CN207423155U - Planar inclination measuring system based on double-shaft tilt angle detection - Google Patents
Planar inclination measuring system based on double-shaft tilt angle detection Download PDFInfo
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- CN207423155U CN207423155U CN201721520229.3U CN201721520229U CN207423155U CN 207423155 U CN207423155 U CN 207423155U CN 201721520229 U CN201721520229 U CN 201721520229U CN 207423155 U CN207423155 U CN 207423155U
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Abstract
The utility model discloses a kind of planar inclination measuring systems based on double-shaft tilt angle detection, belong to technical field of angle detection, for the ease of realizing automatic, the accurate measurement to flat inclination, the utility model devises a kind of planar inclination measuring system based on high-precision dual-axis obliquity sensor SCA100T D02.According to the measuring principle of obliquity sensor and its function, characteristic, the mathematics computing model and temperature-compensation method of double-shaft tilt angle are given.Measurement data is exported by obliquity sensor, microcontroller calculates tilt values according to mathematics computing model and temperature-compensation method, and is filtered by PID, and time and obliquity information are shown in display screen.System can by solar powered, with communication module, available for automatically control, the fields such as attitude monitoring.
Description
Technical field
The utility model is related to a kind of angle measurement systems, belong to technical field of angle detection, and in particular to one kind is based on
The planar inclination measuring system of double-shaft tilt angle measurement.
Background technology
Plane inclination measurement is the important application direction of angular surveying.With production and the continuous development of science, plane
Gradient measurement be applied to the every field such as machinery, optics, Aeronautics and Astronautics and navigation more and more widely.
At present, commonly use along the inclination angle of two mutually orthogonal directions and carry out quantitative description plane inclination.However, due to existing
A common feature of dipmeter be the inclination angle that can only measure a direction, it is therefore desirable to combination of two could perfect measurement
The gradient of plane.It is understood by the quantitative description of plane inclination, it is necessary to ensure two dipmeters between each other just in frock
It hands over, could accurately obtain plane inclination, however ensure that two dipmeters are orthogonal between each other and be very difficult in accurate measurement
Accomplish.In addition, existing dipmeter, mostly using gravity bob structure, this structure has measurement sample posture certain want
Ask, and swinging structure reaches balance needs certain time, so as to limit measuring speed, it is difficult to meet in real time, it is quick and from
Dynamicization measures the requirement of occasion.
The content of the invention
In view of the above-mentioned problems, the utility model is intended to provide one kind based on high-precision dual-axis obliquity sensor SCA100T-
The planar inclination measuring system of D02 (hereinafter referred to as SCA100T), according to the measuring principle of obliquity sensor and its function, characteristic,
Give the mathematics computing model and temperature-compensation method of double-shaft tilt angle.Measurement data, microcontroller root are exported by obliquity sensor
Tilt values are calculated according to mathematics computing model and temperature-compensation method, and are filtered by PID, time and inclination angle are shown in display screen
Information.
To solve the above problems, the utility model adopts the following technical scheme.
It is a kind of based on double-shaft tilt angle detection planar inclination measuring system, including data processing module and with the data
Power supply module, data measurement module, communication module and the human-computer interaction module that processing module is respectively connected with, the DATA REASONING mould
The measurement data of block is delivered to the data processing module, and the data processing module carries out temperature-compensating according to current data,
And final result is sent to the human-computer interaction module by the communication module, the power supply module is the planar inclination
Measuring system is powered.
Further, the human-computer interaction module includes button and LCD screen, and the button is used to set systematic parameter,
The LCD screen is used to show measurement angle data.
Further, the data processing module uses MSP430F169 microcontrollers.
Further, memory is further included, the memory is AT24C04 memories, and the memory uses two lines
Serial bus is connected with the data processing module.
Further, the communication module uses SIM900A chips.
Further, the data measurement module uses SCA100T double-shaft tilt angle sensors.
Further, the power supply module include 3.7V rechargeable lithium batteries, Charge Management controller MCP73831 and
Schottky diode, the Charge Management controller MCP73831 are connected with the rechargeable lithium battery, for passing through detection lithium
Cell voltage judges the current charging stage, so as to control charging voltage and electric current, the Schottky diode and the charging
Management Controller MCP73831 connections for limiting current direction, prevent the Charge Management controller MCP73831 to battery
Voltage generates erroneous judgement.
Compared with the prior art, the beneficial effects of the utility model are：The utility model overcomes traditional dipmeter
The problem of reading is slow, precision is low, and realize the real-time measurement of automation, it can realize the monitoring to object plane inclination angle.This is
The hardware circuit of system using PCB turmerics technique, LCD numerical monitors, lithium battery charging management circuit etc., have it is small, can show
It is solar powered, be convenient for carrying, the advantages of performance is stablized, system improves the accurate of measurement using temperature-compensating, software filtering
Degree and stability, have important practical significance and practical value.
Description of the drawings
Fig. 1 is the planar inclination measuring principle figure of the utility model；
Fig. 2 is the system architecture diagram of the utility model；
Fig. 3 is the MSP430 minimum systems of the utility model；
Fig. 4 is the SCA100T sensor circuits of the utility model；
Fig. 5 is the gsm communication circuit of the utility model；
Fig. 6 is the charge management circuit of the utility model；
Fig. 7 is the EEPROM and clock circuit of the utility model；
Fig. 8 is the LCD circuits of the utility model；
Fig. 9 is the PID control system schematic diagram of the utility model；
Figure 10 is the pid algorithm flow chart of the utility model；
Figure 11 is the main program flow chart of the utility model.
Specific embodiment
The utility model is described in detail with reference to specific embodiment.
Embodiment 1
(1) mathematics computing model
SCA100T is the sensor based on MEMS technology, and the principle of angular surveying is to be converted into the acceleration of measurement
Change of pitch angle amount.The silicon capacitive sensing element of SCA100T is made of 3 layers of silicon chip, forms stereochemical structure, when run-off the straight, in
Between quality sector-meeting be inclined to certain one side so that the capacitance of both sides changes.And pass through voltage value and can reflect corresponding acceleration
Value, and then angle value can be calculated.
Planar inclination measuring principle is as shown in Figure 1, when figure (a) is placed for planar horizontal, acceleration of gravity direction vector and Z
Overlapping of axles, planar inclination are 0 °；Figure (b) be plane using X-axis as axes of rotation skew certain angle when, due in tilting procedure, gravity
Acceleration direction, there are certain angle, is flat inclination, g represents acceleration of gravity with Z axis.
When SCA100T uses digital measurement, the digital quantity of 11 bit data formats is exported by SPI, and is stored in SCA100T
In RDAX the and RDAY data registers of chip, data area is 0~2048.Export digital quantity and the correspondence at angle of inclination
Meet function：
In formula 1, D0°For basic numerical value, D when inclination angle is 0 ° is represented0Digital output, value are -1024LSB；S is core
Piece sensitivity constant, value 819LSB/g.
Principle and method of measurement of the plane using X, Y-axis as axes of rotation skew is the same, and suitable for using X, Y-axis as rotation
The situation that axis rotates simultaneously can export measurement data D by the SPI data outputs of SCA100T chipsox、Doy, and then count respectively
Calculate αXAnd αY。
(2) temperature-compensating
Because the variation of environment temperature can cause the offset of chip sensitivity S, therefore to improve measurement accuracy, it is necessary to carry out
Temperature-compensating.SCA100T can measure operating ambient temperature T in real time there are one the inherent temperature sensor carried.With
The corresponding data volume R of operating ambient temperature T can be the data of a 8bit by SPI into line access, in the range of (0~
255).Operating ambient temperature T is expressed as formula 2：
Measurement inclination angle alpha is compensated by environment temperature T, is realized by correcting chip sensitivity S.It corrects in order to obtain
Chip sensitivity S afterwards ', first by second order polynomial fit curvilinear equation meter sensitivity compensating parameter Sc(see formula 3).
Sc=-0.00011T2+0.0022T+0.0408 (3)
Again by sensitivity compensation parameter Sc, calculate the chip sensitivity S of compensating approach ', see formula 4：
Therefore, S ' is replaced to the S in formula (1), you can realize temperature-compensating, obtain more accurately inclination angle alpha.
The system architecture diagram of the present embodiment is as shown in Fig. 2, including following components：SCA100T high-precision dual-axis inclines
Angle transducer module, communication module, button, LCD screen module, lithium battery charge management module, main control chip MSP430F169 and
AT24C04 memories.
Sensor assembly, communication module, button, LCD screen module, lithium battery charge management module and AT24C04 memories
It is connected respectively with MSP430 microcontrollers.Microcontroller reads the angle value of double-shaft tilt angle sensor module detection in real time, becomes in angle
During change, newest angle information is sent to user bound end by SIM900A；Button, LCD screen module are respectively used to set systematic parameter
With display measurement angle data；Lithium battery charge management module is used to store the electricity of solar panels conversion, monitors the electricity of battery
Pressure, electric current prevent from overshooting, cross and put.
System uses 16 super low-power consumption microcontroller MSP430F169 that TI companies produce, and for main control chip, MSP430 is mono-
Piece machine minimum system is as shown in Figure 3.
Sensor assembly uses SCA100T double-shaft tilt angle sensors, it is that the high-precision dual-axis inclination angle based on 3D-MEMS passes
Sensor chip provides the other performance of horizontal measurement instrument grade.SCA100T-D02 sensors have ± 90 ° of range, digital quantity
Output sensitivity reaches 819LSB/g.MSP430F169 carries out serial communication by SPI protocol and SCA100T chips,
P1.0~P1.3 of MSP430F169 connects CLK, MISO, MOSI, CSB respectively.Wherein, CLK input clock signals, CSB are low
The effective chip selection signal of level, MISO and MOSI are respectively data output end and control signal input.Its circuit connection such as Fig. 4
It is shown.
When the change of pitch angle of measurement, the newest tilt values of measurement can be sent to user bound by telecommunication circuit in time
End.Telecommunication circuit uses the SIM900A chips of gsm communication module, can be realized with low-power consumption and send short message.SIM900A is one 2
The GSM/GPRS modules of frequency support GPRS multi-slot class 10/class 8 (optional) and GPRS, coded format CS-
1, CS-2, CS-3and CS-4.The operating voltage of SIM900A is 3.1~4.6V, is sending short message at that moment, electric current meeting
Reach 2A, in order to which voltage stabilizing is using LD29300P2M voltage stabilizing chips, output voltage 3.84V.GSM circuits are as shown in figure 5, RXD
The P3.4 and P3.5 of the first microcontroller are connected respectively with TXD, respectively as controller and the transmitting-receiving mouth of GSM serial communications.
System uses 3.7V lithium battery power supplies, and it is as shown in Figure 6 to design charge management circuit.Lithium battery charging process is general
It is divided into trickle charge stage, constant-current charging phase and constant voltage charging phase.Linear-charging Management Controller MCP73831 can pass through
Lithium battery voltage is detected to judge the current charging stage, so as to control charging voltage and electric current, prevented from breaking through and put.Resistance in figure
The controllable charging current of resistance value of R10 and the size of voltage, when R10 is 2K Ω, charging current is about 500mA, and voltage is about
4.2V.In addition in battery charging process, digital gradienter still can use system requirements.So pass through Schottky diode
D2 and D3 limitation current directions, prevent MCP73831 from generating erroneous judgement to cell voltage.During charging, D2 conducting, D3 cut-off, system by
MiniUSB powers.
Voltage stabilizing is carried out to 3.3V to lithium battery using LDO chips RT9193, each digit chip of system is powered.
The input and output pressure difference of RT9193 is only related with load current and environment temperature.At room temperature (25 DEG C), load current is 300mA's
In the case of, pressure difference is only 220mV.The shunt capacitance C10 of 22 μ F can reduce the Ripple Noise of voltage stabilizing output.In order to be in LDO
EN pins are connected on input voltage pin by continuous duty, system.
Shown in eeprom circuit such as Fig. 7 (a).AT24C04 is the 4KB electric erasable storage chips of Atmel companies, using two
The serial bus of line and microcontroller communication, D1 and D2 are connected respectively with P21 and P23.
Shown in clock circuit such as Fig. 7 (b).DS1302 is that there is a of DALLAS companies of the U.S. production leap year to compensate automatically
The clock chip of function.In system initialization, is write to DS1302 fiducial time, it can timing backward.DS1302 is using string
Row data transmission, SCLK control lines, I O port line, REST mouth lines are connected respectively with P65, P66, P67 of MSP430F169.
12864 liquid crystal displays are a kind of dot matrix graphic LCD modules realized using Low-Power CMOS technology.LCD display is used
Carry out real-time display X, the obliquity information that Y-axis turns to.Wherein RS, RW, EC is respectively register selection, read-write, enable signal,
For the pin shared with other modules, it is connected respectively with microcontroller P55, P56, P57.AD0~AD7 is parallel data signal
Line is connected respectively with microcontroller P40~P47, PSB and/RST be respectively it is parallel/serial selection and liquid crystal reseting pin, respectively with list
Piece machine P50 is connected with P51.LCD circuits are as shown in Figure 8.
In process control, the PID controller controlled in the ratio (P) of deviation, integration (I) and differential (D) (is also known as
PID regulator) it is a kind of automatic controller being most widely used.It is simple with principle, it is easy to accomplish, widely applicable, control
Parameter processed is mutual indepedent, and parameter selectes the advantages that fairly simple.For gathering analog signal, simulation control of PID system principle
Figure is as shown in Figure 9.
PID control system is made of analog pid controller and controlled device.In figure, r (t) is system input, and y (t) is to be
System real output value, e (t) are the deviation that input value and real output value are formed, and e (t)=r (t)-y (t), e (t) is controlled as PID
The input of device processed, u (t) is as the output of PID controller and the input of controlled device.So controlling party of analog pid controller
Formula is represented by formula 5：
In formula, u (t) is the output signal of adjuster；Kp is proportionality coefficient；TI is the time of integration；E (t) is adjuster
Deviation signal, it is equal to the difference of set-point and measured value；TD is derivative time；Kp/TI is integral coefficient；Kp/TD is differential system
Number.
Since computer control mode is controlling of sampling, it can only calculate controlled quentity controlled variable according to the deviation of sampling, and cannot be as
Simulation controls such continuous output controlling amount, continuous control is carried out, so will be to pid control algorithm discretization.Cannot directly it make
With the integration and differential term in formula (8), it is necessary to first to this two progress sliding-model controls.The specific method of sliding-model control
For：If the sampling period is T, sampling sequence number K, then discrete sampling time KT corresponds to continuous time t, is replaced with the form of summation
Integral term replaces differential term with the form of increment, can approximate transform be formula 6：
In formula 6, t ≈ KT, k=(1,2,3 ...) can obtain formula 7：
In formula 7, it is respectively 0.4,0.2,0.15 that Kp, Ki, Kd take optimal empirical value by experiment test.Pid algorithm flow
As shown in Figure 10, filtered, can be stablized, reliable measurement data by pid algorithm.
Main program flow is as shown in figure 11, and system initializes clock first, selects 8MHz crystal oscillators as master clock source.It is right
MEMS obliquity sensors SCA100T etc. makees register configuration.Then the output of acquisition sensor in real time, and mended according to subsidiary temperature
It repays model and calculates current inclination, while judge whether inclination angle changes, to user bound sending time and newest if variation
Obliquity information.
To verify the stability of system and accuracy, indoors under immediate ambient temperature, inclination angle measured value and actual value into
Comparison (being shown in Table 1) is gone.From 1 experimental data of table, in the range of 0 °~90 °, the planar inclination of the utility model is surveyed at inclination angle
The measurement error of amount system is 1 ° small, has higher accuracy.
1 experimental results of table (unit °)
The present embodiment based on double-shaft tilt angle sensor planar inclination measuring system, overcome traditional dipmeter reading
Slowly the problem of, precision is low, and realize the real-time measurement of automation, it can realize the monitoring to object plane inclination angle.The system
Hardware circuit using PCB turmerics technique, LCD numerical monitors, lithium battery charging management circuit etc., have it is small, the sun can be showed
It can power, be convenient for carrying, performance is stablized.System improves accuracy and the stability of measurement using temperature-compensating, software filtering,
It has important practical significance and practical value.
Claims (7)
1. a kind of planar inclination measuring system based on double-shaft tilt angle detection, which is characterized in that including data processing module and
Power supply module, data measurement module, communication module and the human-computer interaction module being respectively connected with the data processing module, it is described
The measurement data of data measurement module is delivered to the data processing module, and the data processing module is carried out according to current data
Temperature-compensating, and final result is sent to the human-computer interaction module by the communication module, the power supply module is institute
State the power supply of planar inclination measuring system.
2. the planar inclination measuring system according to claim 1 based on double-shaft tilt angle detection, which is characterized in that the people
Machine interactive module includes button and LCD screen, and for setting systematic parameter, the LCD screen is used to show measurement angle the button
Data.
3. the planar inclination measuring system according to claim 1 or 2 based on double-shaft tilt angle detection, which is characterized in that institute
Data processing module is stated using MSP430F169 microcontrollers.
4. the planar inclination measuring system according to claim 3 based on double-shaft tilt angle detection, which is characterized in that further include
Memory, the memory are AT24C04 memories, and the memory uses the bus of two-wire serial and the data processing mould
Block connects.
5. the planar inclination measuring system according to claim 4 based on double-shaft tilt angle detection, which is characterized in that described logical
Believe that module uses SIM900A chips.
6. the planar inclination measuring system according to claim 4 or 5 based on double-shaft tilt angle detection, which is characterized in that institute
Data measurement module is stated using SCA100T double-shaft tilt angle sensors.
7. the planar inclination measuring system according to claim 6 based on double-shaft tilt angle detection, which is characterized in that the confession
Electric module includes 3.7V rechargeable lithium batteries, Charge Management controller MCP73831 and Schottky diode, the Charge Management
Controller MCP73831 is connected with the rechargeable lithium battery, for judging current charging rank by detecting lithium battery voltage
Section, so as to control charging voltage and electric current, the Schottky diode is connected with the Charge Management controller MCP73831, is used
In limitation current direction, prevent the Charge Management controller MCP73831 from generating erroneous judgement to cell voltage.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110075525A (en) * | 2019-05-07 | 2019-08-02 | 网易（杭州）网络有限公司 | The control method and device of dummy object, electronic equipment in game |
| CN111189431A (en) * | 2019-11-05 | 2020-05-22 | 山东职业学院 | Shellfish opening angle measuring method based on inclination angle calculation |
| CN116559804A (en) * | 2023-07-11 | 2023-08-08 | 浙江宜通华盛科技有限公司 | Phased array radar and method and device for detecting shaking degree of rotating platform of phased array radar |
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2017
- 2017-11-15 CN CN201721520229.3U patent/CN207423155U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110075525A (en) * | 2019-05-07 | 2019-08-02 | 网易（杭州）网络有限公司 | The control method and device of dummy object, electronic equipment in game |
| CN110075525B (en) * | 2019-05-07 | 2023-01-24 | 网易（杭州）网络有限公司 | Method and device for controlling virtual object in game and electronic equipment |
| CN111189431A (en) * | 2019-11-05 | 2020-05-22 | 山东职业学院 | Shellfish opening angle measuring method based on inclination angle calculation |
| CN116559804A (en) * | 2023-07-11 | 2023-08-08 | 浙江宜通华盛科技有限公司 | Phased array radar and method and device for detecting shaking degree of rotating platform of phased array radar |
| CN116559804B (en) * | 2023-07-11 | 2023-10-20 | 浙江宜通华盛科技有限公司 | Phased array radar and method and device for detecting shaking degree of rotating platform of phased array radar |
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