CN107449376B - Real-time steering wheel corner acquisition system - Google Patents
Real-time steering wheel corner acquisition system Download PDFInfo
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- CN107449376B CN107449376B CN201710832152.1A CN201710832152A CN107449376B CN 107449376 B CN107449376 B CN 107449376B CN 201710832152 A CN201710832152 A CN 201710832152A CN 107449376 B CN107449376 B CN 107449376B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention is suitable for the technical field of automobile simulation experiments, and provides a real-time steering wheel angle acquisition system. Compared with the prior art, the system is simple to install, has no influence on the mechanical structure of the vehicle, and meanwhile, the signals acquired by the system are consistent with other electric control signals of the whole vehicle, no disagreement can occur, and the signal acquisition accuracy is high and the speed is high.
Description
Technical Field
The invention belongs to the technical field of automobile simulation experiments, and particularly relates to a real-time steering wheel angle acquisition system.
Background
In the case of performing an automobile simulation test, steering wheel rotation angle measurement generally requires the use of a steering wheel angle sensor, which is mostly installed in a steering column below a steering wheel, and is divided into an analog steering wheel angle sensor and a digital steering wheel angle sensor. A steering wheel angle sensor is commonly used that employs a three gear mechanical structure to measure the angle of rotation and the number of turns that pass. The large gear rotates along with the steering wheel pipe column, the number of teeth of the two small gears is different by 1, and the large gear and the sensor housing are fixed on the car body together and do not rotate along with the rotation of the steering wheel. The two pinions respectively collect the rotating angles along with the steering wheel, and different turns can differ by a specific angle due to the difference of one tooth, and the absolute rotating angle value of the steering wheel is obtained through calculation. The method is complex in mechanical structure, low in speed and poor in real-time performance, cannot achieve the effect of displaying the angle value on line in real time, and is low in accuracy, so that the evaluation of the vehicle performance is affected.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a real-time steering wheel angle acquisition system, which aims to solve the problems of complex installation, low measurement accuracy and poor real-time performance of a steering wheel angle sensor in the prior art.
A first aspect of an embodiment of the present invention provides a real-time steering wheel angle acquisition system, the system including:
corner signal collector, corner signal processor and terminal equipment;
The corner signal processor is respectively connected with the corner signal collector and the terminal equipment;
the corner signal collector is used for generating a pulse signal according to the rotation of the steering rod of the steering wheel and sending the generated pulse signal to the corner signal processor;
The corner signal processor is used for counting according to the received pulse signals and sending a counting result to the terminal equipment;
the terminal equipment is used for generating the rotation angle data of the steering wheel according to the counting result and a pre-stored calculation formula.
Further, the corner signal collector is specifically a fixed incremental photoelectric encoder;
The fixed type incremental photoelectric encoder is fixedly connected with the steering wheel steering rod coaxially, and the zero position of the fixed type incremental photoelectric encoder coincides with the zero position of the steering wheel;
when the steering rod rotates, the fixed incremental photoelectric encoder generates A, B-phase pulse signals with the phase difference of 90 degrees and outputs the A, B-phase pulse signals to the corner signal processor;
when the steering rod rotates clockwise, the A-phase pulse signal leads the B-phase pulse signal by 90 degrees, and when the steering rod rotates anticlockwise, the B-phase pulse signal leads the A-phase pulse signal by 90 degrees;
when the steering rod passes through the zero point position of the fixed type incremental photoelectric encoder, the fixed type incremental photoelectric encoder generates a high-level Z-phase pulse signal.
Further, the rotation angle signal processor includes:
Sixteen-bit counter composed of four serially connected four-bit counters and four serially connected synchronous retainers;
The four-bit counter includes:
A first 40193 chip, a second 40193 chip, a third 40193 chip, and a fourth 40193 chip;
the four synchronization retainers include:
a first 74LS175 chip, a second 74LS175 chip, a third 74LS175 chip, a fourth 74LS175 chip;
the first 40193 chip is connected with the first 74LS175 chip, the second 40193 chip is connected with the second 74LS175 chip, the third 40193 chip is connected with the third 74LS175 chip, and the fourth 40193 chip is connected with the fourth 74LS175 chip.
Further, the rotation angle signal processor further includes:
A phase detector;
The A phase pulse output port of the fixed incremental photoelectric encoder is connected with the 5 th pin of the first 40193 chip through the phase discriminator, and the B phase pulse output port of the fixed incremental photoelectric encoder is connected with the 4 th pin of the first 40193 chip through the phase discriminator;
The sixteen-bit counter counts up when the received a-phase pulse signal leads the B-phase pulse signal by 90 °, and counts down when the received B-phase pulse signal leads the a-phase pulse signal by 90 °.
Further, the 12 th pin of the first 40193 th chip is connected to the 5 th pin of the second 40193 th chip, and the 13 th pin of the first 40193 th chip is connected to the 4 th pin of the second 40193 th chip;
The 12 th pin of the second 40193 th chip is connected with the 5 th pin of the third 40193 th chip, and the 13 th pin of the second 40193 th chip is connected with the 4 th pin of the third 40193 th chip;
the 12 th pin of the third 40193 th chip is connected with the 5 th pin of the fourth 40193 th chip, and the 13 th pin of the third 40193 th chip is connected with the 4 th pin of the fourth 40193 th chip;
pins 2, 3, 6 and 7 of the first 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the first 74LS175 chip;
pins 2, 3, 6 and 7 of the second 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the second 74LS175 chip;
pins 2, 3, 6 and 7 of the third 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the third 74LS175 chip;
pins 2, 3, 6 and 7 of the fourth 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the fourth 74LS175 chip.
Further, the phase discriminator consists of a D trigger, a first NAND gate and a second NAND gate;
The A phase pulse output port of the fixed type increment photoelectric encoder is respectively connected with the CLK input end of the D trigger, the first input end of the first NAND gate and the first input end of the second NAND gate, the B phase pulse output port of the fixed type increment photoelectric encoder is connected with the D input end of the D trigger, and the D trigger The output end of the first NAND gate is connected with the second input end of the first NAND gate, the Q output end of the D trigger is connected with the second input end of the second NAND gate, the output end of the first NAND gate is connected with the 5 th pin of the first 40193 chip, and the output end of the second NAND gate is connected with the 4 th pin of the first 40193 chip;
When the received A phase pulse signal leads the B phase pulse signal by 90 DEG, the D trigger The output end outputs a high-level signal, the Q output end of the D trigger outputs a low-level signal, the first NAND gate is opened, the second NAND gate is closed, and the sixteen-bit counter counts up;
When the received B-phase pulse signal leads the A-phase pulse signal by 90 DEG, the D-flip-flop The output end outputs a low-level signal, the Q output end of the D trigger outputs a high-level signal, the first NAND gate is closed, the second NAND gate is opened, and the sixteen-bit counter is used for counting down.
Further, the rotation angle signal processor further includes:
an inverter;
the Z-phase pulse output port of the fixed incremental photoelectric encoder is respectively connected with the 11 th pin of the first 40193 chip and the 11 th pin of the second 40193 chip through an inverter;
The inverter is used for converting the high-level Z-phase pulse signal into a low-level Z-phase pulse signal;
The low-level Z-phase pulse signal is configured to zero the count values of the first 40193 chip and the second 40193 chip when the count values of the third 40193 chip and the fourth 40193 chip are zero.
Further, the rotation angle signal processor further includes:
A power supply voltage, a first light emitting diode, a second light emitting diode, a third light emitting diode, a fourth light emitting diode, a fifth light emitting diode, a sixth light emitting diode, a seventh light emitting diode, an eighth light emitting diode, a ninth light emitting diode, a tenth light emitting diode, a twelfth light emitting diode, a thirteenth light emitting diode, a fourteenth light emitting diode, a fifteenth light emitting diode, a sixteenth light emitting diode;
The cathodes of the first light-emitting diode, the second light-emitting diode, the third light-emitting diode and the fourth light-emitting diode are respectively connected with pins 3,6, 11 and 14 of the first 74LS175 chip, and the anode is connected with power supply voltage;
the cathodes of the fifth light-emitting diode, the sixth light-emitting diode, the seventh light-emitting diode and the eighth light-emitting diode are respectively connected with pins 3,6, 11 and 14 of the second 74LS175 chip, and the anode is connected with power supply voltage;
The cathodes of the ninth light-emitting diode, the tenth light-emitting diode and the twelfth light-emitting diode are respectively connected with pins 3, 6, 11 and 14 of the third 74LS175 chip, and the anode is connected with power supply voltage;
The cathodes of the thirteenth light-emitting diode, the fourteenth light-emitting diode, the fifteenth light-emitting diode and the sixteenth light-emitting diode are respectively connected with pins 3, 6, 11 and 14 of the fourth 74LS175 chip, and the anode is connected with the power supply voltage.
Further, the terminal device is respectively connected with pins 2, 7, 10 and 15 of the first 74LS175 chip, the second 74LS175 chip, the third 74LS175 chip and the fourth 74LS175 chip;
The terminal equipment is used for acquiring the counting result and generating the rotation angle data of the steering wheel according to the corresponding relation between the preset counting result and the rotation angle of the steering wheel.
Further, the terminal device comprises a data acquisition card for acquiring a counting result.
As can be seen from the above embodiments of the present invention, the rotation angle signal collector of the present invention generates a pulse signal according to the rotation of the steering wheel steering rod, and transmits the generated pulse signal to the rotation angle signal processor, the rotation angle signal processor counts according to the received pulse signal, and transmits the count result to the terminal device, and the terminal device generates rotation angle data of the steering wheel according to the count result and a pre-stored calculation formula.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
FIG. 3 is a flow chart for clearing the count value of a low-order counter in the real-time steering wheel angle acquisition system according to the first embodiment of the invention;
FIG. 4 is a schematic diagram of the operation of the real-time steering wheel angle acquisition system according to the first embodiment of the present invention;
FIG. 5 is a flow chart of calculating a steering wheel angle corresponding to a counting pulse of a steering wheel in a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram of an inverter in a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a phase discriminator in the real-time steering wheel angle acquisition system according to the first embodiment of the invention;
FIG. 8 is a pin diagram of 40193 chips in a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
FIG. 9 is a diagram of the pin definitions of 40193 chips in the real-time steering wheel angle acquisition system provided by the first embodiment of the present invention;
FIG. 10 is a functional diagram of 40193 chips in a real-time steering wheel angle acquisition system according to a first embodiment of the present invention;
Fig. 11 is a phase diagram of 40193 chips in a real-time steering wheel angle acquisition system according to a first embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a real-time steering wheel angle acquisition system according to a first embodiment of the present invention, and for convenience of explanation, only a portion related to the embodiment of the present invention is shown. The real-time steering wheel angle acquisition system of fig. 1 mainly comprises: the system comprises a corner signal collector 101, a corner signal processor 102 and terminal equipment 103.
The rotation angle signal processor 102 is connected with the rotation angle signal collector 101 and the terminal device 103 respectively.
The rotation angle signal collector 101 is configured to generate a pulse signal according to rotation of a steering lever of a steering wheel, and send the generated pulse signal to the rotation angle signal processor 102.
The rotation angle signal processor 102 is configured to count according to the received pulse signal, and send the count result to the terminal device 103.
And the terminal equipment 103 is used for generating the rotation angle data of the steering wheel according to the counting result and a pre-stored calculation formula.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a real-time steering wheel angle acquisition system according to a first embodiment of the present invention.
The rotation angle signal collector 101 is specifically a fixed incremental photoelectric encoder 201.
The fixed incremental photoelectric encoder 201 is fixedly connected with a steering rod of the steering wheel coaxially, and the zero point position of the fixed incremental photoelectric encoder 201 coincides with the zero point position of the steering wheel.
When the steering rod rotates, A, B phases of the fixed incremental photoelectric encoder generate two paths of pulse signals with the phase difference of 90 degrees, and the pulse signals are output to the corner signal processor.
When the steering rod rotates clockwise, the A phase pulse signal advances the B phase pulse signal by 90 degrees, when the steering rod rotates anticlockwise, the B phase pulse signal advances the A phase pulse signal by 90 degrees, and when the steering rod passes through the zero point position of the fixed type incremental photoelectric encoder, the fixed type incremental photoelectric encoder generates a high-level Z phase pulse signal.
The rotation angle signal processor 102 includes:
sixteen-bit counter composed of four serially connected four-bit counters and four serially connected synchronous retainers.
The four-bit counter includes:
first 40193 chip, second 40193 chip, third 40193 chip, fourth 40193 chip.
The four synchronization retainers include:
First 74LS175 chip, second 74LS175 chip, third 74LS175 chip, fourth 74LS175 chip.
The first 40193 chip is connected with the first 74LS175 chip, the second 40193 chip is connected with the second 74LS175 chip, the third 40193 chip is connected with the third 74LS175 chip, and the fourth 40193 chip is connected with the fourth 74LS175 chip.
The counting mode of 40193 counting chips is binary counting, and 4 40193 chips are connected in series to form a 16-bit counter. The counter has a great change in each instantaneous value in the counting process, which requires that the value at the same time in the 16-bit counter should be acquired simultaneously when the count value is acquired, and 4 74LS175D trigger integrated chips connected in series are designed in the circuit to maintain the 16-bit value of the instantaneous corner.
The corner signal processor 102 further comprises a phase detector 203. The a-phase pulse output port of the fixed incremental photoelectric encoder 201 is connected with the 5 th pin of the first 40193 chip through the phase discriminator 203, and the B-phase pulse output port of the fixed incremental photoelectric encoder 201 is connected with the 4 th pin of the first 40193 chip through the phase discriminator 203.
The sixteen-bit counter counts up when the received a-phase pulse signal leads the B-phase pulse signal by 90 °, and counts down when the received B-phase pulse signal leads the a-phase pulse signal by 90 °.
The 12 th pin of the first 40193 chip is connected with the 5 th pin of the second 40193 chip, and the 13 th pin of the first 40193 chip is connected with the 4 th pin of the second 40193 chip.
The 12 th pin of the second 40193 chip is connected with the 5 th pin of the third 40193 chip, and the 13 th pin of the second 40193 chip is connected with the 4 th pin of the third 40193 chip.
The 12 th pin of the third 40193 chip is connected with the 5 th pin of the fourth 40193 chip, and the 13 th pin of the third 40193 chip is connected with the 4 th pin of the fourth 40193 chip.
Pins 2, 3, 6 and 7 of the first 40193 chip are connected with pins 4, 5, 12 and 13 of the first 74LS175 chip respectively.
Pins 2, 3, 6 and 7 of the second 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the second 74LS175 chip.
Pins 2, 3, 6 and 7 of the third 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the third 74LS175 chip.
Pins 2, 3, 6 and 7 of the fourth 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the fourth 74LS175 chip.
Specifically, the phase detector 203 (as shown in fig. 7) is composed of a D flip-flop G1, a first nand gate N1, and a second nand gate N2.
The A phase pulse output port of the fixed type increment photoelectric encoder is respectively connected with the CLK input end of the D trigger G1, the first input end of the first NAND gate N1 and the first input end of the second NAND gate N2, the B phase pulse output port of the fixed type increment photoelectric encoder is connected with the D input end of the D trigger G1, and the D trigger G1The output end is connected with the second input end of the first NAND gate N1, the Q output end of the D trigger G1 is connected with the second input end of the second NAND gate N2, the output end of the first NAND gate N1 is connected with the 5 th pin of the first 40193 chip, and the output end of the second NAND gate N2 is connected with the 4 th pin of the first 40193 chip.
When the steering wheel rotates forward, the A phase pulse signal leads the B phase pulse signal by 90 DEG, and the D trigger G1The output end outputs a high level signal, the Q output end of the D trigger G1 outputs a low level signal, the first NAND gate N1 is opened, the counting pulse is sent to the 5 th pin (the pulse adding input end of the sixteen-bit counter) of the first 40193 chip through the output end of the first NAND gate N1 to carry out addition counting, at the moment, the second NAND gate N2 is closed, and the output end of the second NAND gate N2 outputs a high level signal.
When the steering wheel is reversed, the B phase pulse signal leads the A phase pulse signal by 90 DEG, and the D trigger G1The output end outputs a low level signal, the Q output end of the D trigger G1 outputs a high level signal, the first NAND gate N1 is closed, the output end of the D trigger G1 outputs a high level signal, at the moment, the second NAND gate N2 is opened, and counting pulses are sent to the 4 th pin (the pulse reduction input end of the sixteen-bit counter) of the first 40193 chip through the output end of the second NAND gate N2 to carry out subtraction count.
The rotation angle signal processor 102 further includes:
an inverter 202;
When the steering rod passes through the zero position of the fixed incremental photoelectric encoder 201, the fixed incremental photoelectric encoder 201 generates a high-level Z-phase pulse signal.
An inverter 202 for converting the high-level Z-phase pulse signal into a low-level Z-phase pulse signal.
The Z-phase pulse output port of the fixed incremental photoelectric encoder 201 is respectively connected with the 11 th pin of the first 40193 chip and the 11 th pin of the second 40193 chip through an inverter 202.
And the low-level Z-phase pulse signal is used for clearing the count values of the first 40193 chip and the second 40193 chip when the count values of the third 40193 chip and the fourth 40193 chip are zero.
Inverter 202 (shown in fig. 6) includes: the resistor R01, the resistor R02, the resistor RZ, the triode D0, the light emitting diode LED, and the +5v voltage are used for reversing the high-level Z-phase pulse signal generated by the fixed incremental photoelectric encoder 201 into the low-level Z-phase pulse signal.
If the steering wheel does not swing around zero position for a long time during normal driving, the counter accumulates a large amount of AB addition subtraction signals for a long time, the signals are not the effective steering wheel angle signals expected by us, the zero position of the steering wheel can drift due to long-term accumulation, the zero position of the steering wheel is fatal error in automobile dynamics test, therefore, in order to avoid accumulation of counting errors, counting zero clearing is needed for the situation that the steering wheel swings frequently around zero position, the function is realized by using Z-phase pulse signals generated by the photoelectric encoder every 360 degrees, specifically, because the photoelectric encoder generates a high-level Z-phase pulse signal, the number setting end of the 40193 counting chip is valid at low position, and an inverter is needed for reversely converting the high-level Z-phase pulse signals generated by the photoelectric encoder into low level and inputting the low-level Z-phase pulse signals into the number 11 setting end of the 40193 chip.
The rotation angle signal processor 102 further includes:
The power supply voltage V, the first light emitting diode D1, the second light emitting diode D2, the third light emitting diode D3, the fourth light emitting diode D4, the fifth light emitting diode D5, the sixth light emitting diode D6, the seventh light emitting diode D7, the eighth light emitting diode D8, the ninth light emitting diode D9, the tenth light emitting diode D10, the tenth light emitting diode D11, the twelfth light emitting diode D12, the thirteenth light emitting diode D13, the fourteenth light emitting diode D14, the fifteenth light emitting diode D15, and the sixteenth light emitting diode D16.
Cathodes of the first light emitting diode D1, the second light emitting diode D2, the third light emitting diode D3 and the fourth light emitting diode D4 are respectively connected with pins 3, 6, 11 and 14 of the first 74LS175 chip through resistors R1, R2, R3 and R4, and anodes are connected with power supply voltage through diodes D18 and D17.
The cathodes of the fifth light emitting diode D5, the sixth light emitting diode D6, the seventh light emitting diode D7 and the eighth light emitting diode D8 are respectively connected with pins 3, 6, 11 and 14 of the second 74LS175 chip through resistors R5, R6, R7 and R8, and the anodes are connected with power supply voltage through diodes D18 and D17.
The cathodes of the ninth light emitting diode D9, the tenth light emitting diode D10, the tenth light emitting diode D11 and the twelfth light emitting diode D12 are respectively connected with pins 3, 6, 11 and 14 of the third 74LS175 chip through resistors R9, R10, R11 and R12, and the anodes are connected with the power supply voltage through diodes D18 and D17.
The cathodes of the thirteenth light emitting diode D13, the fourteenth light emitting diode D14, the fifteenth light emitting diode D15 and the sixteenth light emitting diode D16 are respectively connected with pins 3, 6, 11 and 14 of the fourth 74LS175 chip through resistors R13, R14, R15 and R16, and the anodes are connected with the power supply voltage through diodes D18 and D17.
Terminal 103 (not shown) is connected to pins 2, 7, 10, and 15 of the first 74LS175 chip, the second 74LS175 chip, the third 74LS175 chip, and the fourth 74LS175 chip, respectively.
The terminal device 103 is configured to obtain a count result, and generate rotation angle data of the steering wheel according to the count result and a pre-stored calculation formula. It should be noted that, the counting result obtained by the terminal device is a binary counting result, the obtained binary counting result is converted into a decimal counting result, and the rotation angle of the steering wheel is calculated according to the rotation angle data obtaining formula.
The terminal equipment comprises a data acquisition card and is used for acquiring a counting result.
The fixed photoelectric encoder 201 adopts 4096 line ABZ phase and is coaxially connected with a steering wheel steering rod by a shaft coupling, when the steering wheel rotates, the A, B end of the fixed photoelectric encoder 201 can generate two paths of pulse signals with the phase difference of 90 degrees to be output, when the shaft rotates for 360 degrees, the fixed photoelectric encoder 201 outputs 4096 pulses each time, A phase pulses lead B phase 90 degrees when rotating clockwise, and B phase pulses lead A phase pulses by 90 degrees when rotating anticlockwise. Because the steering wheel swings left and right near the zero point most of the time in the driving process of a driver, the rotation angle acquisition card can frequently acquire forward and reverse pulses (the pulses are frequently counted up and down on the pulse counting card), and thus accumulated errors can be generated after the pulses are acquired for a period of time, the zero point position of the steering wheel on the test bed can drift, and the normal simulation of the drive-by-wire automobile simulation test bed is affected.
Because the fixed type incremental photoelectric encoder is adopted, the zero point of the fixed type incremental photoelectric encoder is fixed, and the zero point of the fixed type incremental photoelectric encoder is overlapped with the zero point of the steering wheel during installation. Thus, each time the steering wheel passes through the zero point position preset by the test bed, the fixed photoelectric encoder 201 generates a Z-phase pulse signal, and the pulse signal can be used for resetting the low-order signal of the pulse counter, so that the accumulated pulse error generated by the low-order signal due to long-time counting can be eliminated.
The specific zero clearing method comprises the following steps:
The fixed photoelectric encoder 201 generates a high-level Z-phase pulse signal, the high-level Z-phase pulse signal is input into the first 40193 chip and the second 40193 chip through the inverter and the pins 11 of the first 40193 chip and the second 40193 chip, the Z-phase pulse signal inverted through the inverter is input at a low level, thus when the first 40193 chip and the second 40193 chip detect that low-level pulses are input from the pins 11, the count values of the third 40193 chip and the fourth 40193 chip are detected to be zero, namely, whether only the first 40193 chip and the second 40193 chip have count values in the counter, if yes, the parallel data of pins 9, 10, 1 and 15 of each 40193 counting chip are respectively copied to the counter data output ends of pins 2,3, 6 and 7 of the counter, and zero value data input generated by pins 9, 10, 1 and 15 of the high-level counting chip are sequentially transmitted to the low-level parallel chips when the steering wheel swings nearby for a long time, and the value of the low-level parallel chips is sequentially reduced to zero, so that the zero value of the low-level parallel chips is sequentially reduced to reach the accumulated error due to the zero-level counting effect.
The corner signal processor 102 includes a counter consisting of 4 40193 chips connected in series, and since 40193 is a 4-bit counter, 4 40193 chips connected in series form a 16-bit counter. The 40193 chip is a binary counter, and is characterized in that whether to count up or count down by 1 can be judged according to the difference of the directions of input pulse values of the input pins Clk.up (5 th pin) and Clk.dn (4 th pin), which exactly meets the phase difference of the fixed incremental photoelectric encoder A, B phase pulses caused by different steering wheels. The A, B-phase pulse output port is connected to the Clk.up port and the Clk.dn port through the phase discriminator to finish the counting function, namely the A-phase pulse output port is respectively connected with the CLK input end of the D trigger G1, the first input end of the first NAND gate N1 and the first input end of the second NAND gate N2 in the phase discriminator; the B-phase pulse output port is connected with the D input end of a D trigger G1 in the phase discriminator; d flip-flop G1The output end is connected with the second input end of the first NAND gate N1, the Q output end of the D trigger G1 is connected with the second input end of the second NAND gate N2, and the output ends of the first NAND gate and the second NAND gate in the phase discriminator are respectively connected with pins No.5 and No.4 of the first 40193 chip. Meanwhile, the high-level Z-phase pulse generated by the fixed incremental photoelectric encoder is connected into the 11 # pins of the first 40193 chip and the second 40193 chip through an inverter formed by a triode, so that the effect of zero clearing the accumulated pulse error generated by long-time counting of low-level signals is achieved. Since the count value of the counter is in a two's complement form, each instantaneous value of the counter is greatly changed in the counting process, so that the value at the same moment in the 16-bit counter needs to be simultaneously fetched when the rotation angle value is fetched, and 4 74LS175D trigger integrated chips connected in series are designed in the circuit to keep the 16-bit value of the instantaneous rotation angle. The input pins 4, 5, 12 and 13 of the four 74LS175 chips are respectively connected with the output pins 2, 3,6 and 7 of the four 40193 counting chips. Meanwhile, 4 LEDs which are a group of 4 groups are designed to be respectively connected to the No.3, 6, 11 and 14 output pins of the 74LS175D chip, so that the turning-on and turning-off of the binary 1 and 0 values are received in real time, and the change condition of steering wheel corner information is displayed in real time through the turning-on or turning-off condition of the 4 groups. For example, the first light emitting diode D1, the second light emitting diode D2, the third light emitting diode D3, and the fourth light emitting diode D4 are respectively connected to the first 74LS175 chip, and when the count value received by the first 74LS175 chip is 1001, the first light emitting diode D1 is on, the second light emitting diode D2 is off, the third light emitting diode D3 is off, and the fourth light emitting diode D4 is on; when the count value received by the first 74LS175 chip is 1110, the first light emitting diode D1 is on, the second light emitting diode D2 is on, the third light emitting diode D3 is on, and the fourth light emitting diode D4 is off.
The process of calculating the corresponding steering wheel angle according to the steering wheel counting pulse is as follows:
the steering wheel rotation angle detection range is required to meet +/-1080 degrees (namely, the steering wheel rotates positively and negatively for 3 circles) according to the automobile steering stability test standard. In practical measurement, the fixed incremental photoelectric encoder 201 transmits 4096 a-phase pulse signals and 4096B-phase pulse signals every 360 ° of rotation of the steering wheel rotation shaft, the a-phase pulse leads the B-phase pulse by 90 ° when the steering wheel rotates forward (rotates clockwise), and the B-phase pulse leads the a-phase pulse by 90 ° when the steering wheel rotates backward. When the steering wheel rotates positively, A, B phase pulse signals generated by the photoelectric encoder are subjected to phase discrimination by the phase discriminator 203, counting pulses are sent to a No. 5 plus pulse input end CU of a first 40193 chip for up counting, and a No. 4 CD end of the first 40193 chip is kept at a high level generated by the phase discriminator 203; when the steering wheel is reversed, A, B phase pulse signals generated by the fixed incremental photoelectric encoder 201 are subjected to phase detection by the phase detection circuit, and then the count pulse is sent to the No. 4 down pulse input CD end of the first 40193 chip for down counting, and the No. 5 CU end of the first 40193 chip is kept at a high level generated by the phase detector 203. When the steering wheel rotates, 4096 counting pulses are correspondingly generated every 360 degrees, the steering wheel rotation angle corresponding to each counting pulse is 360 degrees/4096=0.0879 degrees/number, so that the corresponding steering wheel rotation angle can be calculated through the counting value of the counting pulse in the actual measurement process, and the counting value of the 40193 counting chip is a two-way counter, so that the counting value is the counting value of the two-way counter for increasing the counting of the forward rotation (clockwise rotation) and decreasing the counting of the reverse rotation (anticlockwise rotation) of the steering wheel, and the calculation modes of the rotation angle values are different when the steering wheel starts to rotate forwards and reversely from a zero position. When the steering wheel starts to rotate forward from the zero position, the 40193 computing chip number 5 CU end counts up according to the counting pulse. Since 40193 is a four-bit counter, 4 40193 counters are cascaded to form a 16-bit counter, 1 is fed to a high-bit counting chip through a 12-bit carry end of a 40193 chip after the low-bit counting chip is full of four bits, the maximum positive rotation angle of the steering wheel is 3 circles 1080 DEG according to the standard automobile steering stability test, and 4096 calculated pulses are generated every 360 DEG of the steering wheel, so that the maximum pulse count value generated during the positive rotation of the steering wheel is 4096×3=12288.
When the steering wheel starts to rotate forward (clockwise rotation) from the zero position, the following two cases are adopted: first, when the steering wheel continuously rotates forward without returning (rotating anticlockwise), the sixteen-bit counter is continuously counted up, the count value is sent to the terminal device 103 through the synchronous keeper, it is to be noted that, the count value of the sixteen-bit counter is a binary count value, the terminal device 103 converts the binary count value into a decimal count value, and the decimal count value is set as a, and then the calculation formula of the steering wheel rotation at this time is as follows: steering wheel angle = a x 0.0879. In addition, every time the sixteen-bit counter counts up once, the corresponding 4 groups of 16 LEDs are turned on and off in real time according to the binary count value of the sixteen-bit counter, the LEDs corresponding to the binary number 1 are turned on, and the LEDs corresponding to the binary number 0 are turned off, so that a user can read the binary count value through the on and off condition of the LEDs corresponding to the sixteen-bit counter, and further calculate the steering wheel angle; second, when the steering wheel rotates back (anticlockwise) in the forward rotation process, the sixteen-bit counter changes from the previous count-up to the count-down every time when the steering wheel rotates anticlockwise in the forward rotation angle range, the count value of the sixteen-bit counter gradually decreases by 1 each time on the basis of the original value until the count pulse value is 0, i.e. the steering wheel returns to the zero position again, and the sixteen-bit counter again performs count-up when the steering wheel continues to change from anticlockwise rotation to clockwise rotation. In this case, although there is a case where the steering wheel is reversed (rotated counterclockwise), the sum of the steering wheel angle count values is constantly greater than zero, so that the count value of the sixteen-bit counter can be sent to the terminal device 103 through the synchronous keeper as in the first case, the terminal device 103 converts the binary count value into the decimal count value and sets it as a, and the calculation formula of the steering wheel angle at this time is still: steering wheel angle = a x 0.0879.
When the steering wheel is turned back (counter-clockwise) from the zero position, there are also two cases of steering wheel rotation: the first case is a case where there is no return (clockwise rotation) of the steering wheel in continuous reverse rotation, at which time the sixteen-bit counter counts down from zero. At this time, the count value of the sixteen-bit counter is in the form of a two's complement, and when the steering wheel rotates continuously in reverse (counterclockwise) from zero, the count value of the count pulse is gradually reduced by 1 from zero, the count value is negative, and the binary negative form is the two's complement, so that the 16-bit two's complement with the count value of-1 of the first count pulse is 1111 1111 1111 1111 and converted into the 10's value of 65535, and all the 16 light emitting diodes are on. Then, as the steering wheel reversing (counterclockwise rotation) angle increases, the number of counting pulses increases continuously, and the decimal value of the counting pulses decreases by 1 each time from 65535 until the steering wheel reversing (counterclockwise rotation) turns three times and the angle reaches 1080 °. Therefore, when the steering wheel continuously rotates reversely (anticlockwise) from the zero position, the counting value of the counting pulse is sent to the terminal equipment 103 through the synchronous keeper, the terminal equipment 103 converts the binary counting value into a decimal counting value, and the counting formula of the steering wheel rotation angle at the moment is set as B: steering wheel angle= [65535- (B-1) ]x0.0879; the second case is that there is a steering wheel returning (clockwise rotation) in the process of steering wheel starting to reverse from zero (continuing to return until the steering wheel angle is zero or returning to a certain angle steering wheel to continue to reverse), at this time, when the steering wheel starts to forward rotate, the count pulse is sent to the number 5 plus pulse input end CU of the sixteen-bit counter to count up, the count value of the count pulse is added by 1 each time on the basis of the original value, in this case, although there is a forward rotation action of the steering wheel, the whole steering wheel angle is still negative relative to zero, the calculation mode of the steering wheel angle is the same as the former case, the count value of the sixteen-bit counter is sent to the terminal device 103 through the synchronous keeper, the terminal device 103 converts the binary count value into a decimal count value, and the calculation formula of the steering wheel angle at this time is: steering wheel angle= [65535- (B-1) ]x0.0879.
Every time the shaft rotates 360 degrees, the fixed photoelectric encoder 201 outputs 4096 pulses, the terminal device sets the counting result and the steering wheel rotation angle to be corresponding to each other according to the characteristic, and after the counting result is obtained, the rotation angle data of the steering wheel is generated according to the preset corresponding relation between the counting result and the steering wheel rotation angle.
Compared with the prior art, the system provided by the embodiment of the invention is simple to install, has no influence on the mechanical structure of a vehicle, and meanwhile, the signals acquired by the system are consistent with other electric control signals of the whole vehicle, no disagreement can occur, and the accuracy and speed of signal acquisition are high.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing is a description of the real-time steering wheel angle acquisition system provided by the present invention, and it is not to be construed as limiting the invention to all aspects of the detailed description and the application scope of the embodiments of the invention, as those skilled in the art will recognize.
Claims (6)
1. A real-time steering wheel angle acquisition system, the system comprising:
corner signal collector, corner signal processor and terminal equipment;
The corner signal processor is respectively connected with the corner signal collector and the terminal equipment; wherein, the corner signal processor includes: the phase detector, the inverter, a sixteen-bit counter consisting of four serially connected four-bit counters and four serially connected synchronous retainers; the synchronous keeper is used for keeping the count value of the instantaneous rotation angle;
the four-bit counter includes: a first 40193 chip, a second 40193 chip, a third 40193 chip, and a fourth 40193 chip;
The four synchronization retainers include: a first 74LS175 chip, a second 74LS175 chip, a third 74LS175 chip, a fourth 74LS175 chip;
The first 40193 chip is connected with the first 74LS175 chip, the second 40193 chip is connected with the second 74LS175 chip, the third 40193 chip is connected with the third 74LS175 chip, and the fourth 40193 chip is connected with the fourth 74LS175 chip;
the corner signal collector is used for generating a pulse signal according to the rotation of the steering rod of the steering wheel and sending the generated pulse signal to the corner signal processor;
The steering angle signal collector is a fixed type incremental photoelectric encoder, the fixed type incremental photoelectric encoder is fixedly connected with the steering wheel steering rod coaxially, and the zero position of the fixed type incremental photoelectric encoder is overlapped with the zero position of the steering wheel; when the steering rod passes through the zero point position of the fixed incremental photoelectric encoder, the fixed incremental photoelectric encoder generates a high-level Z-phase pulse signal, and the high-level Z-phase pulse signal is used for eliminating accumulated counting errors;
The A phase pulse output port of the fixed incremental photoelectric encoder is connected with the 5 th pin of the first 40193 chip through the phase discriminator, and the B phase pulse output port of the fixed incremental photoelectric encoder is connected with the 4 th pin of the first 40193 chip through the phase discriminator;
the Z-phase pulse output port of the fixed incremental photoelectric encoder is respectively connected with the 11 th pin of the first 40193 chip and the 11 th pin of the second 40193 chip through an inverter;
The inverter is used for converting the high-level Z-phase pulse signal into a low-level Z-phase pulse signal; the low-level Z-phase pulse signal is configured to zero the count values of the first 40193 chip and the second 40193 chip when the count values of the third 40193 chip and the fourth 40193 chip are zero;
The corner signal processor is used for counting according to the received pulse signals and sending a counting result to the terminal equipment; the sixteen-bit counter counts up when the received A-phase pulse signal leads the B-phase pulse signal by 90 degrees, and counts down when the received B-phase pulse signal leads the A-phase pulse signal by 90 degrees;
The terminal equipment is used for acquiring the counting result and generating the rotation angle data of the steering wheel according to the corresponding relation between the preset counting result and the rotation angle of the steering wheel.
2. The real-time steering wheel angle acquisition system of claim 1 wherein,
When the steering rod rotates, the fixed incremental photoelectric encoder generates A, B-phase pulse signals with the phase difference of 90 degrees and outputs the A, B-phase pulse signals to the corner signal processor;
when the steering rod rotates clockwise, the A-phase pulse signal leads the B-phase pulse signal by 90 degrees, and when the steering rod rotates anticlockwise, the B-phase pulse signal leads the A-phase pulse signal by 90 degrees.
3. The real-time steering wheel angle acquisition system of claim 2 wherein,
The 12 th pin of the first 40193 chip is connected with the 5 th pin of the second 40193 chip, and the 13 th pin of the first 40193 chip is connected with the 4 th pin of the second 40193 chip;
The 12 th pin of the second 40193 th chip is connected with the 5 th pin of the third 40193 th chip, and the 13 th pin of the second 40193 th chip is connected with the 4 th pin of the third 40193 th chip;
the 12 th pin of the third 40193 th chip is connected with the 5 th pin of the fourth 40193 th chip, and the 13 th pin of the third 40193 th chip is connected with the 4 th pin of the fourth 40193 th chip;
pins 2, 3, 6 and 7 of the first 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the first 74LS175 chip;
pins 2, 3, 6 and 7 of the second 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the second 74LS175 chip;
pins 2, 3, 6 and 7 of the third 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the third 74LS175 chip;
pins 2, 3, 6 and 7 of the fourth 40193 chip are respectively connected with pins 4, 5, 12 and 13 of the fourth 74LS175 chip.
4. The real-time steering wheel angle acquisition system of claim 3, wherein the phase detector is comprised of a D-flip-flop, a first nand gate, a second nand gate;
The A phase pulse output port of the fixed type increment photoelectric encoder is respectively connected with the CLK input end of the D trigger, the first input end of the first NAND gate and the first input end of the second NAND gate, the B phase pulse output port of the fixed type increment photoelectric encoder is connected with the D input end of the D trigger, and the output end of the D trigger is connected with the second input of the first NAND gate
The end is connected, the Q output end of the D trigger is connected with the second input end of the second NAND gate, the output end of the first NAND gate is connected with the 5 th pin of the first 40193 chip, and the output end of the second NAND gate is connected with the 4 th pin of the first 40193 chip;
when the received A phase pulse signal leads the B phase pulse signal by 90 DEG, the D flip-flop
The output end outputs a high-level signal, the Q output end of the D trigger outputs a low-level signal, the first NAND gate is opened, the second NAND gate is closed, and the sixteen-bit counter counts up;
When the received B-phase pulse signal leads the A-phase pulse signal by 90 DEG, the D flip-flop is provided with a pulse signal
The output end outputs a low-level signal, the Q output end of the D trigger outputs a high-level signal, the first NAND gate is closed, the second NAND gate is opened, and the sixteen-bit counter is used for counting down.
5. The real-time steering wheel angle acquisition system of claim 4 wherein the angle signal processor further comprises:
A power supply voltage, a first light emitting diode, a second light emitting diode, a third light emitting diode, a fourth light emitting diode, a fifth light emitting diode, a sixth light emitting diode, a seventh light emitting diode, an eighth light emitting diode, a ninth light emitting diode, a tenth light emitting diode, a twelfth light emitting diode, a thirteenth light emitting diode, a fourteenth light emitting diode, a fifteenth light emitting diode, a sixteenth light emitting diode;
The cathodes of the first light-emitting diode, the second light-emitting diode, the third light-emitting diode and the fourth light-emitting diode are respectively connected with pins 3,6, 11 and 14 of the first 74LS175 chip, and the anode is connected with power supply voltage;
the cathodes of the fifth light-emitting diode, the sixth light-emitting diode, the seventh light-emitting diode and the eighth light-emitting diode are respectively connected with pins 3,6, 11 and 14 of the second 74LS175 chip, and the anode is connected with power supply voltage;
The cathodes of the ninth light-emitting diode, the tenth light-emitting diode and the twelfth light-emitting diode are respectively connected with pins 3, 6, 11 and 14 of the third 74LS175 chip, and the anode is connected with power supply voltage;
The cathodes of the thirteenth light-emitting diode, the fourteenth light-emitting diode, the fifteenth light-emitting diode and the sixteenth light-emitting diode are respectively connected with pins 3, 6, 11 and 14 of the fourth 74LS175 chip, and the anode is connected with the power supply voltage.
6. The real-time steering wheel angle acquisition system of claim 5, wherein the terminal device includes a data acquisition card for acquiring the count result.
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| CN109211145B (en) * | 2018-07-26 | 2020-12-11 | 东风汽车有限公司 | Rudder angle measuring device for automobile steering wheel and using method thereof |
| CN110081910B (en) * | 2019-04-23 | 2021-06-22 | 福建睿能科技股份有限公司 | Signal modulation method, modulation system, demodulation method, demodulation system and embroidery machine |
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| CN113358140B (en) * | 2021-06-02 | 2023-07-14 | 上海亨临光电科技有限公司 | Method for eliminating positive and negative zero-setting deviation of incremental rotary encoder and counting method |
| CN114750827B (en) * | 2022-04-21 | 2023-09-08 | 潍柴雷沃智慧农业科技股份有限公司 | Electric control steering control system and method for harvester and agricultural machinery |
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