CN115325992B - Method for measuring automobile train hinge angle based on recursive average filtering - Google Patents
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Abstract
The application discloses a method for measuring an automobile train hinging angle based on recursive average filtering, which comprises the following steps: firstly, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, and transmits acquired original data to a filtering module; then, after receiving the displacement variation acquired by the data acquisition module, the filtering module carries out filtering processing on the data by adopting a recursive average filtering method and transmits the filtered data to the calculation module; and finally, the calculation module calculates the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame, the fixed reference point of the rear vehicle frame and the hinge point of the vehicle to obtain the hinge angle of the vehicle. The method can effectively reduce the interference of the external environment to the measured value, so that the output measured value has high smoothness; the adopted indirect measurement mode is simple, the accumulated error is small, and the requirement on the numerical precision of the hinge angle in actual engineering can be met.
Description
Technical Field
The application belongs to the technical field of measurement, and particularly relates to a method for measuring an automobile train hinging angle based on recursive average filtering.
Background
In recent years, urban rail transit systems tend to be mature and gradually develop towards intelligence. The electronic guiding rubber wheel vehicle is an intelligent guiding rubber wheel system as a new traffic system. The electronic guiding rubber-tyred vehicle is different from the traditional mechanical guiding urban rail traffic system such as subways and light rails in the aspects of vehicle structure, configuration, rail structure and the like, and the electronic guiding rubber-tyred vehicle is required to complete guiding and running by itself, so that the intelligent degree is higher. Because the electronic guiding rubber-tyred vehicle consists of rubber-tyred vehicles capable of being grouped, the rubber-tyred vehicles are connected through a mechanical hinge structure. The articulation angle is the angle formed by the axial axes of adjacent consist vehicles. In the running process of the electronic guiding rubber-tyred vehicle, the change condition and the numerical value of the hinge angle can reflect the transverse stability of the vehicle, and meanwhile, the hinge angle is also an important input parameter in the automatic driving process of the electronic guiding rubber-tyred vehicle.
Existing devices for measuring articulation angle have a contact sensor and a non-contact sensor. The contact sensor needs to be installed at the position of the hinge point, but the position of the hinge point of the electronic guide rubber-tyred vehicle has larger vibration in the running process, and meanwhile, the sensor is easy to damage due to erosion of sediment. The direct contact measurement method has high protection requirement on the sensor, and the size and the dimension of the sensor are required to be customized for different types of articulated vehicles, so that the measurement cost is increased, and the practicability is poor. The non-contact sensor does not need to be directly arranged at the position of the hinge point, and the hinge angle is indirectly measured by directly converting the hinge angle through a camera, a range finder or a mechanical structure on a plurality of objects. The measuring device of the method has high price, so that the measurement limitation is large, and the method is difficult to be practically applied.
Patent CN110208784a discloses a method for measuring the articulation angle according to a millimeter wave radar, wherein distances from different positions of adjacent carriages to a reference plane are measured by setting the reference plane, and the articulation angle of the adjacent carriage is calculated by using a geometric relationship according to the distances. Patent CN106274907a discloses a method of visual measurement of hinge angle according to kalman filtering. The angle signal of the steering wheel is mainly used for correcting the value of the hinge angle measured by the vision system, so that the measurement accuracy of the hinge angle is ensured. The methods have good effects on the measurement of the hinge angle, but the cost of the used instrument is too high, and the factors such as external interference and the like in the running process of the hinged vehicle are not considered in the measurement method, so that the measurement precision of the hinge angle is affected. Aiming at the problems, the application designs a method for measuring the hinge angle of the automobile train based on the recursive average filtering, which can effectively avoid the interference of the external environment based on the recursive average filtering method. Meanwhile, the price of the measuring equipment is low, and finally the precision of the hinge angle obtained through the geometric relationship is high, so that the actual requirements of engineering can be met.
Disclosure of Invention
The application aims to solve the problems that the existing method and technology for measuring the hinge angle of the automobile train are easy to be interfered by the outside, the measuring cost is high and the precision is deficient.
In order to achieve the aim of the application, the application discloses a method for measuring the hinge angle of an automobile train based on recursive average filtering, which is characterized by comprising the following steps:
step 1, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, and transmits acquired original data to a filtering module;
step 2, after the filtering module receives the displacement variation acquired by the data acquisition module, filtering the data by adopting a recursive average filtering method, and transmitting the filtered data to the calculation module;
and 3, calculating the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame and the fixed reference point of the rear vehicle frame and the hinge point of the vehicle to obtain the hinge angle of the vehicle.
Further, the data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, a vehicle hinge point is a crossing point of a front vehicle hinge plate and a rear vehicle hinge plate bracket, and the fixed reference point is a preset fixed point on the vehicle; the displacement sensor is arranged between the fixed reference point of the front vehicle frame and the fixed reference point of the rear vehicle frame.
Further, the filtering module is used for filtering the data acquired by the data acquisition module, and the recursive average filtering method specifically comprises the following steps:
step 2-1, collecting through a data collecting modulenThe displacement change amounts of the fixed reference points of the secondary front car frame and the rear car frame are used for collecting the displacement change amountsnThe data are used as initial data groups;
step 2-2, when the data acquisition module acquires the new displacement variation, the acquired new data is put at the tail end of the original initial data set, and the first data of the original initial data set is removed to obtain a new data set;
and 2-3, carrying out arithmetic average calculation on the data of the new data group to obtain a filtering result of the new data acquired previously.
Further, the calculation module is configured to calculate the data filtered by the filtering module, and specifically includes the following steps:
step 3-1, importing the distance between the vehicle hinge point and the front vehicle frame fixed reference pointaDistance between vehicle hinge point and rear frame fixed reference pointbInitial distance between front frame fixed reference point and rear frame fixed reference pointcThe method comprises the steps of carrying out a first treatment on the surface of the Wherein,a、bis a known preset value and does not change during the running of the vehicle;
step 3-2, leading in an initial included angle between the vehicle hinge point and the fixed reference point of the front vehicle frame and between the vehicle hinge point and the fixed reference point of the rear vehicle frameθ，θIs a known preset value;
step 3-3, according to the initial distance between the fixed reference point of the front frame and the fixed reference point of the rear framecAnd the displacement variation between the front frame fixed reference point and the rear frame fixed reference point led in by the filtering module to obtain a new distance between the front frame fixed reference point and the rear frame fixed reference pointc’；
Step 3-4, according to a cosine formula, obtaining a new included angle between a connecting line of a vehicle hinge point and a front vehicle frame fixed reference point and a new included angle between the vehicle hinge point and a rear vehicle frame fixed reference pointθ' the specific formula is:
step 3-5, according to the included angleθAnd a new included angleθ' calculate the articulation angle at which the vehicle is traveling.
Further, in step 3-5, the method for calculating the hinge angle includes:
step 3-5-1, defining the positive direction of the variation of the hinge angle, wherein the hinge angle is positive when the vehicle turns left, and the hinge angle is negative when the vehicle turns right;
step 3-5-2, obtaining the hinge angle according to the positive direction of the defined hinge angle variationφ，φEqual toθ-θ’Or (b)θ’-θ。
Further, in step 4, after the calculation module obtains the articulation angle of the vehicle, the obtained result is used as an input of the vehicle control system to control the running of the whole vehicle.
Further, the displacement sensor comprises various displacement sensors, such as a sliding rheostat, and the change value of the length is obtained through conversion of the difference value of the voltage; if the non-contact displacement sensor is used, the change value of the length is obtained through the conversion of the difference value of the magnetic field; the displacement sensor is connected between the front vehicle frame fixed reference point and the rear vehicle frame fixed reference point through a hinge.
Further, in step 2-1, the number of times of collection of the data collection modulenThe method is preset according to the driving conditions of the vehicle,nthe range of (2) is 5-60 times.
Further, the fixed positions of the front frame fixed reference point and the rear frame fixed reference point are rigid bodies and are not deformed by external pressure.
Further, in step 1, the data acquisition module sends the acquired original data to the data filtering module and the calculation module respectively; after the calculation module obtains the original data and the filtering data, the original data and the filtering data are compared, and the filtering effect of the filtering module is analyzed.
Compared with the prior art, the application has the remarkable progress that: 1) The displacement sensor used by the application has lower cost and higher precision, and can fully meet the requirements and applications of engineering; 2) The filtering module can effectively reduce the interference of the external environment to the measured value by using a recursive average filtering algorithm, so that the output measured value has high smoothness; 3) The method has the advantages of simple indirect measurement mode, small accumulated error, stable and accurate numerical value calculated according to the geometric relationship, and capability of meeting the requirement on the numerical precision of the hinge angle in actual engineering.
In order to more clearly describe the functional characteristics and structural parameters of the present application, the following description is made with reference to the accompanying drawings and detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic overall workflow of the present application;
FIG. 2 is a schematic diagram of the actual position of the displacement sensor;
FIG. 3 is a schematic diagram of the overall structure of the present application;
FIG. 4 is a schematic diagram of an embodiment;
fig. 5 is a schematic diagram of an embodiment vehicle connection.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application; all other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1, a method for measuring an articulation angle of an automobile train based on recursive average filtering comprises the following steps:
step 1, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, and transmits acquired original data to a filtering module;
step 2, after the filtering module receives the displacement variation acquired by the data acquisition module, filtering the data by adopting a recursive average filtering method, and transmitting the filtered data to the calculation module;
and 3, calculating the data filtered by the filtering module by combining the positions of the fixed reference point of the front vehicle frame and the fixed reference point of the rear vehicle frame and the hinge point of the vehicle to obtain the hinge angle of the vehicle.
Specifically, in this embodiment, the data acquisition module sends the acquired raw data to the data filtering module and the calculation module respectively; after the calculation module obtains the original data and the filtering data, the original data and the filtering data are compared, and the filtering effect of the filtering module is analyzed.
As shown in fig. 2 and 3, the data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, wherein a vehicle hinge point is an intersection point of a front vehicle hinge plate and a rear vehicle hinge plate bracket, and the fixed reference point is a preset fixed point on a vehicle; the displacement sensor is connected between the fixed reference point of the front car frame and the fixed reference point of the rear car frame through a hinge, and comprises various displacement sensors, such as a sliding rheostat, and the change value of the length is obtained through conversion of the difference value of the voltage; for example, a noncontact displacement sensor, the change value of the length is obtained by converting the difference value of the magnetic field.
Example 1
As shown in fig. 3 and 4, the data acquisition module acquires acquired data by using a displacement sensor, wherein a point a is a vehicle hinge point, a point B is a rear vehicle frame fixed reference point, and a point C is a front vehicle frame fixed reference point. The displacement sensor is arranged between the points B and C to collect displacement values,AB、AC、BCis known to be 175, 495.92, 411.95, < respectivelyBACIs known as 52 DEG, while the vehicle is in motionABAndACfixed. When the vehicle is running, the hinged disk rotates to enableBCIn a variation of the method, the device,BCthe change is measured by a displacement sensor of the data acquisition module, and then the data acquisition module transmits data to the data filtering module and the calculating module.
Because the data of the data acquisition module can be interfered by the external environment, the data fluctuation is faster and has a certain deviation with the actual measured value, the data acquisition module guides the data into the filtering module for filtering. The filtering module firstly collects 20 displacement values through the data collection module, and the 20 displacement values are regarded as an initial data set; then, the acquired new data is put into the last of the initial data set, and the first data of the initial data set is removed, so that a new data set is obtained; the data of the new data group is calculated by arithmetic average to obtain the filtering result of the new data acquired previously, namelyBCAnd sending the filtered displacement value to a calculation module. This way of interfering with the environmentHas good inhibiting effect and high smoothness.
And the calculation module indirectly calculates the hinge angle by using the geometric relationship after obtaining the numerical value obtained after filtering. Length 411.95 ofBCEdges corresponding to the initial length of the angle sensor; angle of jointBACThe angle zero position when the hinging angle is zero is 52 DEG, and the actual hinging angle can be obtained by calculating the difference between the angle zero position and the changed angle zero positionφ. When the vehicle bodies rotate relatively, the length of the displacement sensor changes. By obtaining the length, new angle is obtained by conversionBACThe value and thus the articulation angle. Novel angleBACThe value is calculated according to the cosine formulaWhereinBC’Is thatBCAnd calculating the new length of the edge and the acquired displacement value. Defining the hinge angleφThe direction changes from left to positive, right to negative, and the sensor is shown as an example, and the angle is when the vehicle turns leftBACReducing to obtain angleBACNew value of +.BAC1，∠BAC1< 52 DEG, the articulation angle at this timeφThe method comprises the following steps: 1the method comprises the steps of carrying out a first treatment on the surface of the Angle when the vehicle turns rightBACEnlarging and obtaining the angleBACNew value of +.BAC2，∠BAC2＞52 °, hinge angle at this timeφThe absolute value of (2) is: />。
Example 2
As shown in fig. 5, the automobile train of the embodiment is composed of 3 carriages, namely an automobile MC1, an automobile T and an automobile MC2; MC1, vehicle body T and motor vehicle MC2 are respectively connected through a first hinge plate and a second hinge plate, whereinφ 12 For the hinge angle between MC1 and T,φ 23 is the hinge angle between T and MC 2.
The point A and the point A' are respectively a first vehicle hinge point and a second vehicle hinge point, and the point B and the point C are fixed references on the vehicle body T and the motor vehicle MC1Points B 'and C' are fixed reference points on the motor car MC2 and the car body T. Two displacement sensors are arranged at the point B and the point C, and displacement values are acquired between the point B and the point C, so that the angle isBACThe initial angle of (1) is known asθ， ∠B’A’C’The initial angle of (1) is known asθ’。
Novel angleBACValue sum +.B’A’C’Defining articulation angle according to cosine formula calculationφThe direction changes from motor car MC1 left to positive and right to negative, and the sensor in the figure is taken as an example:
when the headstock is MC1 end, the left side of MC1 connection T is displacement sensor, and when turning left, angleBACBecomes smaller, angleB’A’ C’Becoming large; when turning right, angleBACBecome bigger, angleB’A’C’Smaller, therefore:
when the vehicle head MC1 turns left, the angle is obtainedBACNew value of +.BAC3，∠BAC3＜θThe method comprises the steps of carrying out a first treatment on the surface of the Corner angleB’A’C’New value of +.B’ A’C’3，∠B’A’C’3＞θ’The method comprises the steps of carrying out a first treatment on the surface of the Thus:
hinge angleφ 12 The method comprises the following steps:
φ 12 =θ-∠BAC3
hinge angleφ 23 The absolute value of (2) is:
φ 23 =∠B’A’C’3-θ’
when the vehicle head MC1 turns right, the angle is obtainedBACNew value of +.BAC4，∠BAC4＞ θThe method comprises the steps of carrying out a first treatment on the surface of the Corner angleB’A’C’New value of +.B’ A’C’4, ∠B’A’C’4＜ θ’；
Hinge angleφ 12 The absolute value of (2) is:
φ 12= ∠BAC4-θ
hinge angleφ 23 The method comprises the following steps:
φ 23 =θ’-∠B’A’C’4
when the vehicle head is an MC2 end, the left side of the T-connection MC2 is a displacement sensor, and when the vehicle head turns left, the angle BAC becomes larger, and the angleB’A’C’Becoming smaller; when turning right, angleBACBecomes smaller, angleB’A’C’Become large, and therefore:
when the vehicle head MC2 turns left, the angle is obtainedBACNew value of +.BAC5，∠BAC5＞θThe method comprises the steps of carrying out a first treatment on the surface of the Corner angleB’A’C’New value of +.B’ A’C’5，∠B’A’C’5＜ θ’The method comprises the steps of carrying out a first treatment on the surface of the Thus:
hinge angleφ 12 The method comprises the following steps:
φ 12 =∠BAC5-θ
hinge angleφ 23 The absolute value of (2) is:
φ 23 =θ’-∠B’A’C’5
when the vehicle head MC2 turns right, the angle is obtainedBACNew value of +.BAC6，∠BAC6＜θThe method comprises the steps of carrying out a first treatment on the surface of the Corner angleB’A’C’New value of +.B’ A’C’6，∠B’A’C’6＞θ’；
Hinge angleφ 12 The absolute value of (2) is:
φ 12 =θ-∠BAC6
hinge angleφ 23 The method comprises the following steps:
φ 23 =∠B’A’C’6-θ’
it is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The method for measuring the hinge angle of the automobile train based on recursive average filtering is characterized by comprising the following steps of:
step 1, a data acquisition module acquires displacement variation between a front vehicle frame fixed reference point and a rear vehicle frame fixed reference point, and transmits acquired original data to a filtering module;
step 2, after the filtering module receives the displacement variation acquired by the data acquisition module, filtering the data by adopting a recursive average filtering method, and transmitting the filtered data to the calculation module;
step 3, the calculation module combines the positions of the fixed reference points of the front vehicle frame and the fixed reference points of the rear vehicle frame with the hinging points of the vehicle, calculates the data filtered by the filtering module, and obtains the hinging angle of the vehicle;
the data acquisition module acquires displacement variation between a front vehicle framework fixed reference point and a rear vehicle framework fixed reference point, wherein the vehicle hinge point is a crossing point of a front vehicle hinge plate and a rear vehicle hinge plate bracket, and the fixed reference point is a preset fixed point on the vehicle; the displacement sensor is arranged between the fixed reference point of the front vehicle frame and the fixed reference point of the rear vehicle frame; the fixed positions of the front vehicle frame fixed reference point and the rear vehicle frame fixed reference point are rigid bodies and are not deformed by external pressure;
the filtering module is used for filtering the data acquired by the data acquisition module, and the recursive average filtering method specifically comprises the following steps:
step 2-1, acquiring displacement variation of a fixed reference point of a front vehicle frame and a fixed reference point of a rear vehicle frame for n times through a data acquisition module, and taking the acquired n data as an initial data set;
step 2-2, when the data acquisition module acquires the new displacement variation, the acquired new data is put at the tail end of the original initial data set, and the first data of the original initial data set is removed to obtain a new data set;
step 2-3, carrying out arithmetic average calculation on the data of the new data group to obtain a filtering result of the new data acquired previously;
the calculation module is used for calculating the data filtered by the filtering module, and specifically comprises the following steps:
step 3-1, introducing a distance a between a vehicle hinge point and a front frame fixed reference point, a distance b between the vehicle hinge point and a rear frame fixed reference point, and an initial distance c between the front frame fixed reference point and the rear frame fixed reference point; wherein a and b are known preset values and are not changed in the running process of the vehicle;
step 3-2, leading in an initial included angle theta between a vehicle hinge point and a front vehicle frame fixed reference point, and a vehicle hinge point and a rear vehicle frame fixed reference point, wherein the theta is a known preset value;
step 3-3, obtaining a new distance c' between the front frame fixed reference point and the rear frame fixed reference point according to the initial distance c between the front frame fixed reference point and the rear frame fixed reference point and the displacement variation between the front frame fixed reference point and the rear frame fixed reference point led in by the filter module;
step 3-4, obtaining a new included angle theta' between a vehicle hinge point and a front vehicle frame fixed reference point and between the vehicle hinge point and a rear vehicle frame fixed reference point according to a cosine formula, wherein the specific formula is as follows:
and 3-5, calculating the hinging angle of the running of the vehicle according to the included angle theta and the new included angle theta'.
2. The method for measuring the articulation angle of the automobile train based on recursive average filtering according to claim 1, wherein in the step 3-5, the calculation method of the articulation angle is as follows:
step 3-5-1, defining the positive direction of the variation of the hinge angle, wherein the hinge angle is positive when the vehicle turns left, and the hinge angle is negative when the vehicle turns right;
and 3-5-2, obtaining the hinge angle phi according to the positive direction of the defined hinge angle variation, wherein phi is equal to theta-theta 'or theta' -theta.
3. The method for measuring the articulation angle of the train of the automobile based on the recursive average filtering according to claim 1, wherein in the step 4, after the calculation module obtains the articulation angle of the automobile, the obtained result is used as the input of the automobile control system to control the running of the whole automobile.
4. The method for measuring the articulation angle of the train of the automobile based on the recursive average filtering according to claim 1, wherein the displacement sensor is connected between a fixed reference point of a front frame and a fixed reference point of a rear frame through a hinge.
5. The method for measuring the articulation angle of the automobile train based on recursive average filtering according to claim 1, wherein in the step 2-1, the acquisition times n of the data acquisition module are preset according to the running condition of the automobile, and the range of n is 5-60 times.
6. The method for measuring the articulation angle of the train of the automobile based on recursive average filtering according to claim 1, wherein in the step 1, the data acquisition module respectively sends the acquired original data to the data filtering module and the calculation module; after the calculation module obtains the original data and the filtering data, the original data and the filtering data are compared, and the filtering effect of the filtering module is analyzed.
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