基于三轴加速度传感器的速度测量方法研究与实现
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摘要
针对电梯、起重机等低速运动的大型机械的速度测量,提出了一种基于三轴加速度检测的速度测量方法并设计了速度测量系统。针对大型机械在移动物体时的变加速运动特点,以及移动过程中载荷变化和运动物体摆动、抖动等对检测数据的干扰,提出了一种噪声自适应卡尔曼滤波算法,对加速度数据进行滤波处理,并针对计算过程中产生的累积误差,提出了零值误差自适应补偿方法。实验结果表明:检测方法可以实现对低速机械物体速度的测量,经滤波处理后的数据平滑稳定,测量精度能够满足系统要求。
Aiming at speed measurement of elevator,crane and other low-speed motion of large machinery,a velocity measurement method based on tri-axis acceleration detection is presented and a speed measurement system is designed. Aiming at characteristics of the large machinery moving objects in varying accelerated motion,as well as interference of load change in the process of moving and swinging motion of moving objects on detection data,noise adaptive Kalman filtering algorithm is proposed for filtering processing on acceleration data,and zero error adaptive compensation method is presented aiming at accumulated error generated in the process of calculation. Experimental results show that the detection method can realize speed measurement of low speed mechanical object. After filtering processed,data is smooth and stable,and measurement precision can meet requirements of the system.
Aiming at speed measurement of elevator,crane and other low-speed motion of large machinery,a velocity measurement method based on tri-axis acceleration detection is presented and a speed measurement system is designed. Aiming at characteristics of the large machinery moving objects in varying accelerated motion,as well as interference of load change in the process of moving and swinging motion of moving objects on detection data,noise adaptive Kalman filtering algorithm is proposed for filtering processing on acceleration data,and zero error adaptive compensation method is presented aiming at accumulated error generated in the process of calculation. Experimental results show that the detection method can realize speed measurement of low speed mechanical object. After filtering processed,data is smooth and stable,and measurement precision can meet requirements of the system.
引文
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[2]张世璞.汽车速度测量方法研究[D].天津:天津理工大学,2011.
[3]蒋剑锋,陆纪法,王汉炜,等.桥式起重机位置和速度测量装置的研发及应用[J].装备制造技术,2011,3(1):157-158.
[4]Tan C,Park S.Design of accelerometer-based inertial navigation systems[J].IEEE Transactions on Instrumentation and Measurement,2005,54(6):2520-2530.
[5]邓德玖.起重机能耗检测无线传感网数据中心节点的研究与设计[D].徐州:中国矿业大学,2014.
[6]袁西,陈栋,田湘,等.三轴数字加速度计ADXL345及其在捷联惯导中的应用[J].电子设计工程,2010,18(3):138-140.
[7]李娜.基于Zig Bee的无线传感器网络在工业监测中的应用[D].西安:长安大学,2009.
[8]蔡利婷,陈平华,罗彬,等.基于CC2530的Zig Bee数据采集系统的设计[J].计算机技术与发展,2012,11(2):197-200.
[9]徐志国,陈正宇.基于CC2530的实时环境监测系统设计[J].金陵科技学院学报,2014,30(2):23-28.
[10]彭丁聪.卡尔曼滤波的基本原理及应用[J].软件导报,2009,11(8):32-34.
[11]邓自立.最优估计理论及其应用:建模、滤波、信息融合估计[M].哈尔滨:哈尔滨工业大学出版社,2005:51-56.