

Further describe the utility model below in conjunction with drawings and Examples, but protection domain of the present utility model is not limited to this.

With reference to Fig. 1, a kind of self-adaptation speed measuring system based on inertial sensor of the present utility model, comprises the revolution detector being arranged on rotary body and the display terminal that is attached thereto and communicates.In revolution detector, be provided with accelerometer, gyroscope, first microprocessor, the first wireless transport module, the first supplying cell and indicating module, first microprocessor is connected with indicating module with accelerometer, gyroscope, the first wireless transport module respectively, the first supplying cell is connected with indicating module with accelerometer, gyroscope, first microprocessor, the first wireless transport module respectively, for the in-line power of revolution detector.In display terminal, be provided with the second wireless transport module, the second microprocessor, display and the second supplying cell, the second microprocessor is connected with the second wireless transport module with display respectively, the second supplying cell is connected with display with the second wireless transport module, the second microprocessor respectively, for display terminal in-line power.Wherein, gyroscope is three axle micro-mechanical gyroscopes, and accelerometer is three axle micro-mechanical accelerometers.The first wireless transport module and the second wireless transport module are 2.4G module.

Described accelerometer is used for exporting rotary body 3-axis acceleration, gyroscope is used for exporting rotary body three axis angular rates, first micro-processing is for control and carry out data place, the first wireless transport module is for data transmission, the first wireless transport module and the second wireless transport module wireless connections, indicating module is for showing revolution detector running status, and indicating module is LED lamp.In the time that revolution detector is installed, revolution detector is fixed on rotary body, it can not be vibrated, in addition, need to the Z axis of degree of will speed up meter and the design of the shaft parallel of gyrostatic Z axis and rotary body.

When rotary body is during in the slow-speed of revolution, detect output three axis angular rates by gyroscope, and the rotating speed being calculated by first microprocessor output, when rotary body is during at high rotating speed, detect output 3-axis acceleration, the rotating speed that the result being detected in conjunction with gyroscope by first microprocessor is calculated and exported by acceleration.The result of calculation of first microprocessor output is sent in the second wireless transport module by the first wireless transport module, under the control of the second microprocessor, outputs to display and shows.

Embodiment mono-

Low, the high rotating speed adaptive measuring function that realizes rotary body by system of the present utility model, comprises following two kinds of situations:

The first situation: rotary body is in the time slowly running, carry out tachometric survey by gyroscope, the described rotating speed slowly running for rotary body is in gyrostatic measurement range, only 2000 degree of the measurement range of current three axle micro-mechanical gyroscopes/second, approximately 330 revs/min, be the rotating speed of rotary body while being less than or equal to 330 revs/min, belong to the scope that slowly runs.Now, the synthetic tachometer value that is rotary body of the vector of three axis angular rates of gyroscope output.Three axis angular rates of gyroscope output rotary body are processed in first microprocessor, obtain the tachometer value of rotary body, first microprocessor is sent to tachometer value in display terminal and is shown by the first wireless transport module, the radius of turn that first microprocessor calculated and preserved rotary body simultaneously, described radius of turn is the distance of revolution detector to rotary body rotating shaft.Wherein, the radius of turn calculating in the first situation is radius of turn is rotated centripetal acceleration calculation expression about each axle on accelerometer.

Any time, gyrostatic rotary speed direction is vertical with the direction of centripetal acceleration, so three-dimensional centripetal acceleration and three-dimensional rotating speed meet following formula in space, the calculation expression that radius of turn is rotated centripetal acceleration about each axle on accelerometer is calculated by following formula:

${\mathrm{R\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">X</figure-callout>}}^2=\sqrt{a_{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+a_{\mathrm{<figure-callout\; id="2"\; label="Z"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Z</figure-callout>}}^2}\&CenterDot;\&CenterDot;\&CenterDot;\left(1\right)$

${\mathrm{R\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2=\sqrt{a_{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+a_{\mathrm{<figure-callout\; id="2"\; label="Z"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Z</figure-callout>}}^2}\&CenterDot;\&CenterDot;\&CenterDot;\left(2\right)$

${\mathrm{R\&omega;}}_{\mathrm{<figure-callout\; id="2"\; label="Z"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Z</figure-callout>}}^2=\sqrt{a_{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">Y</figure-callout>}}^2+a_{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">X</figure-callout>}}^2}\&CenterDot;\&CenterDot;\&CenterDot;\left(3\right)$

Wherein, ω _x, ω _yand ω _zfor X-axis angular velocity, Y-axis angular velocity and the Z axis angular velocity of any time gyroscope output, R is radius of turn, a _xthe rotation centripetal acceleration in rotary body X-direction, a _ythe rotation centripetal acceleration in rotary body Y direction, a _zit is the rotation centripetal acceleration in rotary body Z-direction;

Separating above-mentioned equation (1) (2) (3) obtains:

a _X=k ₁R…………（4）

a _Y=k ₂R…………（5）

a _Z=k ₃R…………（6）

Wherein, k ₁, k ₂and k ₃it is the known coefficient calculating.

Second case: rotary body, in the time of high-speed rotation, is detected and rotated centripetal acceleration inverse rotating speed by accelerometer, and described high-speed rotation refers to that the rotating speed of rotary body exceeds gyroscope survey scope.Accelerometer detects the prerequisite of rotating centripetal acceleration inverse rotating speed: the one, eliminate the impact that acceleration of gravity brings, and the 2nd, radius of turn is known.Under the first situation, the calculation expression of radius of turn, in known, can directly calculate according to the calculation expression of first microprocessor output.

But, there is relation the locus of the impact of acceleration of gravity and the rotating shaft of rotary body, the present embodiment take the rotating shaft 2.1 of rotary body 2 be tilt as example, the situation of rotary body 2 being installed is arbitrarily elaborated, specifically with reference to Fig. 2, revolution detector 1 is fixedly mounted on rotary body 2, in inclination situation in the rotating shaft 2.1 of rotary body 2, when rotary body 2 does uniform rotation in the direction of certain inclination, acceleration of gravity can produce two kinds of impacts to rotary body 2, and the one, on gravity direction, rotate the periodically variable gravitational acceleration component g bringing _d, this change in gravitational acceleration cycle equates with rotation period, can eliminate by digital low-pass filtering, another is not with rotating the gravitational acceleration component g changing _s, this gravitational acceleration component can solve by equation.

The rotating speed of rotary body in the time of high-speed rotation calculates and comprises the steps:

A) 3-axis acceleration of accelerometer output rotary body is preserved in first microprocessor, and 3-axis acceleration is A respectively _x, A _yand A _z;

B) radius of turn that first microprocessor calculates according to the first situation, calculates and preserves the influence value of acceleration of gravity to rotary body, and acceleration of gravity does not comprise and rotates with rotary body the gravitational acceleration component g changing the influence value of rotary body _xS, g _ySand g _zSand the gravitational acceleration component g changing with rotary body rotation period _xD, g _yDand g _zD, in the time of rotary body uniform rotation, rotate centripetal acceleration a _x, a _yand a _zfor unknown steady state value, g _xS, g _ySand g _zSalso be unknown steady state value, below formula (7) (8) (9) set up:

A _X=a _X+g _XS+g _XD…………（7）

A _Y=a _Y+g _YS+g _YD…………（8）

A _Z=a _Z+g _ZS+g _ZD…………（9）

Wherein, by wave filter by g _xD, g _yDand g _zDfiltering, obtains the amplitude g of respective change amount _xDA, g _yDAand g _zDA, amplitude g _xDA, g _yDAand g _zDAfor given value, according to formula (7) (8) (9) g that is eliminated _xD, g _yDand g _zDa after impact _xA, A _yAand A _zA:

A _XA=a _X+g _XS…………（10）

A _YA=a _Y+g _YS…………（11）

A _ZA=a _Z+g _ZS…………（12）

C) first microprocessor is according to the reverse tachometer value of deriving rotary body of the result of step a and step b, and is sent in display terminal and shown by the first wireless transport module.Specifically be calculated as follows:

By (5(6) substitution formula (10) (11) (12) of formula (4), obtain:

A _XA=k ₁R+g _XS…………（13）

A _YA=k ₂R+g _YS…………（14）

A _ZA=k ₃R+g _ZS…………（15）

Because g is terrestrial gravitation acceleration, again g _sand g _dvector sum equal acceleration of gravity, so

set up, wherein g is terrestrial gravitation acceleration, is known quantity.And

${\mathrm{<figure-callout\; id="2"\; label="g\; D"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}_D^{}=g_{\mathrm{XDA}}^2+g_{\mathrm{YDA}}^2+g_{\mathrm{ZDA}}^2,$ So:

${\mathrm{<figure-callout\; id="2"\; label="g\; XS"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{XS}}^{}+{\mathrm{<figure-callout\; id="2"\; label="g\; YS"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{YS}}^{}+g_{\mathrm{ZS}}^2+g_{\mathrm{XDA}}^2+g_{\mathrm{YDA}}^2+g_{\mathrm{ZDA}}^2={\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}^2\&CenterDot;\&CenterDot;\&CenterDot;\left(16\right)$

Wherein g _xDA, g _yDAand g _zDAfor known quantity, establish

so:

${\mathrm{<figure-callout\; id="2"\; label="g\; XS"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{XS}}^{}+{\mathrm{<figure-callout\; id="2"\; label="g\; YS"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}_{\mathrm{YS}}^{}+g_{\mathrm{ZS}}^2+k_4={\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA0000451347070000012.png,HDA0000451347070000013.png"\; state="\{\{state\}\}">g</figure-callout>}}^2\&CenterDot;\&CenterDot;\&CenterDot;\left(17\right)$

By the g in formula (13) (14) (15) _xS, g _ySand g _zSthe equation the substitution formula (17) that are transformed to R, obtain the linear equation in two unknowns about R, solves radius of turn R, after by R substitution formula (13) (14) (15), solve g _xS, g _ySand g _zS;

Radius of turn R, g at any time _xS, g _ySand g _zSfor definite value, and substitution formula (10) (11) (12), solve the rotation centripetal acceleration a on any time rotary body three direction of principal axis _x, a _yand a _z, calculate centripetal acceleration vector sum and obtain rotating centripetal acceleration a, then basis

draw final tachometer value ω.

The utility model utilizes gyroscope to detect the rotary body slowly running, and export corresponding rotating speed and radius of turn, utilize accelerometer to detect the rotary body of high-speed rotation, and export high speed rotating speed in conjunction with the result of calculation computing of low speed according to the centripetal acceleration of accelerometer output simultaneously, there is low speed and high speed detection convenience, the accurate advantage of result; Measuring system of the present utility model is applicable to the rotary body of different directions, angle installation, in the time measuring, only revolution detector arbitrarily need be installed on rotary body, installs very simple and convenient.

Embodiment bis-

With reference to Fig. 3, revolution detector 1 is fixedly mounted on rotary body 2, and the difference of the present embodiment and embodiment mono-is, the rotating shaft 2.1 of rotary body 2 is vertical, the XY direction of principal axis induction centripetal acceleration of accelerometer.Now, acceleration of gravity is in the Z-direction of accelerometer, and unchanged, so the rotating speed within the scope of gyroscope survey equals ω _z, when uniform rotation

wherein A _xand A _yfor the XY axle output of accelerometer, ω _zfor the output of gyroscope Z axis, can calculate radius of turn R.The rotating speed of follow-up any moment rotary body can be according to R and A _xand A _yvalue calculate, concrete computation process, with reference to embodiment mono-, does not repeat them here.

Embodiment tri-

With reference to Fig. 4, revolution detector 1 is fixedly mounted on rotary body 2, and the difference of the present embodiment and embodiment mono-is, the rotating shaft 2.1 of rotary body 2 is levels, now, and the XY direction of principal axis induction centripetal acceleration of accelerometer, XY axle has the Orthogonal Periodic impact of acceleration of gravity, Z axis acceleration A simultaneously _z=0.So the rotating speed within the scope of gyroscope survey equals ω _z, when uniform rotation, first to A _xand A _ycarry out digital filtering, sex acceleration of gravity of elimination cycle, obtains A _xAand A _yA, and have

set up wherein ω _zfor the output of gyroscope Z axis, A _xAand A _yAbe XY axle output data are eliminated gravity effect value through digital filtering, solve an equation and can obtain radius of turn R.Follow-up any moment can be according to R, A _xAand A _yAvalue calculate rotating speed, concrete computation process, with reference to embodiment mono-, does not repeat them here.

In above-mentioned explanation, all special instructions that do not add, all adopt technological means of the prior art.

Claims (4)

1. the self-adaptation speed measuring system based on inertial sensor, comprise the revolution detector being arranged on rotary body and the display terminal that carries out with it radio communication, it is characterized in that, in described revolution detector, be provided with the accelerometer for exporting rotary body 3-axis acceleration, for exporting the gyroscope of rotary body three axis angular rates, for controlling and carry out the first microprocessor of data processing, the first wireless transport module transmitting for data and the first supplying cell for powering, first microprocessor respectively with accelerometer, gyroscope is connected with the first wireless transport module, in described display terminal, be provided with the second wireless transport module transmitting for data, the second microprocessor, display and the second supplying cell for powering, the second microprocessor is connected with the second wireless transport module with display respectively, the second wireless transport module wireless connections in the first wireless transport module in described revolution detector and display terminal, the Z axis of described accelerometer and gyrostatic Z axis all with the shaft parallel of rotary body.

2. the self-adaptation speed measuring system based on inertial sensor according to claim 1, is characterized in that, described gyroscope is three axle micro-mechanical gyroscopes, and accelerometer is three axle micro-mechanical accelerometers.

3. the self-adaptation speed measuring system based on inertial sensor according to claim 1, is characterized in that, described the first wireless transport module and the second wireless transport module are 2.4G module.

4. the self-adaptation speed measuring system based on inertial sensor according to claim 1, it is characterized in that, in described revolution detector, be also provided with the indicating module for showing revolution detector running status, indicating module is connected with the first supplying cell with first microprocessor respectively.

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