CN110412387B - Device and method for measuring steering engine angle time - Google Patents

Abstract

The invention discloses a device and a method for measuring the angle hitting time of a steering engine, wherein the measuring device comprises a bottom plate, a supporting structure, a control module and a power module are arranged on the bottom plate, the supporting structure comprises a supporting rod, a first universal joint and an acrylic plate which are sequentially arranged on the supporting rod, the supporting rod is vertically arranged at the center of the bottom plate, one end of the first universal joint is fixedly connected with the supporting rod, the other end of the first universal joint is fixedly connected with the center of the acrylic plate, and a resistance touch screen is fixed on the acrylic plate; the control module comprises an adjusting unit and a controller, the adjusting unit comprises a steering engine, a pull rod and a second universal joint which are sequentially connected, and the controller is respectively connected with the steering engine and the resistance touch screen; the power module supplies power for the controller and the steering engine. The measurement of the relevant parameters in the invention is obtained by the program processing of the controller, and the measurement process is simple and convenient.

Description

A kind of measuring device and measuring method of steering gear hitting time

technical field

The invention relates to the technical field of steering gear measurement, in particular to a measurement device and a measurement method for steering gear angle time.

Background technique

Steering gear is a kind of angle servo driver, which is widely used in the aircraft model, car model and robot industry. The angle of the steering gear is determined by the pulse duty ratio. When the steering gear is given a specified angle (duty ratio), the steering gear starts to rotate. After reaching the specified angle, the steering gear stops rotating and maintains the angular position. The delay during this period is called the steering gear. The cornering time is an important factor affecting the control effect of the robot's electromechanical system, so it is of great significance to quickly measure the cornering time of the steering gear.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a measuring device and measuring method for the angle of the steering gear, aiming to overcome the defect that the angle of the steering gear is estimated according to the product rotational speed parameters in the use of the existing steering gear, and the accuracy is not high.

The technical scheme adopted in order to achieve the above-mentioned purpose of the invention is as follows:

A device for measuring the cornering time of a steering gear, comprising a base plate on which a support structure, a control module and a power supply module are arranged;

The support structure includes a support rod, a first universal joint and an acrylic plate sequentially arranged on the support rod, the support rod is vertically arranged at the center of the bottom plate, and one end of the first universal joint is fixedly connected to the support rod, The other end is fixedly connected to the center of the acrylic board, and a resistive touch screen is fixed on the acrylic board;

The control module includes an adjustment unit and a controller, the adjustment unit includes a steering gear, a pull rod and a second universal joint, one end of the pull rod is connected to the steering gear, and the other end is fixedly provided with a second universal joint, the second universal joint. The universal joint is fixedly connected with the acrylic plate, and the controller is respectively connected with the steering gear and the resistive touch screen;

The power module is respectively connected with the controller and the steering gear, and supplies power to them.

Preferably, the signal line of the steering gear is connected to the relevant DO pin of the controller, the drive signal of the controller to the resistive touch screen is provided by the DO pin, and an equal gradient potential is formed on the resistive touch screen along the direction of the ball movement. , the output signal of the resistive touch screen is connected to the AI pin of the ADC module of the controller, and the real-time position of the rolling ball on the resistive touch screen is obtained through AD conversion.

Preferably, the controller is a single-chip microcomputer with an A/D module integrated therein.

A method for measuring the cornering time of a steering gear, comprising the following steps:

1) After the measuring device is powered on, the controller resets, initializes the peripheral modules of the controller, controls the steering gear in the middle position, drives the acrylic board and the resistive touch screen to a horizontal state, and gently puts the rolling ball on the side of the resistive touch screen at the midline and remain stationary;

2) Input the deflection angle θ _d through the TFT touch screen of the controller;

3) Press the start button on the TFT touch screen of the controller to start the timer of the controller and record the initial time as t ₀ . At the same time, the controller outputs a PWM signal corresponding to the deflection θ _d of the steering gear, and the steering gear rotates at an angular velocity ω, which drives the resistance When the touch screen is tilted, the ball loses its balance and rolls along the slope of the resistive touch screen;

The steering gear rotates at a uniform angular velocity ω, so the inclination angle θ is a time variable, which is expressed as:

θ=ω·t (1)

In the formula, θ is the inclination angle of the touch screen, and ω is the angular velocity of the steering gear.

A small ball rolling on an inclined plane with an inclination angle θ, the acceleration a _t is:

a _t =g·sin(θ) (2)

where g is the acceleration of gravity.

Putting (1) into (2), we have:

a _t =g·sin(ωt) (3)

After the angle is in place, that is, after it is deflected to the target deflection angle _θd , the steering gear shaft stops rotating, the inclination angle remains unchanged at the target deflection angle θd, and the ball motion remains in a state of uniform acceleration. At this time, the acceleration is a fixed value:

a _t =g·sin(θ _d ) (4)

4) At the timing of sampling, the controller measures the instantaneous coordinate position of the ball in the rolling direction of the resistive touch screen through AD conversion, and calculates the instantaneous speed and acceleration of the ball rolling through differential operations;

5) When the acceleration difference between the two times before and after is 0, it means that the resistive touch screen is deflected to the specified inclination angle, that is, the steering gear is deflected into position. Record the clock at this moment as t ₁ , and subtract it from the measurement start time t ₀ to obtain the specified deflection angle θ _d this time. The corresponding cornering time is displayed and a measurement is completed.

The beneficial effects of the present invention are: the present invention tilts the screen through the deflection of the steering gear to make the ball roll, the resistive touch screen continuously feeds back the position information during the rolling process of the ball to the controller, and the controller accurately timed and processed the position information of the ball, Calculate the instantaneous rolling acceleration of the ball at the sampling time, and judge the time when the angle is in place according to the acceleration difference between adjacent sampling times. The measurement of the relevant parameters in the present invention is processed by the controller. On the one hand, due to the high timing accuracy of the controller, and on the other hand, since the ball position accuracy obtained by the controller through AD conversion is also high, the AD conversion digits can also be appropriately selected. The higher controller further improves the measurement accuracy of the rolling ball position, thereby improving the accuracy of the measured hitting time; and the device of the present invention is simple in structure, convenient in use and easy to operate.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is the three-dimensional structure schematic diagram of the measuring device of a kind of steering gear angle time of the present invention;

FIG. 2 is a schematic diagram of the measurement principle of a method for measuring the cornering time of a steering gear according to the present invention, (a) is a schematic diagram of a small ball in the process of cornering; (b) is a schematic diagram of a small ball after the cornering is in place.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make those skilled in the art better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

Example 1

As shown in FIG. 1 , a device for measuring the cornering time of a steering gear includes a base plate 1, and the base plate 1 is provided with a support structure, a control module and a power supply module 2;

The support structure includes a support rod 41, a first universal joint 42 and an acrylic plate 43 sequentially arranged on the support rod 41. The support rod 41 is vertically arranged at the center of the bottom plate 1, and the first universal joint 42 One end is fixedly connected with the support rod 41, and the other end is fixedly connected with the center of the acrylic plate 43, the acrylic plate 43 is arranged in parallel with the bottom plate 1, and a resistive touch screen 5 is fixed on the acrylic plate 43;

The control module includes an adjustment unit 32 and a controller 31. The adjustment unit 32 is provided with at least one group. The adjustment unit 32 includes a steering gear 321, a pull rod 322 and a second universal joint 323. The pull rod 322 is connected to a support rod. 41 are arranged in parallel, and one end is connected to the steering gear 321, and the other end is fixedly provided with a second universal joint 323, the second universal joint 323 is fixedly connected to the acrylic plate 43, and the controller 31 is respectively connected to the steering gear 321, Resistive touch screen 5 connection;

The power module 2 is respectively connected to the controller 31 and the steering gear 321 and supplies power to them.

The steering gear 321 includes a main body of the steering gear 321, a bracket of the steering gear 321, a copper column and an arm of the steering gear 321. The main body of the steering gear 321 is fixed on the base plate 1 through the bracket of the steering gear 321 and the copper column. The arm of the steering gear 321 is Connect with the pull rod 322 .

The signal line of the steering gear 321 is connected to the relevant I/O port of the controller 31 , the controller 31 provides driving signals to the resistive touch screen 5 , and the output signal of the resistive touch screen 5 is connected to the ADC related port of the controller 31 . .

Example 2

Based on the structure of Embodiment 1, in Embodiment 2, the controller 31 is an MSP430 single-chip microcomputer.

Example 3

A method for measuring the cornering time of a steering gear, comprising the following steps:

1) After the measuring device is powered on and started, the controller 31 is reset, the peripheral modules of the controller 31 are initialized, the steering gear 321 is controlled to be in the middle position, the acrylic plate 43 and the resistive touch screen 5 are driven in a horizontal state, and the rolling ball is placed in the horizontal state. The resistance touch screen 5 is placed at the center line of the upper side and remains stationary;

2) Input the deflection angle θ _d through the TFT touch screen of the controller 31, and the TFT touch screen is a controller TFT touch screen commonly used by those skilled in the art;

3) Press the start button on the TFT touch screen of the controller 31, as shown in Figure 2(b), start the timer ball of the controller 31 at point A as the initial point, record the initial time t ₀ , and at the same time the controller 31 The PWM signal corresponding to the deflection _θd of the steering gear 321 is output, and the steering gear 321 rotates at an angular velocity ω, which drives the resistive touch screen 5 to tilt, and the ball loses its balance and rolls along the slope of the resistive touch screen 5;

The steering gear 321 rotates at a constant angular velocity ω during the angling process, so the inclination angle θ is a time variable, expressed as:

θ=ω·t (1)

A small ball rolling on an inclined plane with an inclination angle θ, the acceleration a _t is:

a _t =g·sin(θ) (2)

Putting (1) into (2), we have:

a _t =g·sin(ωt) (3)

As shown in Figure 2(b), when the ball hits the angle at point B, that is, the resistive touch screen 5 is deflected to the target deflection angle θd, the axis of the steering gear 321 stops rotating, and the time when the ball hits the angle in place is t ₁ , and the inclination angle remains at The target deflection angle θd remains unchanged, and the motion of the ball remains in a state of uniform acceleration. At this time, the acceleration is a fixed value:

a _t =g·sin(θ _d ) (4)

4) at the timing sampling moment, the controller 31 measures the instantaneous coordinate position of the ball in the rolling direction of the resistive touch screen 5 by AD conversion, and calculates the instantaneous speed and acceleration of the ball rolling by differential operation;

₅ ) When the acceleration difference between the two times before and after is ₀ , it means that the resistive touch screen ₅ is deflected to the specified inclination angle, that is, the steering gear 321 is deflected into position. The cornering time corresponding to the deflection angle θ _d is displayed and a measurement is completed.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement or combination made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (3)

1. a measuring device for steering gear hitting time, comprises a base plate, and is provided with a support structure, a control module and a power supply module on the base plate, it is characterized in that: The support structure includes a support rod, a first universal joint and an acrylic plate sequentially arranged on the support rod, the support rod is vertically arranged at the center of the bottom plate, and one end of the first universal joint is fixedly connected to the support rod, The other end is fixedly connected to the center of the acrylic board, and a resistive touch screen is fixed on the acrylic board; The control module includes an adjustment unit and a controller, the adjustment unit includes a steering gear, a pull rod and a second universal joint, one end of the pull rod is connected to the steering gear, and the other end is fixedly provided with a second universal joint, the second universal joint. The universal joint is fixedly connected with the acrylic plate, and the controller is respectively connected with the steering gear and the resistive touch screen; The power module is respectively connected with the controller and the steering gear, and supplies power to them; The controller tilts the screen through the deflection of the steering gear to make the ball roll, and the resistive touch screen continuously feeds back the position information during the rolling process of the ball to the controller. The controller accurately timed and processed the position information of the ball to calculate The instantaneous rolling acceleration of the ball at the sampling moment is obtained, and the moment when the angle is in place is judged according to the acceleration difference between the adjacent sampling moments; the measurement method includes the following steps: 1) After the measuring device is powered on, the controller resets, initializes the peripheral modules of the controller, controls the steering gear in the middle position, drives the acrylic board and the resistive touch screen to a horizontal state, and gently puts the rolling ball on the side of the resistive touch screen at the midline and remain stationary; 2) Input the deflection angle θd through the TFT touch screen of the controller; 3) Press the start button on the TFT touch screen of the controller, start the timer of the controller and record the initial time as t ₀ , at the same time output the PWM signal corresponding to the deflection θd of the steering gear, the steering gear drives the resistance touch screen to tilt, and the ball begins to move along the resistance Touch screen bevel scrolling; 4) At the timing of sampling, the controller measures the instantaneous coordinate position of the ball in the rolling direction of the resistive touch screen through AD conversion, and calculates the instantaneous speed and acceleration of the ball rolling through differential operations; 5) When the acceleration difference between the two times before and after is 0, it means that the resistive touch screen is deflected to the specified inclination angle, that is, the steering gear is deflected into position. The clock at this moment is recorded as t ₁ , which is subtracted from the measurement start time t ₀ to obtain the corresponding deflection angle θd this time. and display the cornering time to complete a measurement. 2. the measuring device of a kind of steering gear angle time according to claim 1, it is characterized in that: the signal line of described steering gear is connected with the relevant D0 pin of controller, and the drive signal of described resistive touch screen is controlled by The D0 pin of the controller is provided, and the output signal of the resistive touch screen is connected to the AI input end of the A/D module of the controller. 3 . The device for measuring the angle-taking time of a steering gear according to claim 1 , wherein the controller is a single-chip microcomputer with an A/D module integrated therein. 4 .

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