CN115639379A - Method and system for determining compensation factor of speed sensor - Google Patents
Method and system for determining compensation factor of speed sensor Download PDFInfo
- Publication number
- CN115639379A CN115639379A CN202211357355.7A CN202211357355A CN115639379A CN 115639379 A CN115639379 A CN 115639379A CN 202211357355 A CN202211357355 A CN 202211357355A CN 115639379 A CN115639379 A CN 115639379A
- Authority
- CN
- China
- Prior art keywords
- speed
- compensation
- sensor
- determining
- speed sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Indication And Recording Devices For Special Purposes And Tariff Metering Devices (AREA)
Abstract
The present application presents methods and systems for determining a compensation factor for a speed sensor. The method comprises the steps of obtaining a speed reference value and a speed measured value of a speed sensor; acquiring a plurality of working condition parameters at least associated with the use environment of the speed sensor; determining a relationship between the compensation factor and the operating condition parameter based on a speed difference between the speed measurement value and the speed reference value; and determining a compensation coefficient of the speed sensor under the set working condition parameters based on the relation. The method and the system can improve the measurement precision of the sensor, reduce the development and labor cost and improve the calibration test efficiency of the sensor.
Description
Technical Field
The present application relates to sensor calibration, and more particularly, to methods, systems, and computer storage media for determining compensation coefficients for calibrating a speed sensor.
Background
The speed sensor includes an angular velocity sensor, a wheel speed sensor, a linear velocity sensor, and the like. For example, wheel speed sensors are widely used to measure the rotational speed of the wheels of a vehicle, and thereby evaluate the dynamics of the vehicle.
The error of the sensor needs to be calibrated before the speed sensor is used. Speed sensors typically use a speed compensation factor as a calibration parameter. Existing compensation factor algorithms are based on mathematical expressions of the acquisition interval time of the sensor. However, the sensor error cannot be comprehensively calibrated by calculating the compensation coefficient based on the acquisition interval time alone, resulting in inaccurate measurement results of the speed sensor.
Therefore, there is a need for an improved calculation of compensation parameters for speed sensors.
Disclosure of Invention
The present application is directed to methods and systems for more accurately determining a compensation factor for a speed sensor.
According to an aspect of the present application, there is provided a method for determining a compensation coefficient of a speed sensor, including:
acquiring a speed reference value and a speed measurement value of a speed sensor;
acquiring a plurality of working condition parameters of the speed sensor, wherein the working condition parameters are at least associated with the use environment of the speed sensor;
determining a relationship between the compensation coefficient and the operating condition parameter based on a speed difference between the speed measurement value and the speed reference value; and
and determining a compensation coefficient of the speed sensor under the set working condition parameters based on the relationship.
According to another aspect of the present application, a system for determining a compensation factor of a speed sensor is proposed, comprising a calibration test bench comprising a rotating device to be measured, a reference speed sensor and the speed sensor, both the reference speed sensor and the speed sensor being adapted to measure a rotating speed of the rotating device to be measured to obtain a speed reference value and a speed measurement value, respectively; and a processing device configured to implement the above-described method for determining a compensation factor for a speed sensor based on information obtained from a calibration test stand.
According to yet another aspect of the application, a computer-readable storage medium is proposed, on which a computer program is stored, the computer program comprising executable instructions which, when executed by a processor, carry out the method as described above.
According to yet another aspect of the present application, an electronic device is provided, which includes a processor; and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the executable instructions to implement the method as described above.
By applying the scheme provided by the application, more factors which can influence the sensor error and are related to the characteristics of the sensor and the use environment can be considered on the basis of the acquisition interval time, wherein the relation between the measurement error of the speed sensor and various working condition parameters can be determined by considering the working condition parameters such as the temperature of the sensor and the measured speed change degree. The problem that the calculation source of the compensation coefficient of the sensor is single is solved, so that the compensation coefficient of the speed sensor can be determined more accurately.
Drawings
The above and other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 is a schematic flow chart diagram of a method for determining a compensation factor for a speed sensor according to one embodiment of the present application.
FIG. 2 is a detailed flow of the determination of calibrated compensation factors in a method for determining compensation factors for a speed sensor according to one embodiment of the present application.
FIG. 3 is a block schematic diagram of a system for determining a compensation factor for a speed sensor according to one embodiment of the present application.
FIG. 4 is a block schematic diagram of an electronic device for determining a compensation factor for a speed sensor according to one embodiment of the present application.
Detailed Description
Exemplary embodiments will now be described more fully with reference to the accompanying drawings. The exemplary embodiments, however, may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. In the drawings, the size of some of the elements may be exaggerated or distorted for clarity. The same reference numerals denote the same or similar structures in the drawings, and thus detailed descriptions thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, etc. In other instances, well-known structures, methods, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The present application describes methods and systems for determining compensation factors for use in calibration of a speed sensor, taking as an example a wheel speed sensor for measuring wheel speed in a vehicle. The method and system may be used in a signal observation module that calibrates the power of a test vehicle. In addition to the wheel speed sensor, the signal observation module may include other speed-related sensors such as an angular velocity sensor, an acceleration sensor, and the like. However, the solution proposed in the present application for determining the compensation factor of the speed sensor is not limited to the wheel speed sensor. The rotation speed sensor is used to measure the rotation speed of a rotating device such as a rotating shaft (may also be regarded as an angular speed sensor). From the relationship of angular velocity to linear velocity, the measured linear velocity of the rotating device can be calculated based on the angular velocity, and therefore the determination of the compensation coefficient is equally applicable to various types of velocity sensors including linear velocity sensors and the like.
The wheel speed sensor may employ a magnetoelectric or hall principle to obtain the number of pulses collected per unit time (e.g., second and millisecond, etc.) by detecting that the teeth and gaps of a toothed disc fixedly mounted on a rotating device such as a wheel axle of a vehicle respectively pass through a periodic magnetic field variation generated by a sensor head of the sensor. The pulse number and the period of the periodic magnetic field variation between adjacent teeth are reciprocal to each other. On the basis, the angular speed of the rotating device can be calculated by further combining parameters such as the number of teeth of the fluted disc.
The compensation coefficient of the speed sensor is used for calibrating the error between the speed measured value collected by the speed sensor and the speed actual value. The sensor sample settings may affect this error. The sampling settings typically include the sampling interval time of the speed sensor. The shorter the sampling time interval, the more the instantaneous change of the speed can be reflected, but this results in a larger sampling amount and calculation amount, increasing the calculation and storage load of the processing means. The longer the sampling interval, the smaller the amount of sampling and calculation, but at the cost of the measurement value of the speed sensor not responding to the change of the speed in time, resulting in the decrease of the measurement accuracy. Therefore, the selection of the length of the sampling interval time causes an error between the measured value and the actual value of the speed sensor, so that the sampling interval time becomes a factor in determining the measured value for calibrating the speed sensor. The existing compensation coefficient calculation method represents the relationship between the sampling time interval and the compensation coefficient of the speed sensor based on a mathematical expression between the sampling time interval and the compensation coefficient. However, this compensation coefficient calculation method only considers a single source of error from the sample set parameter.
In the use environment of the speed sensor, besides the set factors from the sensor acquisition, other factors influencing the measurement accuracy of the speed sensor exist. For example, the measurement accuracy of a sensor is affected by the temperature of the working environment in which it is operated, i.e., there is a temperature drift. The measurement values of the speed sensors should also track instantaneous or short-term changes in speed in real time, so that the measurement accuracy is also related to the speed of the object measured by the speed sensors. The acquisition time interval, sensor temperature, and speed variation may be referred to as operating condition parameters associated with the use environment of the speed sensor.
The speed profile can be characterized, for example, by a speed gradient. In this application, the speed change gradient represents the speed and extent of change in speed over time, and may be calculated using the quotient of the amount of speed change over the sampling interval time and the length of the sampling interval time, or may be calculated by the derivative of the amount of speed change with the sampling interval time. In the calculation, the first derivative of the speed variation with the sampling interval time is usually used, and higher derivatives can also be calculated as required. Other parameters characterizing speed variations may also be used.
The operating condition parameters of these speed sensors characterize the state and environment of the speed sensors in measurement operation. Those skilled in the art will appreciate that the operating condition parameters of the speed sensor include not only those listed herein, but also other operating condition parameters associated with the environment in which the sensor is used or with characteristics of the sensor itself.
The principles and exemplary aspects of the present application will be described with reference to the method flow and some details thereof for determining a compensation factor for a speed sensor illustrated in fig. 1 and 2, and the system for determining a compensation factor for a speed sensor illustrated in fig. 3.
The method of the present application generally includes a step S110 of obtaining a speed reference value and a speed measurement value of the speed sensor, a step S120 of obtaining a plurality of operating condition parameters of the speed sensor, a step S130 of determining a relationship between a compensation coefficient and the operating condition parameters based on a speed difference between the speed measurement value and the reference value, and a step S140 of generating a compensation coefficient of the speed sensor at any other operating condition parameter different from the operating condition parameters based on the determined relationship.
In particular, step S110 may comprise a substep S111 of building a calibrated test stand, a substep S112 of selecting a reference speed sensor and a substep S113 of acquiring a speed signal 101 using the calibrated test stand to obtain a speed reference and a measured value.
The speed reference and measured values may be obtained by building a calibration test bench for determining the compensation coefficients of the speed sensor. The structure of the calibration test stand is shown in figure 3. The test bench structure shown in fig. 3 is used for measuring and calibrating the compensation factor of a wheel speed sensor, and mainly comprises a mounting plate or base 301, a driving device 302 (e.g., a driving motor) for driving a rotating device 304 (e.g., an axle of a vehicle), a connecting device 303 (e.g., a flange coupling disk) for rigidly or flexibly connecting the driving device 302 with the rotating device 304, and a supporting device 305 (e.g., a supporting bearing seat) fixed and supported on the other side of the rotating device 304. The wheel speed sensor 307 is arranged below the rotating device 304, and is used for measuring the rotating speed of the rotating device 304 and calibrating the compensation coefficient of the wheel speed sensor 307 under the working condition parameter according to the working condition parameter measured by the calibration test platform, so that the wheel speed sensor 307 is used as the speed sensor to be calibrated in the calibration test platform. A high precision wheel speed sensor 306, also located below the rotating device 304, for calibrating the wheel speed sensor 307 is then used to provide the actual rotational speed of the rotating device 304 as a reference standard.
During the calibration test, the driving device 302 rotates at a certain speed, and the rotating device 304 is driven to rotate through the connecting device 303. The high-precision wheel speed sensor 306 and the wheel speed sensor 307 to be calibrated respectively measure and acquire the rotation speed of the rotating device 304 by a signal acquisition unit inside the sensor or used in cooperation with the sensor, and generate a rotation speed signal 101. Of the speed reference value and the speed measurement value acquired in step S110, the speed reference value is from a reference speed sensor (high-precision rotation speed sensor 306), and the speed measurement value is from a speed sensor to be calibrated (rotation speed sensor 307).
The high-precision wheel speed sensor 306 selected in the sub-step S112 serves as a reference speed sensor whose precision should be higher than that of the wheel speed sensor 307 to be calibrated. The calibration test platform uses the rotation speed measured by the high-precision wheel speed sensor 306 as an accurate value of the actual rotation speed, so as to be used for calculating the speed difference between the subsequent sensor measurement value and the reference value, and adjusting the compensation coefficient value under the current working condition parameter based on the speed difference to complete the calibration of the compensation coefficient.
Next, various operating condition parameters of the speed sensor are acquired in step S120. In addition to the sample interval 102, these operating condition parameters may also include other operating condition parameters associated with the use environment, such as sensor temperature 103 and speed change gradient 104.
The speed variation gradient 104 is calculated in the above described way based on the rotational speed signal 101 acquired in step S110 (in particular by sub-step S113) and the sampling interval time 102 acquired in step S120. The speed variation gradient 104 represents a real-time or short-time speed variation of the rotating device 304, and therefore the rotation speed signal measured by the high-precision wheel speed sensor 306, which is a reference speed sensor, is preferably selected for calculation. The sampling interval time 102 may be collected based on a timer or system clock of a calibration test stand. Step S120 of acquiring operating condition parameters includes acquiring sensor temperature 103 in addition to acquiring sampling interval 102 and speed variation gradient 104. According to embodiments of the present application, the tachometer sensor 307 to be calibrated may include a temperature sensor within, on a surface of, or in a component used in conjunction with, the tachometer sensor 307 for providing the sensor temperature 103 of the tachometer sensor 307. A temperature sensor capable of detecting the sensor temperature 103 of the tachometer 307 may also be provided on the calibration test stand adjacent to the tachometer 307.
The speed measurement signal (speed measurement value) acquired by the wheel speed sensor 307 and the speed reference signal (speed reference value) acquired by the high-precision wheel speed sensor 306, respectively, in sub-step S113, and the operating condition parameters 102, 103, and 104 acquired in step S120 are transmitted to the processing means 308 of the system for further calculation.
After data such as a speed signal 101 (specifically including a speed reference value and a speed measurement value), sampling interval time 102, sensor temperature 103, speed change gradient 104 and the like are obtained through the calibration test bench, calibration of a sensor compensation coefficient corresponding to a working condition parameter is started. The calibration function may be performed in the processing device 308 of fig. 3.
In step S130, a relationship between the compensation coefficient and the corresponding condition parameter is determined based on a speed difference between the speed measurement value and the speed reference value. Step S130 specifically includes a substep S131 of determining a calibrated compensation factor corresponding to the operating condition parameter based on the speed difference between the speed measurement and the reference value, and a substep S132 of determining a relationship between the compensation factor and the operating condition parameter based on the determined calibrated compensation factor.
Because the working condition parameters at least comprise a plurality of parameters such as sampling interval time 102, sensor temperature 103, speed change gradient 104 and the like, in order to facilitate calculation, a control variable mode is adopted in the calibration process, namely when the compensation coefficient of the speed sensor is calibrated along with the data of one working condition parameter, other working condition parameters are set to be in a constant state, and thus the independent relation between the compensation coefficient and each working condition parameter is determined. Thus, the calibration of the compensation coefficient may include calibration based on a relationship between the sampling interval time and the compensation coefficient, calibration based on a relationship between the sensor temperature and the compensation coefficient, and calibration based on a relationship between the velocity variation gradient and the compensation coefficient, respectively. These calibration processes may be performed sequentially or in parallel, respectively.
Substep S131 may further comprise substep S1311 of selecting a compensation factor to calculate a speed difference between the speed compensation value of the compensated speed measurement value and the speed reference value, substep S1312 of adjusting the compensation factor under the constraint of a speed difference limitation condition, and substep S1313 of determining the adjusted compensation factor as a calibrated compensation factor corresponding to the operating condition parameter.
The calibration process of sub-step S131 is described below in conjunction with the logic flow shown in more detail in fig. 2.
In sub-step 1311, the relationship between sensor temperature 103 and the compensation factor is examined by first selecting the type of operating condition parameter, such as sensor temperature 103, and setting the other two operating condition parameters constant, as shown at 201. The initial value of the compensation coefficient for the speed sensor is then set, as shown at 202, under operating conditions that primarily look at the sensor temperature 103. The process of selecting the sampling interval 102 and the velocity variation gradient 104 is similar. The initial value of the compensation coefficient needs to satisfy the constraint condition of the compensation coefficient, i.e. fall within the threshold range of the compensation coefficient. The compensation factor threshold range is characterized by a minimum compensation factor and a maximum compensation factor. The above compensation factor constraint may be represented by the following equation:
Offset min ≤Offset Int ≤Offset max
wherein, offset min Is the minimum compensation coefficient, offset, of the speed sensor under a certain working condition parameter or all working condition parameters max Is the maximum compensation coefficient, offset, of the speed sensor under a certain working condition parameter or all working condition parameters Int The initial value of the selected compensation coefficient. The minimum compensation coefficient and the maximum compensation coefficient may be set in advance. In the subsequent compensation factor adjustment, the compensation factor constraint condition needs to be satisfied all the time.
Then, the compensation coefficient is adjusted in sub-step S1312. The constraint condition of the compensation coefficient adjustment is that the absolute value of the difference between the speed compensation value obtained by compensating the speed measurement value of the speed sensor by the compensation coefficient and the speed reference value should meet the speed difference limitation condition.
First, a speed compensation value compensated by a compensation coefficient is calculated, as shown in 203. The relationship between the velocity measurement value before and after compensation by the compensation coefficient and the compensation coefficient is represented by formula (1):
N offset ＝N current *Offset (1)
wherein N is offset For the speed measurement of the speed sensor compensated by the compensation factor, i.e. the speed compensation value, N current Offset is the current compensation factor for the velocity measurement of the sensor before compensation by the compensation factor.
Next, the speed difference between the speed compensation value obtained in 203 and the speed reference value is calculated according to equation (2), as shown at 204.
N Diff ＝N refer -N offset (2)
Wherein N is Diff Is the speed difference between the speed reference value and the speed compensation value, N refer Is a speed reference value, N, from a high-precision wheel speed sensor 306 offset Is the velocity compensation value calculated in equation (1).
The adjusted compensation factor should be such that the speed difference value satisfies the speed difference limiting condition. The speed difference limiting condition includes that the speed difference value calculated in equation (2) should fall within the speed difference threshold range, as indicated by the logical determination of the speed difference value in 205. The speed difference threshold range may be characterized by a minimum speed difference absolute value and a maximum speed difference absolute value. The speed difference limitation condition may be represented by the following formula:
N Difmin ≤AbsN Dif ≤N Difmax
wherein N is Difmin Is the absolute value of the minimum speed difference, N Difmax As absolute value of maximum velocity difference, absN Dif The absolute value of the speed difference between the current speed compensation value and the speed reference value. The minimum speed difference absolute value and the maximum speed difference absolute value may be set in advance.
The speed difference limitation condition (speed difference threshold range) is taken as an object and a condition for judging whether or not the calibration and adjustment of the compensation coefficient is completed. If the adjusted compensation coefficient is such that the speed difference satisfies the speed difference limiting condition (yes judgment result of 205), calibration of the compensation coefficient is completed, and the adjusted current compensation coefficient is determined as the calibrated compensation coefficient corresponding to the operating condition parameter and output in sub-step S1313, as shown in 206 of fig. 2. If the speed difference does not satisfy the speed difference limiting condition (no in determination of 205), the compensation parameter needs to be further adjusted. It should be noted that the calculation of the velocity compensation value and the velocity difference value is performed for the velocity signal and the data at the same time.
If the determination result in 205 is no, the flow proceeds to determine the magnitude of the speed difference. In logic decision 207, the speed difference of the speed reference minus the speed compensation is compared to 0 and a different compensation factor adjustment strategy is employed based on the comparison. If the speed difference is greater than 0 (yes determination 207) indicating that the speed compensation value is less than the speed reference value, the compensation factor needs to be increased to increase the speed compensation value more quickly to the vicinity of the speed reference value, as shown at 208. Conversely, if the speed difference is less than 0 (determination of 207 is no), indicating that the speed compensation value is greater than the speed reference value, the compensation factor needs to be decreased to decrease the speed compensation value more quickly to the vicinity of the speed reference value, as shown at 209. There is generally no case where the speed difference is 0 in 207, because the speed compensation value is equal to the speed reference value at this time, the absolute value of the speed difference is 0, and the determination result of 205 is necessarily yes. The adjustment of the compensation factor, i.e. the increase and decrease, can be in the form of, for example, a uniform step (equal gradient) or a non-uniform step. The step length of the adjustment can also be determined in other ways according to the requirements.
The adjusted compensation factor is again used in 203 to calculate a speed compensation value for the current speed measurement, thereby further calculating a speed difference between the speed compensation value and the speed reference value in 204. The above logic shown in fig. 2 is cycled until all the types of the selected calibration test condition parameters and all the number of the types of the condition parameters are calibrated to obtain the corresponding calibration compensation parameters.
The end of the substep S131 indicates that the compensation factor calibration test work of the speed sensor has been completed. According to the requirement, calibrating the test work and ensuring to obtain the compensation coefficient under a certain amount of working condition data. The calibrated compensation coefficients may be stored in an initial calibrated compensation coefficient data table or an initial calibrated compensation coefficient database.
In sub-step S132, the data processing of the calibrated compensation factor is continued, which includes determining a relationship, in particular a functional relationship, between the compensation factor and the selected type of operating condition parameter based on the calibrated compensation factor, so as to lay a foundation for determining the compensation factor under any set operating condition parameter. As used herein, the term "relationship" refers to a correlation or dependency between two or more objects. Relationships may be characterized and embodied by a collection of data in the form of a function, curve, data table, or database that includes two or more variables or parameters, and the like. For example, the relationship between the compensation factor and the sensor temperature may be embodied as a function or curve of the variation of the compensation factor with the sensor temperature, and more conveniently may be embodied as a table or database including data items of the compensation factor and the sensor temperature. The above relationship may also be determined by using the control variable in sub-step S131, that is, when calibrating the data of the speed sensor with the compensation coefficient varying with one operating condition parameter, the other operating condition parameters are set to be in a constant state, so as to determine the independent relationship between the compensation coefficient and each operating condition parameter. Determining the relationship of these operating condition parameters to the compensation factors may be performed sequentially or in parallel.
Substep S132 may include substep S1321 of screening the calibrated compensation factor based on the selected range of values for the operating condition parameter, substep S1322 of determining a resolution for the operating condition parameter, and substep S1323 of determining a relationship between the calibrated compensation factor and the selected operating condition parameter.
In sub-step S1321, data ranges of interest for the three operating condition parameters of the speed sensor acquisition time interval 102, the sensor temperature 103, and the speed variation gradient 104 are set, respectively, and data (noise data) that is not relevant to the speed sensor application scenario or affects the accuracy of the relationship determination is filtered out.
The resolutions of these three operating condition parameters are set in sub-step S1322 so as to adjust the accuracy and amount of calculation based on the (functional) relationship between the calibrated compensation factor fitting operating condition parameter and the compensation factor.
In sub-step S1323, a relationship between the compensation factor and the selected operating condition parameter is determined based on the screened calibrated compensation factor and the value of the corresponding selected operating condition parameter. The relationship may be characterized by a functional expression, preferably a linear function. The relationship determination process is a function fitting process. Alternatively, the function fitting process may generate the compensation coefficients at other values of the operating condition parameter different from the value of the selected operating condition parameter corresponding to the determined calibration compensation coefficient, for example, by interpolation, and the compensation coefficients are referred to as extended compensation coefficients. The linear interpolation method can effectively reduce the calculated amount on the premise of meeting the fitting precision. The order of the linear interpolation may be set in advance. The higher the order, the more accurate the functional relationship fitted by the interpolation method, and the more accurate the linear interpolation values of other working condition parameters generated based on the functional relationship.
Then, based on the calibration compensation coefficients obtained in the calibration test process, the extended compensation coefficients obtained in the function fitting process, and the values of the selected operating condition parameters corresponding to these compensation coefficients, a more accurate and complete (functional) relationship between the compensation coefficients and the selected operating condition parameters is generated. The data of the selected condition parameters and the corresponding compensation coefficients can be stored in a final calibration compensation coefficient data table or database. The data table or database contains more compensation coefficients of the speed sensor under the condition parameters or arbitrarily set condition parameters than those in the calibration test, or the compensation coefficients under the condition parameters arbitrarily set can be determined more quickly, simply and accurately. According to the embodiment of the application, the fitted relation in the form of the function expression can also be stored in a data table or a database together so as to determine the compensation coefficient under any set working condition parameter through simple calculation.
In step S140, based on the information of the data table/database and/or the functional expression representing the relationship between the compensation coefficient and the operating condition parameter obtained in step S130, the compensation coefficient under any set operating condition parameter is determined, so as to calibrate the speed measurement value of the speed sensor, and the speed compensation value of the speed measurement value compensated by the compensation coefficient is used as an accurate real speed value. For example, by consulting a data table or database, the corresponding compensation factor in the data item including the current operating condition parameter may be determined. In the case that no data item of the current operating condition parameter is included in the data table or the database, the corresponding compensation coefficient of the current operating condition parameter may be obtained by performing interpolation operation on the data item including the operating condition parameter associated with (e.g., close to) the current operating condition parameter. The compensation coefficient corresponding to the current operating condition parameter may also be calculated based on the obtained function expression.
At least one of the above-described steps S130 and S140, and at least one of the sub-steps thereof, may be automatically performed in a script program in the processing means 308 of the system for determining the compensation coefficient of the speed sensor shown in fig. 3. One skilled in the art will appreciate that one or more of these steps/substeps may also be performed at other processing devices located near or at remote locations from the calibration test stand, or at other processing devices on a network or cloud.
By adopting the method and the system for determining the compensation coefficient of the speed sensor, compared with a scheme based on one working condition parameter (sampling interval time), the scheme based on a plurality of working condition parameters (at least comprising three working condition parameters of sampling interval, sensor temperature and speed change gradient) enables the determined value of the compensation coefficient to be more accurate, thereby improving the precision of the speed measurement signal. According to the scheme, the influence of the self characteristics of the sensor and the use environment is considered, more accurate compensation coefficient data are obtained based on accurate calibration test data, and the calculation result precision of related software logic designed based on the scheme is higher. Meanwhile, the system using the universal calibration test bench and the universal algorithm can be used for calibrating and testing speed sensors of different projects and models, so that the cost of subsequent development is greatly reduced. In addition, the degree of automation of the calibration and calculation system is high, and the labor cost can be reduced. Specifically, the calibration test of the compensation coefficient of the speed sensor and the processing work of the calibration data are realized based on a script program for automatic test and data processing. The calibration test bench can automatically adjust parameters and variables related to calibration test according to designed working condition parameter requirements, and performs related data calculation and analysis, recording of calibration test data and subsequent data processing, so that the manpower requirement is greatly reduced and the efficiency is improved in the whole process.
It should be noted that although in the above detailed description several modules or units of the system for determining the compensation coefficient of the speed sensor are mentioned, this division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units. The components shown as modules or units may or may not be physical units, i.e. may be located in one place or may also be distributed over a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
In an exemplary embodiment of the present application, there is further provided a computer-readable storage medium, on which a computer program is stored, the program comprising executable instructions which, when executed by, for example, a processor, may implement the steps of the method for determining a compensation factor for a speed sensor as described in any of the above embodiments. In some possible implementations, the various aspects of the present application may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present application described in the method for determining a compensation factor for a speed sensor of the present description, when said program product is run on the terminal device.
A program product for implementing the above method according to an embodiment of the present application may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In an exemplary embodiment of the present application, there is also provided an electronic device that may include a processor, and a memory for storing executable instructions of the processor. Wherein the processor is configured to perform the steps of the method for determining a compensation factor for a speed sensor in any of the above embodiments via execution of the executable instructions.
As will be appreciated by one skilled in the art, aspects of the present application may be embodied as a system, method or program product. Accordingly, various aspects of the present application may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device 400 according to this embodiment of the present application is described below with reference to fig. 4. The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, electronic device 400 is embodied in the form of a general purpose computing device. The components of electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one memory unit 420, a bus 430 that connects the various system components (including the memory unit 420 and the processing unit 410), a display unit 440, and the like.
Wherein the memory unit stores program code executable by the processing unit 410 to cause the processing unit 410 to perform the steps according to various exemplary embodiments of the present application described in the method for determining a compensation factor for a speed sensor of the present specification. For example, the processing unit 410 may perform the steps as shown in fig. 1 and 2.
The storage unit 420 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM) 4201 and/or a cache memory unit 4202, and may further include a read only memory unit (ROM) 4203.
The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 400 may also communicate with one or more external devices 500 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 400, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 400 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 450. Also, the electronic device 400 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 460. The network adapter 460 may communicate with other modules of the electronic device 400 via the bus 430. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the method for determining the compensation coefficient of the speed sensor according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
Claims (16)
1. A method for determining a compensation factor for a speed sensor, comprising:
acquiring a speed reference value and a speed measurement value of the speed sensor;
acquiring a plurality of working condition parameters of the speed sensor, wherein the working condition parameters are at least associated with the use environment of the speed sensor;
determining a relationship between the compensation factor and the operating condition parameter based on a speed difference between the speed measurement value and the speed reference value; and
and determining a compensation coefficient of the speed sensor under the set working condition parameters based on the relation.
2. The method of claim 1,
the operating condition parameters include at least one of a sampling interval time of the speed sensor, a sensor temperature, and a speed change gradient, wherein the sensor temperature and the speed change gradient are associated with the use environment.
3. The method according to claim 1 or 2,
the speed change gradient is calculated by a quotient of the speed change over the sampling interval time and the sampling interval time or a derivative of the speed change and the sampling interval time.
4. The method of claim 1 or 2, wherein determining the relationship between the compensation factor and the operating condition parameter based on the speed difference between the speed measurement value and the speed reference value comprises:
determining a calibration compensation coefficient corresponding to the working condition parameter based on a speed difference between the speed measured value and the speed reference value;
and determining the relation between the compensation coefficient and the working condition parameter based on the calibrated compensation coefficient.
5. The method of claim 4, wherein determining a calibrated compensation factor corresponding to the operating condition parameter further comprises:
selecting the compensation factor to calculate a speed difference between a speed compensation value of the compensated speed measurement value and the speed reference value;
adjusting the compensation coefficient so that a speed difference between the speed compensation value and the speed reference value satisfies a speed difference limiting condition;
and determining the adjusted compensation coefficient as a calibration compensation coefficient corresponding to the working condition parameter.
6. The method of claim 5, wherein the compensation factor is within a compensation factor threshold.
7. The method of claim 5, wherein the compensation factor is adjusted by:
increasing the compensation coefficient if a speed difference of the speed reference value minus the speed compensation value is greater than 0; and
reducing the compensation coefficient in a case where a speed difference of the speed reference value minus the speed compensation value is less than 0,
wherein the speed difference limiting condition comprises a speed difference between the speed compensation value and the speed reference value being within a speed difference threshold range.
8. The method of claim 4, wherein determining the relationship between the compensation factor and the operating condition parameter based on the calibrated compensation factor further comprises:
and respectively determining the relation between the compensation coefficient and a selected one of the working condition parameters, wherein other working condition parameters different from the selected working condition parameter are kept fixed.
9. The method of claim 8, wherein determining the relationship between the compensation factor and a selected one of the operating condition parameters further comprises:
screening the calibration compensation coefficient based on the selected numerical range of the working condition parameter;
setting the resolution of the working condition parameters;
and determining the relation between the compensation coefficient and the selected working condition parameter based on the screened calibration compensation coefficient and the corresponding value of the selected working condition parameter.
10. The method of claim 9, wherein determining the relationship between the compensation factor and the selected operating condition parameter further comprises:
determining expansion compensation coefficients at the numerical values of other selected working condition parameters different from the numerical value of the selected working condition parameter corresponding to the calibration compensation coefficient by an interpolation method;
and generating the relation between the compensation coefficient and the selected working condition parameter based on the calibrated compensation coefficient, the expanded compensation coefficient and the value of the selected working condition parameter corresponding to the compensation coefficients.
11. The method according to claim 1 or 2,
the speed reference value is obtained by a reference speed sensor, the accuracy of which is higher than the accuracy of the speed sensor.
12. The method of claim 1 or 2, wherein the speed sensor comprises at least one of a rotational speed sensor and a linear speed sensor.
13. A system for determining a compensation factor for a speed sensor, comprising:
the calibration test bench comprises a rotating device to be measured, a reference speed sensor and the speed sensor, wherein the reference speed sensor and the speed sensor are used for measuring the rotating speed of the rotating device to be measured so as to respectively obtain a speed reference value and a speed measurement value;
processing means configured to implement a method for determining compensation factors for a speed sensor according to any one of claims 1 to 12, based on information acquired from said calibration test bench.
14. The system of claim 13, comprising a temperature sensor for obtaining a sensor temperature of the speed sensor.
15. A computer-readable storage medium, on which a computer program is stored, the computer program comprising executable instructions that, when executed by a processor, carry out the method according to any one of claims 1 to 12.
16. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute the executable instructions to implement the method of any of claims 1 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211357355.7A CN115639379A (en) | 2022-11-01 | 2022-11-01 | Method and system for determining compensation factor of speed sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211357355.7A CN115639379A (en) | 2022-11-01 | 2022-11-01 | Method and system for determining compensation factor of speed sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115639379A true CN115639379A (en) | 2023-01-24 |
Family
ID=84947122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211357355.7A Pending CN115639379A (en) | 2022-11-01 | 2022-11-01 | Method and system for determining compensation factor of speed sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115639379A (en) |
-
2022
- 2022-11-01 CN CN202211357355.7A patent/CN115639379A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2497173C2 (en) | Flaw detection for aircraft engine | |
| US9200979B2 (en) | System for bearing fault detection | |
| US7853441B2 (en) | Systems and methods involving engine models | |
| US7092832B2 (en) | Adaptive compensation for measurement distortions in spectroscopy | |
| US7222521B1 (en) | Method and apparatus for brake rotor testing | |
| US11543448B2 (en) | Dynamically determining measurement uncertainty (MU) of measurement devices | |
| US11022542B2 (en) | On-chip spectroscopic sensors with optical fringe suppression | |
| US11371923B2 (en) | Automatic system compliance estimation and correction for mechanical testing systems | |
| CN116296414A (en) | Dynamic measurement system and method for on-line calibration and compensation | |
| CN112560974B (en) | Information fusion and vehicle information acquisition method and device | |
| CN108196092B (en) | Calibration method and system for working radius of centrifugal machine and accelerometer calibration method | |
| CN115639379A (en) | Method and system for determining compensation factor of speed sensor | |
| CN109254251B (en) | Battery impedance measuring device, method and chip | |
| Boldasov et al. | Neural network application for phasechronometric measurement information processing | |
| CN115541933A (en) | Method and apparatus for correcting speed signal | |
| CN112326270B (en) | Tire uniformity test load force control method and device | |
| JP4450750B2 (en) | Fluorescence analyzer | |
| RU198681U1 (en) | Gearbox diagnostics device | |
| CN117129236B (en) | Remote control-based motor vehicle equipment calibration detection method and system | |
| CN116879121B (en) | Air particulate matter concentration real-time monitoring system based on optical fiber sensing technology | |
| RU2430347C1 (en) | Diagnostics procedure for disturbing forces of mechanism unit | |
| CN115077888B (en) | Automatic testing method and system for performance of pillar structure | |
| CN116952354B (en) | Data optimization acquisition method for driving measurement sensor | |
| Kvasnikov et al. | DEVISING A TECHNIQUE FOR ASSESSING THE ACCURACY OF MEASURING ELECTRIC MOTOR TORQUE. | |
| JP2006242581A (en) | Tire uniformity correction method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |