Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (8): 2254-2262.doi: 10.13229/j.cnki.jdxbgxb.20211110

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Measurement method of pavement surface spectrum with multi⁃sensor coupling based on inertial benchmark

Hui CHEN1(),Ya-jun SHAO2   

  1. 1.School of Railway Technical，Lanzhou Jiaotong University，Lanzhou 730070，China
    2.School of Mechanical & Electronical Engineering，Lanzhou Resources & Environment Voc-Tech University，Lanzhou 730021，China
  • Received:2021-10-26 Online:2023-08-01 Published:2023-08-21

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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）

CLC Number: 

  • U412.21

Fig.1

Principle of pavement spectrum measurement based on straight beam"

Fig.2

Improved structure of pavement spectrum acquisition instrument based on straight beam"

Fig.3

Sensor drive motor and straight beam drive motor"

Fig.4

Ultrasonic speed measuring module and it's interface"

Fig.5

3D profile of pavement roughness"

Fig.6

Road roughness contour"

Fig.7

Pavement surface unevenness curve and power spectral density were collected using straight beam as reference"

Fig.8

Inertial coordinate benchmark pavement roughness measuring principle"

Fig.9

Spinning vehicle motion diagram"

Fig.10

Roll motion and measurement error of measuring platform"

Fig.11

Inertial reference pavement surface spectrum measurement structure"

Fig.12

Sensor angle definition"

Fig.13

Sensor and step motor installed on vehicle structure"

Fig.14

Based on inertial benchmark pavement surface spectrum measurement system schematic"

Fig.15

Based on inertial benchmark pavement spectrum acquisition control system software interface"

Fig.16

Control system software running record"

Fig.17

Bump pavement roughness"

Fig.18

Pavement roughness with slope and their power spectral density"

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