基于车轮力传感器的道路载荷谱采集系统设计_刘庆华

doi10．3969/j．issn．1671－7775．2011．04．004121．2120032．210096．．CANcPCI－－WFTARKalman．．ARKalmanU467.1A1671－7775201104－0389－052010－03－315100814350978127QC201005353009011977—[e-mail]．1959—[e-mail]mforroadloadingspectradatabasedonwheelforcetransducerLiuQinghua1ZhangWeigong21．SchoolofComputerScienceandEngineeringJiangsuUniversityofScienceandTechnologyZhenjiangJiangsu212003China2．DepartmentofInstrumentScienceandEngineeringSoutheastUniversityNanjingJiangsu210096ChinaAbstractIndirectacquisitionmethodofusingaccelerationsensorwasnormallyusedtoacquireroadloa-dingspectradataleadingtolargedetectionerror．AccordingtothedirectacquisitionmethodofwheelforcetransducerWFTanacquisitionsystemwasproposed．Unidirectionalconcurrentbuswasdesignedtotransmithigh-speeddataandbidirectionalserialbuswasdesignedtotransmitdata．CANbusandschemebasedoncPCIofsensorintegrateddataacquisitionpartanduppermachineschedulewereadoptedinhard-waresystem．WirelessdatatransmissionwasusedinwheelforcetransmissionmoduleofWFT．InsoftwaresystemARmodelwhichintegratedwithKalmanfilterwasadoptedfordenoisingofprimitiveloadingspec-tra．On-carexperimentwasconductedonconcreteandpitchroadstoacquireloadingspectradata．There-sultsshowthattherealroadsurfacewavecanberetainedafterfilteringandthesmall-disturbancecanalsobedenoised．Theproposedacquisitionmethodofroadloadingspectradataisreliable．KeywordsroadloadingspectrawheelforcetransducerwirelessdatatransmissionAR-modelingKalmanfilter．22．32．1．2－8．、．MIRA、MTS9．、．、．WFTCANcPCI－－WFTARKalman．1CANcPCI－－．CAN-BUS．1CAN-BUS41CAN-BUS4．41ms2CAN1ms8CAN．1CAN-BUS1．4CAN-BUS．1．1Fig．1Sketchofacquisitionsystemforroadloadingspectradata09344CAN-BUS．．2．2—WFT2.1WFT22．1kHzFxFyFz10kNMxMyMz5kN·m＜0.5%1%200%．2Fig．2Structureofwheelforcetransducer2.22．、、．15kHz100kHz．．MHz2kHz．NordicnRF24012．13．3Fig．3Structureofsignalcoupler1ms·－1100～200Hz1kHz．33.1AR10、、．3AR、MAARMA．3ARLevinson．AR．AR2①Yule-19332Walker②．Yule-WalkerLevinson．．AR、F、FPEAICF．3.2KalmanKalman．KalmanKalmanKal-man4．4KalmanFig．4ModelofKalmanfilter3.2.1xnARpxn=∑pi=1φixn－i+wnwnQwynyn=xn+vnvnwnQv．ynyn－1…yn－pxn．Xn=nXn－1+Γnwn1Yn=HnXn+Vn2XnXn=xnxn－1…xn－p+1T3nn=φ1φ2…φp－1φp10…00…00…10p×p4Γn=10…0Tp×15Hn=10…01×p．63.2.2n．．．．X0P0QwQv．x0．x0．x0P0．Qw．Qv．3.2.312Kn=Pn/n－1HHHPn/n－1HH+QvPn/n－1=Pn－1/n－1H+ΓQwΓHPn/n=I－KnHPn/n－1^Xn/n－1=^Xn－1/n－1^Xn/n=^Xn/n－1+Kn×xn－H^Xn/n－17^Xn/nn^Xn/n－1KnnPn/nPn/n－1I．xn．4．30km·h－14200Hz．2934ARKalman56．56．5．．．References1．WFTD．2008．2．J．200425125－28．ZhangWeigong．Studyonmulti-componentwheelforcemeasurementtechnologyJ．JournalofJiangsuUniver-sityNaturalScienceEdition200425125－28．inChinese3MarcondesJASnyderMBSinghSP．Predictingver-ticalaccelerationinvehiclesthroughroadroughnessJ．JournalofTransportationEngineering1992118133－49．4LiuWeiFwaTFAsceMetal．WaveletanalysisandinterpretationofroadroughnessJ．JournalofTrans-portationEngineering20051312120－130．5GonzlezAO'brienEJLiYYetal．TheuseofvehicleaccelerationmeasurementstoestimateroadroughnessJ．VehicleSystemDynamics2008466483－499．6SoedirdjoTLHendartoSTriadiA．EvaluationoftrafficnoiseinarterialroadwithdifferentroadroughnessJ．ProceedingsoftheEasternAsiaSocietyforTransportationStudies2003461376－1389．7FujikawaTOshinobYMikamiTetal．ExaminationofroadroughnessparametersforabatingtirevibrationandradiatednoiseJ．NoiseControlEngineeringJour-nal200957277－83．8ChandraS．Effectofroadroughnessoncapacityoftwo-laneroadsJ．JournalofTransportationEngineering20041303360－364．9MTSSystemsCorporation．SpinningwheelintegratedforcetransducerEB/OL．2009－10－11．http∥．mts．com/ucm/groups/public/documents/library/dev_004781．pdf．10．M．200093－163．393