CN105547130A - Method and device for detecting pitch error of ABS ring gear - Google Patents

Abstract

The invention discloses a method and device for detecting a pitch error of an ABS ring gear, and the method comprises the steps: putting the ABS ring gear in a magnetic field for rotation; collecting the time when each tooth cuts a magnetic induction line in the magnetic field through a sensor, and also collecting the corresponding rotating speed of each tooth; obtaining a single-tooth pitch through multiplying the cutting time of each tooth by the radius of the ring gear and the rotating speed; and calculating a single-pitch error. When the method and device are used for testing, the method and device exerts very small impact on the measurement results of the single-pitch error and an accumulative pitch error even if the rotating speed changes a lot, thereby solving a problem that the testing is not accurate because a conventional mode is affected by the change of the rotating speed.

Description

A kind of ABS gear ring pitch error detection method and device thereof

Technical field

The present invention relates to a kind of method and apparatus utilizing magnetic induction measurement ABS gear ring pitch error.

Background technology

Data Acquisition Card is mainly adopted to gather the signal exported when abs sensor rotates to the detection of ABS gear ring pitch error in prior art, and the signal collected is analyzed, the method for the magnetic induction measurement ABS gear ring pitch error disclosed in Chinese patent CN102359755A.Leading indicator has: N pole maximum peak, and S pole maximum peak, N pole average peak, S pole average peak, maximum output voltage, output voltage ratio, tooth error, single pitch error, cumulative pitch error etc., depend on the type of abs sensor.

Existing measuring technology utilizes gear ring in magnetic field, to rotate exported voltage signal period of change to calculate the pitch error of each tooth, therefore require that speed when gear ring rotates can not change, rotary speed precision directly affects pitch error measuring accuracy, the measuring accuracy of single pitch error and cumulative pitch error is larger by the impact of rotational speed, requires higher to the rotation platform speed stability detected.

Summary of the invention

The technical problem to be solved in the present invention is: for current detection technique to the exigent problem of rotary speed precision, provide a kind of can eliminate influence of rotation speed measuring method and corresponding measurement mechanism.

Technical scheme of the present invention is:

A kind of ABS gear ring pitch error detection method: ABS gear ring is placed in magnetic field and rotates, the clipping time of each tooth cutting magnetic induction line in magnetic field and corresponding rotating speed is gathered by sensor, the clipping time of each tooth is multiplied by gear ring radius and rotating speed obtains monodentate pitch, monodentate pitch and resultant pitch contrast obtain monodentate pitch error, and monodentate pitch error sum is cumulative pitch error.

Use abs sensor to gather the clipping time of each tooth cutting magnetic induction line in magnetic field, use rotation-speed measuring device gather the real-time rotate speed of ABS gear ring thus obtain the rotating speed of each tooth in magnetic field during cutting magnetic induction line; Abs sensor exports the periodic waveform of continuous print, and the beginning and ending time of each complete waveform is exactly the clipping time of each tooth cutting magnetic induction line.

Rotary encoder is adopted to gather rotating speed, gather the output signal of rotary encoder, when there is negative edge to Z phase, start the signals collecting of digital to analog converter, the per interval t of analog to digital converter gathers the output signal of an abs sensor, counts the sampled point of analog to digital converter, records the sampled point number between B phase or every two negative edges of A phase and is defined as every line sampling number sc, for the rotary encoder that a resolution is n line, the rotating speed of its i-th line ${\mathrm{wl}}_i=\frac{1}{{\mathrm{sc}}_i}*\frac{1}{t}*\frac{1}{n},.$

The rotating speed wp of ABS gear ring when as linear interpolation processing the sampling of each analog to digital converter sampled point obtains to the rotating speed wl of every line.

The distance that in each time interval t, ABS gear ring rotates is the product of gear ring radius r, rotating speed wp and t; Obtain the beginning and ending time of each tooth cutting magnetic induction line according to the beginning and ending time of each sine wave of abs sensor output, the distance that ABS gear ring in each time interval t in this beginning and ending time section rotates being added up is exactly monodentate pitch.

A kind of ABS gear ring pitch error pick-up unit, comprises ABS gear ring rotation platform and abs sensor, also comprises rotation-speed measuring device, signal acquisition circuit and computation analysis module;

ABS gear ring rotation platform rotates for driving ABS gear ring;

Abs sensor is used for producing corresponding change in voltage, exporting change waveform when the magnetic induction line of gear ring cutting sensor;

Rotation-speed measuring device is for measuring the rotational speed of ABS gear ring;

Analog-to-digital conversion device is comprised, for gathering the output signal of abs sensor and rotation-speed measuring device and being converted into the manageable digital signal of computing machine in signal acquisition circuit;

Computation analysis module is used for the output signal of analytical calculation abs sensor, the one group of sampled point comprised corresponding to each tooth is determined according to waveform change, calculate the rotation distance of gear ring during the sampling of each sampled point, in one group of sampled point, during all sampled point samplings, the rotation distance sum of gear ring is monodentate pitch, and calculating single pitch error, single pitch error sum is cumulative pitch error.

Described rotation-speed measuring device is rotary encoder, is arranged on the motor center axle of ABS gear ring rotation platform.

Acquisition Circuit controls rotary encoder and analog to digital converter collaborative work by FPGA, gathers the simulating signal exported by abs sensor.

ABS gear ring pitch error pick-up unit according to claim 6, is characterized in that: signal acquisition circuit is connected with computer, installs computation analysis module in computer.

Principle of the present invention: by measure each tooth on ABC gear ring rotating speed and in magnetic field time of cutting magnetic induction line, it must be monodentate pitch that both products are multiplied by gear ring radius again.Allow rotation-speed measuring device and abs sensor collaborative work, the time of each tooth cutting magnetic induction line can be determined by the beginning and ending time of each complete cycle of abs sensor output waveform, rotation-speed measuring device can measure the mean value of rotating speed during this period of time simultaneously, just can obtain monodentate pitch so again through calculating.

In order to improve accuracy of detection, with the form calculus pitch error of integration, with the sampling interval duration t of abs sensor, profile of tooth is divided into several points.Gather the rotating speed of abs sensor each sampled point, just can calculate adjacent two collection points in distance corresponding to profile of tooth sample, between all sampled points in a complete waveform, neighbor distance sum is exactly profile of tooth pitch.

Beneficial effect of the present invention:

The present invention controls rotary encoder and A/D converter with high speed and high precision collaborative work by FPGA, gather the simulating signal exported by abs sensor, when carrying out analog to digital conversion, detect the signal intensity situation of scrambler simultaneously, the digital collection recorded between each encoder pulse is counted, and finally obtains the rotating speed of each sampled point in sampling instant.Then by the abs sensor gear ring digital signal after this software analysis analog to digital conversion, single pitch error of abs sensor gear ring, cumulative pitch error, real-time rotate speed situation of change is obtained.Algorithm of the present invention can eliminate the impact of rotation speed change for single pitch error and cumulative pitch error completely compared with prior art and algorithm, significantly improves measuring accuracy.

The method is used to test, even if rotation speed change is very large, all very little on the impact of single pitch error and cumulative pitch error measurement result, solve the problem that traditional approach causes test inaccurate by rotation speed change.

Accompanying drawing explanation

Fig. 1 is rotary encoder output signal schematic diagram.

Fig. 2 is abs sensor output signal schematic diagram.

Fig. 3 is measurement result display figure.

Embodiment

Embodiment 1: harvester: comprise ABS gear ring rotation platform, abs sensor, rotation-speed measuring device, signal acquisition circuit and computation analysis module.

ABS gear ring rotation platform rotates for driving ABS gear ring;

The change in voltage outputting analog signal produced when abs sensor is for measuring gear ring cutting magnetic induction line;

Rotation-speed measuring device is for measuring the rotational speed of ABS gear ring; Be rotary encoder in the present embodiment, be arranged on the motor center axle of ABS gear ring rotation platform.

The collection plate of signal acquisition circuit is made up of core board and base plate two parts, and core board critical piece is: 1. main control chip FPGA; 2. modulus conversion chip AD7606; 3.USB2.0 communication chip CY7C68013; 4. memory chip K4S511632B-TC75.Base plate critical piece is: 1. analog input interface; 2. core board interface; 3. power interface; 4. high speed photo coupling TLP2362.Acquisition Circuit controls rotary encoder and A/D converter with high speed and high precision collaborative work by FPGA, gathers the output signal of simulating signal and the rotary encoder exported by abs sensor, and stores data;

Computation analysis module is used for the output signal of analytical calculation abs sensor, the one group of sampled point comprised corresponding to each tooth is determined according to waveform change, calculate the rotation distance of gear ring during the sampling of each sampled point, in one group of sampled point, during all sampled point samplings, the rotation distance sum of gear ring is monodentate pitch, obtain single pitch error with standard pitch contrast, single pitch error sum is cumulative pitch error.Computation analysis module is a set of software for calculation, is arranged in computer

Acquisition method is as follows:

1.1 install rotary encoder

Rotary encoder is installed on the motor center axle of drive hub bearing rotation in ABS gear ring rotation platform.

1.2 install connect abs sensor

During passive type ABS measures, abs sensor is positioned over ABS gear ring at a distance of 1mm position, and remains unchanged; During active or coil type abs sensor is measured, only need by corresponding output line access collection plate.

1.3 line

1.3.1 encoder output line is connected with collection plate as requested with abs sensor output signal line

1.3.2 with USB line, collection plate is connected to computer

1.4 signals collecting

1.4.1 work before gathering

First start ABS rotation platform, ABS gear ring to be measured is rotated with certain speed, then send beginning collection signal by upper computer software to collection plate

1.4.2 signal acquisition process

After capture card receives acquisition, start to gather rotary encoder output signal, encoder output as shown in Figure 1.

FPGA program constantly gathers Z phase always and outputs signal, and when collecting the negative edge of Z phase, controlling AD conversion chip and gathering abs sensor input signal, and counts to collection and count.ABS (or coil) sensor output signal is as shown in Figure 2:

If collect the negative edge that B phase outputs signal in gatherer process, then record the several number in current collection point (this data name being defined as every phase acquisition count), and will the counter clear 0 of counting be gathered, restart counting, until next negative edge.Collect Z phase negative edge then to illustrate that motor has revolved and turn around, now record the collection number of turns, be more than or equal to arrange the collection number of turns if gather the number of turns, then data acquisition terminates, and all image data are saved in memory chip.In gatherer process, whether the upper computer software data query collection that can always say the word terminates, and terminates, then AD conversion data and every phase acquisition are counted and be uploaded to host computer if gathered.

1.5 data analysis

1.5.1 index definition:

1.5.1.1 single pitch error:

Gear ring list pitch error refers to the error between the pitch of each gear ring and theoretical pitch, one is had to the ABS gear ring of n profile of tooth, and its definition expression formula is as follows:

$SPi=\frac{{\mathrm{nD}}_i-\underset{i=1}{\overset{n}{\Σ}}{D}_i}{\underset{i=1}{\overset{n}{\Σ}}{D}_i}$

D=mono-tooth ring pitch

The n=number of teeth

1.5.1.2 cumulative pitch error

Cumulative pitch error refers to the cumulative errors of two or more gear ring, and its definition expression formula is as follows:

TPi=SP _i(working as i=1)

TPi=TP _i-1+ SP _i(working as >1) SPi is single pitch error

1.5.2 index calculate:

1.5.2.1 every phase rotational speed calculates

The every phase acquisition got according to capture card collection is counted every phase rotating speed that calculation code device rotates, if scrambler one circle has n phase, then:

${\mathrm{wl}}_i=\frac{1/n}{{\mathrm{tc}}_i}$

Tc=every phase sampler time=every phase acquisition counts * AD acquisition interval

If every phase acquisition is counted as sc

AD acquisition interval is t, then:

${\mathrm{wl}}_i=\frac{1}{{\mathrm{sc}}_i}*\frac{1}{t}*\frac{1}{n}$

1.5.2.2 each collection point rotational speed calculates

The rotating speed wp of ABS when each sampled point is sampled is obtained, for every collection point interior mutually by linear interpolation processing:

${\mathrm{wp}}_j=\frac{({\mathrm{wl}}_{i+1}-{\mathrm{wl}}_i)}{{\mathrm{sc}}_i}*j+{\mathrm{wl}}_i$

The every phase acquisition of sc=is counted

J belongs to (0, sc)

One is had to the scrambler of n phase, circulation is carried out n time, can obtain the rotating speed wp of each sampled point ABS gear ring when sampling.

1.5.2.3 the initial time of each tooth and end time calculate

The waveform that abs sensor collects is as shown in Figure 2:

The end point of this gear ring when signal changes to from low to high at 0, the starting point of next gear ring, so can by obtaining the initial time ts of each tooth, end time te to the detection of waveform rising edge zero crossing.

1.5.2.4 calculate mono-tooth ring pitch

For the ABS gear ring that a rotating speed is changing always, its single-unit gear ring pitch can be calculated by following formula

$D=r\underset{ts}{\overset{te}{\∫}}wdt$

R=abs gear ring radius

This tooth initial time of ts=

This tooth end time of te=

After this formula digitizing, can following formula be converted into:

$D=r\underset{i=ts}{\overset{te}{\Σ}}{\mathrm{wp}}_{i}t$

T=ad sampling interval duration

The rotating speed of wp=ts to te during this period of time during each sampled point sampling

1.5.2.5 single pitch error is calculated:

Upper joint gained D is substituted into the formula of 4.5.1.1 definition, and constant of dividing out single pitch error of each gear ring

1.5.2.6 calculating cumulative pitch error:

Upper joint is calculated gained list pitch error SP substitution 4.5.1.2 institute defined formula and can obtain all cumulative pitch errors.

Fig. 3 is when the rotating speed Output rusults measured when 60-200RPM changes.

Following table is the measurement result to same ABS gear ring under different rotating speeds.

From table, we can see, adopt measuring method of the present invention, and the result measured under different rotating speeds, under different rotation speed change amplitude is all very stable.

Embodiment 2: harvester: comprise ABS gear ring rotation platform, abs sensor, rotation-speed measuring device, signal acquisition circuit and computation analysis module.

ABS gear ring rotation platform rotates for driving ABS gear ring;

The change in voltage produced when abs sensor is for measuring gear ring cutting magnetic induction line outputting analog signal;

Rotation-speed measuring device is for measuring the rotational speed of ABS gear ring; Be rotary encoder in the present embodiment, be arranged on the motor center axle of ABS gear ring rotation platform.

The collection plate of signal acquisition circuit is made up of core board and base plate two parts, and core board critical piece is: 1. main control chip FPGA; 2. modulus conversion chip AD7606; 3.USB2.0 communication chip CY7C68013; 4. memory chip K4S511632B-TC75.Base plate critical piece is: 1. analog input interface; 2. core board interface; 3. power interface; 4. high speed photo coupling TLP2362.Acquisition Circuit controls rotary encoder and A/D converter with high speed and high precision collaborative work by FPGA, gathers the output signal of simulating signal and the rotary encoder exported by abs sensor, and stores data.

Measuring method:

1. every phase rotating speed of encoder output calculation code device rotation is got according to capture card collection, if scrambler one circle has n phase, then:

${\mathrm{wl}}_i=\frac{1/n}{{\mathrm{tc}}_i}$

The beginning and ending time of the every phase of tc=.

2. the initial time of each tooth and end time calculate

The waveform that abs sensor collects is as shown in Figure 2:

The end point of this gear ring when signal changes to from low to high at 0, the starting point of next gear ring, so can by obtaining the initial time ts of each tooth, end time te to the detection of waveform rising edge zero crossing.

3. calculate the velocity of rotation of each tooth:

In the initial time ts of each tooth and end time te, can obtain in this time interval rotary encoder collect the corresponding rotating speed of X phase, get the rotating speed of mean speed as this tooth of this X phase $w={\mathrm{\Σ}}_{i=ts}^{te}{\mathrm{wp}}_i/X$

4. the pitch of each tooth calculates: the ABS gear ring always changed for a rotating speed, its single-unit gear ring pitch can be calculated by following formula

$D_i=r\underset{ts}{\overset{te}{\∫}}wdt$

R=ABS gear ring radius

This tooth initial time of ts=

This tooth end time of te=

Ts to te mean speed w is during this period of time substituted into above formula, can obtain: D _i=rw (te-ts).

5. calculate single pitch error:

Gear ring list pitch error refers to the error between the pitch of each gear ring and theoretical pitch, one is had to the ABS gear ring of N number of profile of tooth, and its definition expression formula is as follows:

$SPi=\frac{{\mathrm{nD}}_i-\underset{i=1}{\overset{n}{\Σ}}{D}_i}{\underset{i=1}{\overset{n}{\Σ}}{D}_i}$

D _i=gear ring pitch

The n=number of teeth

6. calculate cumulative pitch error:

Cumulative pitch error refers to the cumulative errors of two or more gear ring, and its definition expression formula is as follows:

TPi=SP _i(working as i=1)

TPi=TP _i-1+ SP _i(working as >1) SPi is single pitch error.

Detection method in the present embodiment is poor relative to embodiment 1 precision, but its error is also acceptable under rotation speed change is not king-sized situation.

Claims (9)

1. an ABS gear ring pitch error detection method, it is characterized in that: ABS gear ring is placed in magnetic field and rotates, the clipping time of each tooth cutting magnetic induction line in magnetic field and corresponding rotating speed is gathered by sensor, the clipping time of each tooth is multiplied by gear ring radius and rotating speed obtains monodentate pitch, monodentate pitch and resultant pitch contrast obtain monodentate pitch error, and monodentate pitch error sum is cumulative pitch error.

2. ABS gear ring pitch error detection method according to claim 1, it is characterized in that: use abs sensor to gather the clipping time of each tooth cutting magnetic induction line in magnetic field, use rotation-speed measuring device gather the real-time rotate speed of ABS gear ring thus obtain the rotating speed of each tooth in magnetic field during cutting magnetic induction line; Abs sensor exports the periodic waveform of continuous print, and the beginning and ending time of each complete waveform is exactly the clipping time of each tooth cutting magnetic induction line.

3. ABS gear ring pitch error detection method according to claim 3, it is characterized in that: adopt rotary encoder to gather rotating speed, gather the output signal of rotary encoder, when there is negative edge to Z phase, start the signals collecting of digital to analog converter, the per interval t of analog to digital converter gathers the output signal of an abs sensor, the sampled point of analog to digital converter is counted, record the sampled point number between B phase or every two negative edges of A phase and be defined as every line sampling number sc, for the rotary encoder that a resolution is n line, the rotating speed of its i-th line

4. ABS gear ring pitch error detection method according to claim 4, is characterized in that:

The rotating speed wp of ABS gear ring when as linear interpolation processing the sampling of each analog to digital converter sampled point obtains to the rotating speed wl of every line.

5. ABS gear ring pitch error detection method according to claim 5, is characterized in that:

The distance that in each time interval t, ABS gear ring rotates is the product of gear ring radius r, rotating speed wp and t; Obtain the beginning and ending time of each tooth cutting magnetic induction line according to the beginning and ending time of each sine wave of abs sensor output, the distance that ABS gear ring in each time interval t in this beginning and ending time section rotates being added up is exactly monodentate pitch.

6. an ABS gear ring pitch error pick-up unit, comprises ABS gear ring rotation platform and abs sensor, it is characterized in that: also comprise rotation-speed measuring device, signal acquisition circuit and computation analysis module;

ABS gear ring rotation platform rotates for driving ABS gear ring;

Abs sensor is used for producing corresponding change in voltage, exporting change waveform when the magnetic induction line of gear ring cutting sensor;

Rotation-speed measuring device is for measuring the rotational speed of ABS gear ring;

Analog-to-digital conversion device is comprised, for gathering the output signal of abs sensor and rotation-speed measuring device and being converted into the manageable digital signal of computing machine in signal acquisition circuit;

Computation analysis module is used for the output signal of analytical calculation abs sensor, the one group of sampled point comprised corresponding to each tooth is determined according to waveform change, calculate the rotation distance of gear ring during the sampling of each sampled point, in one group of sampled point, during all sampled point samplings, the rotation distance sum of gear ring is monodentate pitch, and calculating single pitch error, single pitch error sum is cumulative pitch error.

7. ABS gear ring pitch error pick-up unit according to claim 6, is characterized in that: described rotation-speed measuring device is rotary encoder, is arranged on the motor center axle of ABS gear ring rotation platform.

8. ABS gear ring pitch error pick-up unit according to claim 7, is characterized in that: Acquisition Circuit controls rotary encoder and analog to digital converter collaborative work by FPGA, gathers the simulating signal exported by abs sensor.

9. ABS gear ring pitch error pick-up unit according to claim 6, is characterized in that: signal acquisition circuit is connected with computer, installs computation analysis module in computer.