WO1998041816A1 - Vorrichtung und verfahren zur achsvermessung - Google Patents
Vorrichtung und verfahren zur achsvermessung Download PDFInfo
- Publication number
- WO1998041816A1 WO1998041816A1 PCT/DE1998/000527 DE9800527W WO9841816A1 WO 1998041816 A1 WO1998041816 A1 WO 1998041816A1 DE 9800527 W DE9800527 W DE 9800527W WO 9841816 A1 WO9841816 A1 WO 9841816A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- angle
- encoder
- rotation rate
- vehicle
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/26—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
Definitions
- the invention is based on a device and a method for wheel alignment according to the type of the independent claims.
- a method and a device for measuring the wheel position are known, a rotating, gimbal-mounted gyroscope being used as a reference.
- An angle measuring device is adjusted on the first wheel.
- the rotation of the gyro then started guarantees that the axis of rotation of the gyro used as the reference axis does not change in the further course of the measurement.
- the angle measuring device is brought to the next wheel, the angle between the wheel and the reference axis then being measured. This procedure is repeated for all bikes.
- the settling times of the gyro forming the reference axis are of the order of 15 minutes if high
- Accuracies are required.
- a incremental angle encoder the angle difference between the starting position and the measuring position.
- the invention has for its object to shorten the duration of the wheel alignment. It is solved by the features of the independent claims.
- Vehicle by which at least one angle between a wheel of the vehicle and a reference direction can be determined, is characterized in that the angle is detected with the aid of an encoder which contains at least one rotation rate sensor, the output signal of which is integrated.
- the use of rotation rate sensors for wheel alignment makes it possible to dispense with an exact alignment of the encoders to one another on the respective wheel of the vehicle. Long setting and adjustment times can be avoided. Since each encoder used for wheel alignment is in a known position relative to the reference direction, which does not depend on the vehicle or the arrangement of a further encoder, large axle spacings or axle misalignments of the vehicle to be measured are irrelevant.
- the sensors can be used equally for cars, trucks, trailers or
- the rotation angles obtained by integrating the rotation rates serve as a measure of a toe or camber angle of the vehicle.
- the angle of rotation indicates the deviation of the axis of rotation of the wheel from the reference direction. This angle serves as a database for algorithms for determining the toe or camber angle.
- an encoder contains three rotation rate sensors that form an orthogonal system. This allows the reference direction from the vehicle completely decouple. All information is collected that is necessary to compensate for disturbances that cause translational movements.
- a sensor which contains at least one rotation rate sensor, the output signal of which is integrated.
- the encoder is switched off in such a way that it assumes a known position in relation to a reference direction. Then it is attached to a wheel of the vehicle. The resulting angle is a measure of a toe or camber angle of the vehicle wheel.
- the rotation rate sensor detects the relative position of the encoder to the reference direction. The encoder can no longer be arranged in a predefined position on the wheel of the vehicle. Time-consuming adjustment procedures are no longer necessary.
- a third step is provided, in which the relative position of the rotary axis coordinates of the wheel with respect to the reference direction is determined. Any angular misalignment of the wheel axles provides information about corrective measures to be taken for the axle geometry.
- An expedient development provides for the compensation of the earth's rotation during the angle detection.
- the accuracy of the angle measurement increases.
- a low-maintenance, self-calibrating system can be implemented by the rotation rate sensor continuously recording this disturbance in the idle state.
- a fourth step of an expedient further education the transmitter is switched off in the same position as in the first step.
- the previous measurement is invalid if the angle that arises in the fourth step deviates significantly from zero.
- the measurement Interfering faults can be checked with little effort.
- the measure serves the user-friendly automation of the measuring process.
- FIG. 1 shows a block diagram
- FIG. 2 shows a spatial arrangement
- FIG. 3 shows a flow diagram of various exemplary embodiments.
- An encoder 10 is constructed from three rotation rate sensors 11 arranged orthogonally to one another. Each of the rotation rate sensors 11 outputs a rotation rate 13 to a signal processing 12. It converts the input signals into angle 14.
- the transmitter 10 assumes a known position with respect to a reference direction 20.
- Two wheels 15a, 15b to be measured are located in close proximity to the transmitter 10.
- Corresponding rotary axis coordinates 21a, 21b are assigned to each wheel 15a, 15b, one axis of which coincides with an axis of rotation of the corresponding wheel 15a, 15b.
- Rotation rate sensors 11 detect a rotation rate 13 of a part rotating about an axis. Relevant measuring systems are based on different physical effects. Angular velocity is a synonym for the rotation rate to be recorded. In the case of a mechanical gyroscope, the rotation to be measured causes a moment that is proportional to the rotation rate. Translational influences on the gyro must be compensated for using appropriate error models. In the case of a fiber optic gyroscope, the transit time difference of the light is a measure due to the rotation for the rotation rate to be measured. The phase shift of the measurement signal with respect to a reference signal determined by an interference detector is proportional to the angular velocity.
- the signal processing 12 converts the rotation rate 13 into an angle 14 by integrating the time profile of the rotation rate 13. If the rotation rate sensor 11 detects, for example, a rotation rate 13 about the X axis, the associated angle 14 indicates how far the y / z plane has rotated about the X axis since the start of the integration. A translational movement is usually superimposed on the rotation. These interference components must be transformed Differential equations can be compensated. If the rotation rate 13 is continuous, the integration can take place by means of electronic components. Known algorithms make angle 14 available for discrete values.
- the signal processing 12 is the
- the encoder 10 Communicate the start time of the integration.
- the encoder 10 is in its reference position. If the encoder 10 is constructed from three rotation rate sensors 11 arranged orthogonally to one another, all three rotation rates 13 must be integrated and compensated for in translation. In addition to translation, the earth's rotation appears as another disturbance variable. Their influence on the horizontal angle can be taken into account as a function of the time that has elapsed since the start of the integration and the sine of the geographic latitude of the measuring station.
- the rotation rate sensor 11 If the rotation rate sensor 11 is at rest, it can determine the angle 14 caused by the earth's rotation as a function of time. On the basis of this disturbance variable determination, the earth's rotation is compensated for in the next measurement.
- the rotation rate sensor 11 calibrates itself.
- the measurement signals of the rotation rate sensor 11 are preferably processed locally in the respective encoder 10.
- An alternative is to forward the rotation rate 13 unprocessed to a central evaluation device which carries out the integration.
- the corresponding data transmission can be wired, radio or infrared.
- One or more encoders 10 are required for wheel alignment. Their data are processed by a central display and operating device.
- the intended sensors 10 are aligned, step 101.
- the coordinates of a measuring table serve as the reference direction 20, as indicated in FIG.
- the encoder 10 is to be arranged such that the axes of rotation of the rotation rate sensors 11 contained in the encoder 10 are rotated by a known angle from the corresponding axes of the reference direction 20.
- the encoder 10 is aligned when the axes of the rotation rate sensors 11 of the encoder 10 are parallel to the axes of the reference direction 20.
- the known offset angle thus established between the axes of the rotation rate sensors 11 and the reference direction 20 is zero.
- the sensors are attached to the wheel 15a, 15b, step 102.
- the sensors 10 are in principle to be attached to the wheel as desired, a special alignment with respect to the wheel 15a, 15b to be measured is not necessary.
- receptacles for the sensors have to be provided on the wheel rims, for example. Fastening the encoder 10 by means of clamps or magnets is also conceivable. An alignment to the respective wheel axis is not required.
- the rotary axis coordinates 21a, 21b of the respective wheels 15a, 15b are then to be determined, step 103.
- the encoder 10 determines the rotation and wobble movement which the encoder 10 experiences by rotating the wheel 15a, 15b.
- the wheel can be lifted or rolled.
- the procedure for determining the rotational axis coordinates when the wheel is raised is known as rim runout compensation and is described, for example, in DE-PS 29 11 580. In the case of rim runout compensation, the vehicle is on the actual measuring station by about two thirds of a wheel revolution,
- the desired angles 14 are determined and output, step 110.
- the angular offset between the rotary axis coordinates 21a, 21b and the reference direction and thus also between the individual rotary axis coordinates 21a, 21b is known and is fed to the central computer, which uses it to determine the track angle or
- the measurement can be checked by returning the sensors 10 used to the starting position after completion of the measurement, as explained in the description of step 101. With a correct one
- angles 14 set on the sensors 10 must not differ significantly from the value zero. If significant deviations occur, these must be communicated to the user.
- a combination of device and method combines their specific advantages.
- a further simplification of the encoder 10 using only a rotation rate sensor 11 which detects the changes in direction in the horizontal plane is possible if the encoders 10 are transported and used essentially vertically.
- the sensors 10 are moved in a hanging manner and attached to the essentially horizontal wheel adapters in a swinging manner in order to determine the toe angle.
- Such a rotation rate sensor 11 with restricted degrees of freedom is realized, for example, by a pendulum which vibrates in one plane and is suspended in a bifilar manner.
- Another variant using only one rotation rate sensor 11 is to bring it into a known position relative to an essentially vertical reference direction 20 in order to detect changes in direction in the vertical plane, for example for determining the camber angle.
- the required measurements can also be carried out one after the other, for which purpose only one encoder 10 is required.
- the measured value processing is informed when a measurement on which wheel 15 has been completed.
- the disturbance component earth rotation must be constantly compensated for.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/381,137 US6435044B1 (en) | 1997-03-15 | 1998-02-21 | Axle measuring device and method |
EP98913519A EP0966652B1 (de) | 1997-03-15 | 1998-02-21 | Vorrichtung und verfahren zur achsvermessung |
JP54000798A JP2001515590A (ja) | 1997-03-15 | 1998-02-21 | 軸測定装置および軸測定方法 |
DE59811283T DE59811283D1 (de) | 1997-03-15 | 1998-02-21 | Vorrichtung und verfahren zur achsvermessung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19710837A DE19710837C1 (de) | 1997-03-15 | 1997-03-15 | Vorrichtung und Verfahren zur Achsvermessung |
DE19710837.7 | 1997-03-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998041816A1 true WO1998041816A1 (de) | 1998-09-24 |
Family
ID=7823518
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1998/000527 WO1998041816A1 (de) | 1997-03-15 | 1998-02-21 | Vorrichtung und verfahren zur achsvermessung |
Country Status (5)
Country | Link |
---|---|
US (1) | US6435044B1 (de) |
EP (1) | EP0966652B1 (de) |
JP (1) | JP2001515590A (de) |
DE (2) | DE19710837C1 (de) |
WO (1) | WO1998041816A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010055378A1 (de) | 2010-12-21 | 2011-08-25 | Daimler AG, 70327 | Vorrichtung und Verfahren zum Ermitteln von Fahrwerksgrößen |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19949834A1 (de) * | 1999-10-15 | 2001-04-19 | Busch Dieter & Co Prueftech | Verfahren zum Ermitteln der Ausrichtung eines zylindrischen Körpers bezüglich einer Referenzrichtung |
EP2264397B1 (de) * | 1999-12-08 | 2015-10-07 | PRÜFTECHNIK Dieter Busch AG | Lagemesssonde zum gegenseitigen Ausrichten von Körpern und Verfahren zum gegenseitigen Ausrichten von Körpern |
US6591218B1 (en) * | 2000-10-18 | 2003-07-08 | Pruftechnik Dieter Busch Ag | Process for determining the alignment of a cylindrical body with respect to a reference direction |
FR2875900B1 (fr) * | 2004-09-28 | 2006-12-08 | Airbus France Sas | Procede et dispositif de mesure de l'orientation du train d'atterrissage avant d'un avion |
DE102006005258B4 (de) * | 2006-02-02 | 2011-01-20 | Litef Gmbh | Verfahren zur Ermittlung von Belastungen/Schäden einer mechanischen Struktur |
FR3126772B1 (fr) * | 2021-09-08 | 2024-02-23 | Ixblue | Dispositif de mesure des erreurs angulaires d’inclinaison d’un axe réel de rotation d’un élément rotatif et procédé |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0313563A1 (de) * | 1987-06-12 | 1989-05-03 | Osmond Beissbarth | Verfahren und vorrichtung zur radstellungsmessung. |
US5357817A (en) * | 1990-04-19 | 1994-10-25 | Charles Stark Draper Laboratory, Inc. | Wide bandwidth stable member without angular accelerometers |
US5410481A (en) * | 1991-03-04 | 1995-04-25 | TZN Forschungs-und Entwicklungs-zentrum Unterluss GmbH | Method of determining the rate of rotation of vehicles and vehicle arrangement for implementing the method |
EP0692421A1 (de) * | 1994-07-13 | 1996-01-17 | Vevey Technologies S.A. | Steuerverfahren zur Lenkung von Laufwerken mit einstellbaren Rädern einer auf Schienen fahrenden Einheit und dieses Verfahren nutzende Einheit |
WO1996021138A1 (de) * | 1994-12-29 | 1996-07-11 | Robert Bosch Gmbh | Vorrichtung zur ermittlung einer drehrate |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4180915A (en) * | 1978-03-23 | 1980-01-01 | Fmc Corporation | Runout compensation in vehicle wheel alignment measuring apparatus |
USRE31248E (en) * | 1978-06-07 | 1983-05-24 | Paul J. Berger | Electro-mechanical transducer |
JPS6085067A (ja) * | 1983-10-17 | 1985-05-14 | Honda Motor Co Ltd | 前後輪の操舵装置 |
DE3432596A1 (de) * | 1984-09-05 | 1986-03-06 | Pötsch, Edmund Reinfried, 8901 Königsbrunn | Beschleunigungs- und/oder geschwindigkeits- und/oder wegstrecken- oder neigungswinkel-messanordnung |
SE462181B (sv) * | 1987-10-22 | 1990-05-14 | Bofors Ab | Saett att oeka traeffsannolikheten foer automatkanonluftvaern |
DE3812824A1 (de) * | 1988-04-16 | 1989-11-02 | Asea Brown Boveri | Pruefstand zum testen des antriebsstranges eines fahrzeuges |
JPH02105011A (ja) * | 1988-10-14 | 1990-04-17 | Sumitomo Electric Ind Ltd | 移動体用ロケータ装置 |
JPH04140608A (ja) * | 1990-09-30 | 1992-05-14 | Suzuki Motor Corp | ナビゲーション装置 |
EP0559114B1 (de) * | 1992-03-03 | 1996-10-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zum Lenken eines Strassenfahrzeugs mit Vorder- und Hinterradlenkung |
US6196345B1 (en) * | 1998-05-18 | 2001-03-06 | Bae Systems Controls, Inc. | Drive-line damping control for an electric vehicle |
-
1997
- 1997-03-15 DE DE19710837A patent/DE19710837C1/de not_active Expired - Fee Related
-
1998
- 1998-02-21 DE DE59811283T patent/DE59811283D1/de not_active Expired - Lifetime
- 1998-02-21 US US09/381,137 patent/US6435044B1/en not_active Expired - Fee Related
- 1998-02-21 JP JP54000798A patent/JP2001515590A/ja active Pending
- 1998-02-21 WO PCT/DE1998/000527 patent/WO1998041816A1/de active IP Right Grant
- 1998-02-21 EP EP98913519A patent/EP0966652B1/de not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0313563A1 (de) * | 1987-06-12 | 1989-05-03 | Osmond Beissbarth | Verfahren und vorrichtung zur radstellungsmessung. |
US5357817A (en) * | 1990-04-19 | 1994-10-25 | Charles Stark Draper Laboratory, Inc. | Wide bandwidth stable member without angular accelerometers |
US5410481A (en) * | 1991-03-04 | 1995-04-25 | TZN Forschungs-und Entwicklungs-zentrum Unterluss GmbH | Method of determining the rate of rotation of vehicles and vehicle arrangement for implementing the method |
EP0692421A1 (de) * | 1994-07-13 | 1996-01-17 | Vevey Technologies S.A. | Steuerverfahren zur Lenkung von Laufwerken mit einstellbaren Rädern einer auf Schienen fahrenden Einheit und dieses Verfahren nutzende Einheit |
WO1996021138A1 (de) * | 1994-12-29 | 1996-07-11 | Robert Bosch Gmbh | Vorrichtung zur ermittlung einer drehrate |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010055378A1 (de) | 2010-12-21 | 2011-08-25 | Daimler AG, 70327 | Vorrichtung und Verfahren zum Ermitteln von Fahrwerksgrößen |
Also Published As
Publication number | Publication date |
---|---|
EP0966652A1 (de) | 1999-12-29 |
JP2001515590A (ja) | 2001-09-18 |
EP0966652B1 (de) | 2004-04-28 |
US6435044B1 (en) | 2002-08-20 |
DE19710837C1 (de) | 1998-06-18 |
DE59811283D1 (de) | 2004-06-03 |
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