CN105823899B - The implementation method of vehicle turning speed is calculated based on rotary transformer - Google Patents
The implementation method of vehicle turning speed is calculated based on rotary transformer Download PDFInfo
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- CN105823899B CN105823899B CN201510591689.4A CN201510591689A CN105823899B CN 105823899 B CN105823899 B CN 105823899B CN 201510591689 A CN201510591689 A CN 201510591689A CN 105823899 B CN105823899 B CN 105823899B
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Abstract
The invention discloses a kind of implementation methods that vehicle turning speed is calculated based on rotary transformer.The implementation method first passes through the left front wheel angle that the rotary transformer being mounted on vehicle the near front wheel first calculates vehicle, and the turning speed of vehicle is calculated then in conjunction with the center of gravity revolving speed calculation method of vehicle, to really reflect the turning speed of vehicle.Implementation method packet is the near front wheel deflection angle theta that vehicle is calculated by the rotary transformer being mounted on vehicle the near front wheel1；The rotation varied angle θ of rotary transformer can be directly calculated by microprocessor calling decoder and timer1Angle value；Then in conjunction with rotation varied angle θ1Angle value calculate the turning speed of vehicle；Judgement of the signal in zero crossing supply voltage for eliminating rotary transformer, can be decoded signal without difference amplifier, and calculation method is efficiently simple, and the requirement to equipment is low, and reliability and accuracy are high.
Description
Technical field
The technical field that vehicle turning speed is calculated the present invention relates to the software decoding using rotary transformer, especially relates to
And a kind of implementation method that vehicle turning speed is calculated based on rotary transformer.
Background technique
Vehicle turning speed is generally directly measured using Electronic Speedometer at present, but the rotor of Electronic Speedometer is to be fixed on
On the main shaft of speed changer, the rotor of Electronic Speedometer is allowed to rotate together with the main shaft of speed changer, whenever rotor turns over electronic vehicle speed
When the sensor probe of table, sensor will export a low level pulse signal, be calculated according to the frequency of this pulse signal
The angular speed of speed changer output main shaft rotation out, it is current that the radius of angular speed and wheel further according to main shaft rotation calculates vehicle
The turning speed of enforcement.Since in turning, the center of gravity revolving speed of vehicle is only the turning speed of vehicle to vehicle, so, design one kind
It calculates simply, and can really reflect that the implementation method of vehicle turning speed is very necessary.
Summary of the invention
It is directly to be measured by Electronic Speedometer that the present invention, which is for the turning speed for solving existing vehicle, due to electronic vehicle speed
The vehicle turning speed that table directly measures can not really reflect the deficiency of the turning speed of vehicle, provide a kind of based on rotation change
Depressor calculates the implementation method of vehicle turning speed, which first passes through the rotary transformer being mounted on vehicle the near front wheel
First calculate the near front wheel deflection angle theta of vehicle1, the turning speed of vehicle is calculated then in conjunction with the center of gravity revolving speed calculation method of vehicle
Degree, to really reflect the turning speed of vehicle.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of implementation method being calculated vehicle turning speed based on rotary transformer, implementation method are included the following steps:
Step (1-1) calculates the left front wheel angle of vehicle by the rotary transformer being mounted on vehicle the near front wheel
θ1；
Step (1-1-1), if sin is the sinusoidal signal of rotary transformer, if cos is the cosine signal of rotary transformer,
If sin1 is the positive peak detection of sinusoidal signal sin, if cos1 is the positive peak detection of cosine signal cos, if sin2 is
The reversed peak detection of sinusoidal signal sin, if cos2 is the reversed peak detection of cosine signal cos；
Step (1-1-2), rectified signal of the rotary transformer in half period detection meet rule one:
∑ sin1+ ∑ sin2=0 (1.5)；
∑ cos1+ ∑ cos2=0 (1.6)；
Step (1-1-3), the near front wheel have following rule two at the low rotational speed:
The sum of the consecutive value of sin1 and sin2 is approximately zero (1.7)；
The sum of consecutive value of cos1 and cos2 is also approximately at zero (1.8)；
Step (1-1-4), using above-mentioned regular one with the sinusoidal signals of two pairs of rotary transformers of rule and cosine signal into
Row central point voltage drift diagnosis, if the value of ∑ sin1+ ∑ sin2 and the value of ∑ cos1+ ∑ cos2 are in allowable range of error
It is interior, then it is assumed that the central point voltage drift is diagnosed as normally, on the contrary then think that the central point voltage drift is diagnosed as exception；
Step (1-1-5), the near front wheel has at the low rotational speed:
sin≈sin1-sin2；cos≈cos1-cos2 (1.9)；
If setting the rotation varied angle of rotary transformer as θ1, then
θ1=arctan (sin/cos) ≈ arctan [(sin1-sin2)/(cos1-cos2)] (1.10)；
Step (1-1-6), since the zero passage level point of rotary transformer is generally Vadref/2, and the mistake of rotary transformer
The central point of zero point i.e. rotary transformer, so the center level point of rotary transformer is generally also Vadref/2, then formula
(1.5), (1.6), (1.7), (1.8) successively become respectively:
∑ sin1+ ∑ sin2=Vadref (1.11)；
∑ cos1+ ∑ cos2=Vadref (1.12)；
The sum of the consecutive value of sin1 and sin2 is approximately (1.13) Vadref；
The sum of consecutive value of cos1 and cos2 is also approximately at Vadref (1.14)；
Step (1-1-7), convolution (1.11), (1.12), (1.13), (1.14) and (1.10) are called by microprocessor
Decoder and timer can directly calculate the rotation varied angle θ of rotary transformer1Angle value；
Step (1-2), calculates the turning speed of vehicle；
Since in turning, the center of gravity revolving speed of vehicle is only the turning speed of vehicle to vehicle, in conjunction with rotation varied angle θ1
Angle value, the turning speed of vehicle obtains by following algorithm:
In formula:
vGIndicate the turning speed of vehicle, i.e. the center of gravity revolving speed of vehicle,
v1The left front wheel speed for indicating vehicle, is measured by the tachometer of measuring being mounted on vehicle the near front wheel,
r1Indicate turning center of circle O to the near front wheel center distance,
rGIndicate turning center of circle O to vehicle's center of gravity distance,
L is the off-front wheel center to the distance between the off hind wheel center of vehicle of vehicle,
B be vehicle center of gravity to the line between two front-wheel centers of vehicle vertical range,
θGFor the extended line of turning center of circle O to line between line between vehicle's center of gravity and two rear-wheel centers of vehicle
Angle,
θ1For the left front wheel angle of vehicle, as two rear-wheels of turning center of circle O to line between left front core wheel and vehicle
The angle of the extended line of line between center, θ1Directly by the rotation varied angle for the rotary transformer being mounted on vehicle the near front wheel
It calculates and obtains,
B is the distance of the line between two rear-wheel centers of vehicle,
A be vehicle center of gravity to the line between the off-front wheel center and the off hind wheel center of vehicle of vehicle it is vertical away from
From.
This programme first passes through the left front wheel angle that the rotary transformer being mounted on vehicle the near front wheel first calculates vehicle,
The turning speed of vehicle is calculated then in conjunction with the center of gravity revolving speed calculation method of vehicle, to really reflect the turning vehicle of vehicle
Speed eliminates judgement of the signal in zero crossing supply voltage of rotary transformer, without difference amplifier can to signal into
Row decoding, calculation method is efficiently simple, and the requirement to equipment is low, and reliability and accuracy are high.
Preferably, the waveform of the waveform of sinusoidal signal sin and cosine signal cos is moved up, and scaling is carried out, made
The waveform of sinusoidal signal sin and the waveform of cosine signal cos are in the modulus acquisition range of microcontroller.
Preferably, calculating the near front wheel deflection angle theta of vehicle in the rotary transformer by being mounted on vehicle the near front wheel1
When, by vehicle be placed on detection road surface on, and prevent detect road surface vertical and horizontal both direction maximum tilt angle from
More than ± 0.57 °.
Preferably, calculating the near front wheel deflection angle theta of vehicle in the rotary transformer by being mounted on vehicle the near front wheel1
When, for the speed of vehicle less than 5 kilometer per hours, vehicle will be by the tire free support of correct tire pressure, at the electric source modes of vehicle
In fired state.
The present invention can reach following effect:
1, the present invention is based on the implementation method that rotary transformer calculates vehicle turning speed, first pass through that be mounted on vehicle left front
Rotary transformer on wheel first calculates the near front wheel deflection angle theta of vehicle1, then in conjunction with the center of gravity revolving speed calculation method meter of vehicle
The turning speed of vehicle is calculated, to really reflect the turning speed of vehicle.
2, the present invention eliminates judgement of the signal in zero crossing supply voltage of rotary transformer, without difference amplifier
Signal can be decoded, calculation method is efficiently simple, and the requirement to equipment is low, and reliability and accuracy are high.
Detailed description of the invention
Fig. 1 is a kind of waveform demonstration of the pumping signal, sinusoidal signal, cosine signal of rotary transformer rotation angle of the present invention
Schematic diagram.
Fig. 2 is a kind of waveform analysis of the pumping signal, sinusoidal signal, cosine signal of rotary transformer rotation angle of the present invention
Schematic diagram, wherein sin1, cos1 are respectively the peak detection of sin signal, cos signal；Sin2, cos2 be respectively sin signal,
The reversed peak detection of cos signal.
Fig. 3 is that vehicle of the present invention the sum of sin1 and sin2 consecutive value under low turning speed is approximately that a kind of zero waveform is drilled
Show schematic diagram.
Fig. 4 is a kind of demonstration schematic diagram for the turning speed that the present invention calculates vehicle.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment: the implementation method of vehicle turning speed is calculated based on rotary transformer, referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 institute
Show,
Implementation method includes the following steps:
Step (1-1) calculates the left front wheel angle of vehicle by the rotary transformer being mounted on vehicle the near front wheel
θ1；
Step (1-1-1), if sin is the sinusoidal signal of rotary transformer, if cos is the cosine signal of rotary transformer,
If sin1 is the positive peak detection of sinusoidal signal sin, if cos1 is the positive peak detection of cosine signal cos, if sin2 is
The reversed peak detection of sinusoidal signal sin, if cos2 is the reversed peak detection of cosine signal cos；
Step (1-1-2), rectified signal of the rotary transformer in half period detection meet rule one:
∑ sin1+ ∑ sin2=0 (1.5)；
∑ cos1+ ∑ cos2=0 (1.6)；
Step (1-1-3), the near front wheel have following rule two at the low rotational speed:
The sum of the consecutive value of sin1 and sin2 is approximately zero (1.7)；
The sum of consecutive value of cos1 and cos2 is also approximately at zero (1.8)；
Step (1-1-4), using above-mentioned regular one with the sinusoidal signals of two pairs of rotary transformers of rule and cosine signal into
Row central point voltage drift diagnosis, if the value of ∑ sin1+ ∑ sin2 and the value of ∑ cos1+ ∑ cos2 are in allowable range of error
It is interior, then it is assumed that the central point voltage drift is diagnosed as normally, on the contrary then think that the central point voltage drift is diagnosed as exception；
Step (1-1-5), the near front wheel has at the low rotational speed:
sin≈sin1-sin2；cos≈cos1-cos2 (1.9)；
If setting the rotation varied angle of rotary transformer as θ1, then
θ1=arctan (sin/cos) ≈ arctan [(sin1-sin2)/(cos1-cos2)] (1.10)；
Step (1-1-6), since the zero passage level point of rotary transformer is generally Vadref/2, and the mistake of rotary transformer
The central point of zero point i.e. rotary transformer, so the center level point of rotary transformer is generally also Vadref/2, then formula
(1.5), (1.6), (1.7), (1.8) successively become respectively:
∑ sin1+ ∑ sin2=Vadref (1.11)；
∑ cos1+ ∑ cos2=Vadref (1.12)；
The sum of the consecutive value of sin1 and sin2 is approximately (1.13) Vadref；
The sum of consecutive value of cos1 and cos2 is also approximately at Vadref (1.14)；
Step (1-1-7), convolution (1.11), (1.12), (1.13), (1.14) and (1.10) are called by microprocessor
Decoder and timer can directly calculate the rotation varied angle θ of rotary transformer1Angle value；
Step (1-2), calculates the turning speed of vehicle；
Since in turning, the center of gravity revolving speed of vehicle is only the turning speed of vehicle to vehicle, in conjunction with rotation varied angle θ1
Angle value, the turning speed of vehicle obtains by following algorithm:
In formula:
vGIndicate the turning speed of vehicle, i.e. the center of gravity revolving speed of vehicle,
v1The left front wheel speed for indicating vehicle, is measured by the tachometer of measuring being mounted on vehicle the near front wheel,
r1Indicate turning center of circle O to the near front wheel center distance,
rGIndicate turning center of circle O to vehicle's center of gravity distance,
L is the off-front wheel center to the distance between the off hind wheel center of vehicle of vehicle,
B be vehicle center of gravity to the line between two front-wheel centers of vehicle vertical range,
θGFor the extended line of turning center of circle O to line between line between vehicle's center of gravity and two rear-wheel centers of vehicle
Angle,
θ1For the left front wheel angle of vehicle, as two rear-wheels of turning center of circle O to line between left front core wheel and vehicle
The angle of the extended line of line between center, θ1Directly by the rotation varied angle for the rotary transformer being mounted on vehicle the near front wheel
It calculates and obtains,
B is the distance of the line between two rear-wheel centers of vehicle,
A be vehicle center of gravity to the line between the off-front wheel center and the off hind wheel center of vehicle of vehicle it is vertical away from
From.
The waveform of the waveform of sinusoidal signal sin and cosine signal cos is moved up, and carries out scaling, makes sinusoidal signal
The waveform of sin and the waveform of cosine signal cos are in the modulus acquisition range of microcontroller.By being mounted on vehicle the near front wheel
On rotary transformer calculate vehicle the near front wheel deflection angle theta1When, vehicle is placed on detection road surface, and make to detect road surface
At no more than ± 0.57 ° of maximum tilt angle of vertical and horizontal both direction.By being mounted on vehicle the near front wheel
The near front wheel deflection angle theta of rotary transformer calculating vehicle1When, for the speed of vehicle less than 5 kilometer per hours, vehicle will be by correct tire
The electric source modes of the tire free support of pressure, vehicle are in fired state.
This example first passes through the left front wheel angle that the rotary transformer being mounted on vehicle the near front wheel first calculates vehicle
θ1, the turning speed of vehicle is calculated then in conjunction with the center of gravity revolving speed calculation method of vehicle, to really reflect the turning of vehicle
Speed eliminates judgement of the signal in zero crossing supply voltage of rotary transformer, can be to signal without difference amplifier
It is decoded, calculation method is efficiently simple, and the requirement to equipment is low, and reliability and accuracy are high.
Embodiments of the present invention are described above in conjunction with attached drawing, however, the implementation is not limited to the above embodiments, this field
Those of ordinary skill can be with various changes and modifications may be made within the scope of the appended claims.
Claims (4)
1. a kind of implementation method for calculating vehicle turning speed based on rotary transformer, which is characterized in that implementation method includes such as
Lower step:
(1-1) calculates the near front wheel deflection angle theta of vehicle by the rotary transformer being mounted on vehicle the near front wheel1；
(1-1-1) sets sin as the sinusoidal signal of rotary transformer, if cos is the cosine signal of rotary transformer, if sin1 is positive
The positive peak detection of string signal sin, if cos1 is the positive peak detection of cosine signal cos, if sin2 is sinusoidal signal sin
Reversed peak detection, if cos2 be cosine signal cos reversed peak detection；
Rectified signal of (1-1-2) rotary transformer in half period detection meets rule one:
∑ sin1+ ∑ sin2=0 (1.5)；
∑ cos1+ ∑ cos2=0 (1.6)；
(1-1-3) the near front wheel has following rule two at the low rotational speed:
The sum of the consecutive value of sin1 and sin2 is approximately zero (1.7)；
The sum of consecutive value of cos1 and cos2 is also approximately at zero (1.8)；
(1-1-4) is electric with the sinusoidal signal and cosine signal progress central point of two pairs of rotary transformers of rule using above-mentioned regular one
Pressure drift diagnosis, if the value of ∑ sin1+ ∑ sin2 and the value of ∑ cos1+ ∑ cos2 are in allowable range of error, then it is assumed that institute
Central point voltage drift is stated to be diagnosed as normally, it is on the contrary then think that the central point voltage drift is diagnosed as exception；
(1-1-5) the near front wheel has at the low rotational speed:
sin≈sin1-sin2；cos≈cos1-cos2 (1.9)；
If setting the rotation varied angle of rotary transformer as θ1, then
θ1=arctan (sin/cos) ≈ arctan [(sin1-sin2)/(cos1-cos2)] (1.10)；
(1-1-6) is since the zero passage level point of rotary transformer is generally Vadref/2, and the zero crossing of rotary transformer is also
The central point of rotary transformer, thus the center level point of rotary transformer generally also be Vadref/2, then formula (1.5),
(1.6), (1.7), (1.8) successively become respectively:
∑ sin1+ ∑ sin2=Vadref (1.11)；
∑ cos1+ ∑ cos2=Vadref (1.12)；
The sum of the consecutive value of sin1 and sin2 is approximately (1.13) Vadref；
The sum of consecutive value of cos1 and cos2 is also approximately at Vadref (1.14)；
(1-1-7) convolution (1.11), (1.12), (1.13), (1.14) and (1.10) by microprocessor call decoder and
Timer can directly calculate the rotation varied angle θ of rotary transformer1Angle value；
The turning speed of (1-2) calculating vehicle；
Since in turning, the center of gravity revolving speed of vehicle is only the turning speed of vehicle to vehicle, in conjunction with rotation varied angle θ1Angle
Value, the turning speed of vehicle are obtained by following algorithm:
In formula:
vGIndicate the turning speed of vehicle, i.e. the center of gravity revolving speed of vehicle,
v1The left front wheel speed for indicating vehicle, is measured by the tachometer of measuring being mounted on vehicle the near front wheel,
r1Indicate turning center of circle O to the near front wheel center distance,
rGIndicate turning center of circle O to vehicle's center of gravity distance,
L is the off-front wheel center to the distance between the off hind wheel center of vehicle of vehicle,
B be vehicle center of gravity to the line between two front-wheel centers of vehicle vertical range,
θGFor turning center of circle O to the line between line between vehicle's center of gravity and two rear-wheel centers of vehicle extended line angle,
θ1For the left front wheel angle of vehicle, as turning center of circle O to two rear-wheel centers of line between left front core wheel and vehicle it
Between line extended line angle, θ1Directly obtained by the rotation varied angle calculating for the rotary transformer being mounted on vehicle the near front wheel
,
B is the distance of the line between two rear-wheel centers of vehicle,
A be vehicle center of gravity to vehicle off-front wheel center and vehicle off hind wheel center between line vertical range.
2. the implementation method according to claim 1 for calculating vehicle turning speed based on rotary transformer, which is characterized in that
The waveform of the waveform of sinusoidal signal sin and cosine signal cos is moved up, and carries out scaling, makes the waveform of sinusoidal signal sin
Waveform with cosine signal cos is in the modulus acquisition range of microcontroller.
3. the implementation method according to claim 1 for calculating vehicle turning speed based on rotary transformer, which is characterized in that
The near front wheel deflection angle theta of vehicle is calculated in the rotary transformer by being mounted on vehicle the near front wheel1When, vehicle is placed on inspection
It surveys on road surface, and makes detection road surface in the maximum tilt angle of vertical and horizontal both direction no more than ± 0.57 °.
4. the implementation method according to claim 3 for calculating vehicle turning speed based on rotary transformer, which is characterized in that
The near front wheel deflection angle theta of vehicle is calculated in the rotary transformer by being mounted on vehicle the near front wheel1When, the speed of vehicle is less than
5 kilometer per hours, vehicle will be in fired state by the tire free support of correct tire pressure, the electric source modes of vehicle.
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