本文選題：道路檢測(cè)　切入點(diǎn)：振動(dòng)　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：隨著路網(wǎng)的逐漸完善,我國(guó)公路建設(shè)的工作重心已經(jīng)逐漸由新公路的建設(shè)轉(zhuǎn)移到已建成公路的養(yǎng)護(hù)上來。國(guó)內(nèi)外現(xiàn)有的道路檢測(cè)車多通過線性激光掃描儀實(shí)現(xiàn)路面的精確檢測(cè),然而,由于路面往往并不平整,而線性激光掃描儀是固定安裝在檢測(cè)車上的,在行駛過程中,由于路面不平度引起的顛簸振動(dòng)、車輛本身加速、減速以及發(fā)動(dòng)機(jī)振動(dòng)等造成的車身姿態(tài)變化會(huì)引起線性激光掃描儀的姿態(tài)變化,造成掃描精度的降低甚至重大誤差的產(chǎn)生。在現(xiàn)有的道路檢測(cè)車中,多通過搭載組合式慣性姿態(tài)測(cè)量系統(tǒng)來實(shí)現(xiàn)車輛姿態(tài)的檢測(cè),進(jìn)而彌補(bǔ)由于車身姿態(tài)變化造成的檢測(cè)誤差。然而一方面組合式慣性姿態(tài)測(cè)量系統(tǒng)往往造價(jià)高昂,而更重要的是,現(xiàn)有的道路檢測(cè)車上的組合式姿態(tài)測(cè)量系統(tǒng)多著眼于整車姿態(tài)的測(cè)量,實(shí)際中引起測(cè)量誤差的僅為搭載激光掃描儀部分車身的姿態(tài)變化,整車姿態(tài)的測(cè)量不但造成了系統(tǒng)的冗余,提高了造價(jià),也導(dǎo)致針對(duì)部分搭載激光掃描儀部分車身的姿態(tài)測(cè)量精度不高。針對(duì)上述問題,本文對(duì)車輛行駛過程中振動(dòng)加速度特性進(jìn)行分析,設(shè)計(jì)了一種基于多維加速度傳感器的車輛姿態(tài)測(cè)量系統(tǒng),針對(duì)性的測(cè)量搭載激光掃描儀部分車身的姿態(tài)變化。根據(jù)實(shí)際需要,通過針對(duì)性的建立路面及車輛振動(dòng)模型,對(duì)車輛行駛過程中的搭載激光掃描儀部分車身振動(dòng)加速度特性進(jìn)行分析,在考慮到道路檢測(cè)持續(xù)時(shí)間長(zhǎng)特點(diǎn)的基礎(chǔ)上,設(shè)計(jì)了針對(duì)車身振動(dòng)加速度的基于1/2車模型的時(shí)域二次積分算法,并通過振動(dòng)臺(tái)靜態(tài)實(shí)驗(yàn)以及實(shí)際道路測(cè)試證明了該算法的有效性及優(yōu)越性,并最終完成了加速度信號(hào)采集電路的PCB設(shè)計(jì)。本文主要包括以下內(nèi)容:首先,從高速公路不平度等級(jí)出發(fā),建立了路面不平度時(shí)域模型,并針對(duì)道路檢測(cè)車的實(shí)際需要,分析搭載激光掃描儀部分車身的特點(diǎn),針對(duì)性的建立了四自由度1/2汽車橫向振動(dòng)數(shù)學(xué)模型,通過MATLAB仿真對(duì)車輛行駛過程中的車身振動(dòng)加速度特性進(jìn)行了分析,并以此作為二次積分算法設(shè)計(jì)的重要依據(jù)。其次,分析現(xiàn)有的二次積分算法,針對(duì)道路檢測(cè)持續(xù)時(shí)間長(zhǎng)的特點(diǎn),基于由四自由度1/2汽車橫向振動(dòng)數(shù)學(xué)模型得到的車身振動(dòng)加速度特點(diǎn),設(shè)計(jì)了能夠進(jìn)行長(zhǎng)時(shí)間高精度積分的二次積分算法,分析車輛行駛過程中搭載激光掃描儀部分車身姿態(tài)變化,根據(jù)加速度傳感器積分結(jié)果給出該部分車身姿態(tài)表示方法。然后,通過標(biāo)準(zhǔn)振動(dòng)臺(tái)靜態(tài)測(cè)試以及道路實(shí)測(cè),對(duì)采集的不同頻率的加速度數(shù)據(jù)進(jìn)行積分,并通過分析積分誤差證明了本文所設(shè)計(jì)二次積分算法的有效性及優(yōu)越性。最后,根據(jù)道路檢測(cè)實(shí)際需要,基于ADS1278芯片,設(shè)計(jì)了并行8通道加速度信號(hào)采集電路,以便同時(shí)采集多個(gè)方向上的多個(gè)加速度傳感器數(shù)據(jù),并完成了PCB設(shè)計(jì)。
[Abstract]:With the gradual improvement of road network, the focus of highway construction in our country has gradually shifted from the construction of new highway to the maintenance of completed highway.Most of the existing road detection vehicles at home and abroad use linear laser scanners to accurately detect the road surface. However, because the road surface is often uneven, the linear laser scanner is fixed in the detection vehicle, and in the process of driving,Due to the bumpy vibration caused by the roughness of the road, the vehicle's acceleration, deceleration and engine vibration will cause the attitude change of the linear laser scanner, resulting in the reduction of scanning accuracy and even the generation of major errors.In the existing road detection vehicle, the combined inertial attitude measurement system is used to detect the vehicle attitude, which can make up for the detection error caused by the change of the vehicle body attitude.However, on the one hand, the combined inertial attitude measurement system is often expensive, and more importantly, the existing road detection vehicle combined attitude measurement system mostly focuses on the whole vehicle attitude measurement.In practice, the measurement error is caused only by the attitude change of part of the body carrying the laser scanner. The attitude measurement of the whole vehicle not only results in the redundancy of the system, but also increases the cost.It also leads to the low precision of attitude measurement for part of the body of laser scanner.In order to solve the above problems, this paper analyzes the vibration acceleration characteristics of vehicle driving, designs a vehicle attitude measurement system based on multi-dimension acceleration sensor, and measures the attitude change of part of vehicle body with laser scanner.According to the actual needs, the vibration acceleration characteristics of part of the vehicle body carried on the laser scanner during the vehicle driving are analyzed by establishing the road surface and vehicle vibration model, considering the long duration of the road detection.A time domain quadratic integration algorithm based on 1 / 2 vehicle model for vehicle body vibration acceleration is designed, and the validity and superiority of the algorithm are proved by the static test of the shaking table and the actual road test.Finally, the PCB design of acceleration signal acquisition circuit is completed.The main contents of this paper are as follows: firstly, a time-domain model of road roughness is established from the gradation of highway roughness, and according to the actual needs of road detection vehicle, the characteristics of part of the body carrying laser scanner are analyzed.In this paper, a four-degree-of-freedom (FDOF) 1 / 2 vehicle lateral vibration mathematical model is established, and the acceleration characteristics of vehicle body vibration are analyzed by MATLAB simulation, which is regarded as an important basis for the design of quadratic integration algorithm.Secondly, the existing quadratic integration algorithm is analyzed. Aiming at the long duration of road detection, the acceleration characteristics of vehicle body vibration are obtained from the four-degree-of-freedom 1 / 2 vehicle lateral vibration mathematical model.A quadratic integration algorithm for long time and high precision integration is designed, and the attitude change of part of the body carried by laser scanner is analyzed. According to the integral result of acceleration sensor, the attitude representation method of this part of body is given.Then, through the static test of the standard vibration table and the road measurement, the acceleration data collected at different frequencies are integrated, and the effectiveness and superiority of the quadratic integration algorithm designed in this paper are proved by analyzing the integration error.Finally, according to the actual needs of road detection, based on the ADS1278 chip, a parallel 8-channel acceleration signal acquisition circuit is designed to collect multiple acceleration sensors in multiple directions at the same time, and the PCB design is completed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：U418.3

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本文編號(hào)：1705321