基于惯性基准多传感器耦合的路面谱测量方法

doi:10.13229/j.cnki.jdxbgxb.20211110

摘要/Abstract

摘要：

基于惯性坐标基准，结合多传感器耦合的路面谱测量方法，将测量系统平台搭载在移动设备（如车辆）上获取道路谱。采用车辆行驶过程中道路谱测量系统获取到的来自车辆瞬时加速度、俯仰角、实时位移与地理信息等数据来计算被测路面不平度；路面不平度以外激励方式引起车辆俯仰与侧倾运动，致使道路参数采集产生误差与错误。本文基于惯性坐标基准，采用多传感器与执行器耦合方法，利用PID控制算法，结合陀螺仪、加速度传感器、角度传感器数据对步进电机进行闭环控制，实时修正测量系统平台因车辆俯仰、侧倾和垂向运动对激光位移传感器姿态的影响，获取准确的道路谱数据。由测量平台获取的不同类型道路位移功率谱密度图像可知，本文方法具有一定的正确性与优越性。

关键词: 车辆工程, 惯性坐标基准, 激光位移传感器, 路面不平度, 路面谱（PSD）

Abstract:

Pavement spectrum measurement method based on the inertial coordinate datum and multi-sensor coupling system， the measuring system platform is installed on the vehicle to obtain the pavement spectrum. The pavement roughness is calculated by using the instantaneous acceleration， pitch angle， real-time displacement， and geographic information which obtained by the measurement platform during vehicle driving. Pavement roughness will stimulate the vehicle motion of pitch and roll， which brings errors to the collection of pavement parameters. Based on inertial coordinate datum， multi-sensor and actuator coupling method is adopted in this paper. Based on the PID control algorithm， to implement closed-loop control for the stepper motor combined with gyroscope， acceleration sensor and angle sensor data， the influence of vehicle pitch， roll and vertical motion on the attitude of laser displacement sensor are corrected in real time to achieve accurate measurement of pavement spectrum. It can be clearly seen from the power spectral density images of different types of pavement displacement obtained by the measuring platform， that the proposed method in this paper is correct and superior.

Key words: vehicle engineering, inertial coordinate benchmark, laser displacement sensor, pavement roughness, pavement surface spectrum （PSD）

中图分类号:

U412.21

陈辉,邵亚军. 基于惯性基准多传感器耦合的路面谱测量方法[J]. 吉林大学学报(工学版), 2023, 53(8): 2254-2262.

Hui CHEN,Ya-jun SHAO. Measurement method of pavement surface spectrum with multi⁃sensor coupling based on inertial benchmark[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(8): 2254-2262.

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