The Design And Implementation Of Wheel Force Transducer With Motion Perception Ability

The wheel force transducer is a special device for acquiring the force of the driving vehicle.It provides an important reference for vehicle testing and R&D and it plays a very important role in vehicle performance analysis and evaluation.However,according to the second law of Newton,the additional mass of the transducer will produce inertial force/torque under the influence of the acceleration field,which results in the inertial coupling error included in the measured data.This paper aims at designing and implementing a wheel force transducer with motion perception ability which not only can acquire the wheel force data but also can obtain the motion information of the wheel force transduce for the research on the inertial coupling.The main research contents are as follows:(1)Built a wheel force transducer system with motion perception ability.The hardware is mainly composed of C8051F021 minimum system,power module,wheel force signal conditioning module,inertial measurement module and Bluetooth module.The wheel force signal conditioning module amplifies the wheel force signal acquired by the wheel force transducer.The inertial measurement module collects motion information of the wheel force transducer.The Bluetooth module sends the data collected by the lower computer to the upper computer.On the aspect of software,it includes the lower computer software design which is mainly responsible for the collection and transmission of the wheel force data and the motion information of the transducer,the upper computer software which is a computer interface software mainly responsible for the data storage,processing and displaying and the system communication protocol design.(2)Because the inertial measurement module revolves around the center of the wheel while measuring and the actual installation point of the accelerometer is not at the same point with the center of the wheel,it will cause the lever arm effect error inevitably.This paper studied the lever arm effect error of the inertial measurement module in this system and designed an experimental method to measure the length of the lever arm and calibrate the measured acceleration.(3)The angular acceleration is important to the research on the inertia coupling of the wheel force sensor,but it cannot be directly measured by this system.This paper used Kalman filtering algorithm to estimate the angular acceleration with the angular velocity measured by the inertial measurement module and showed the effect by the comparison of the angular acceleration calculated by the differential method.(4)Carried out a series of experiments and tests on the wheel force transducer with motion perception ability to verify its dynamic measurement accuracy of the wheel force,the motion perception ability and the decoupling effect on the additional inertia load.Through the static calibration experiment of the wheel force,the relationship between the output data of each channel and the actual wheel force is established.The dynamic force calculation experiment of the wheel force is carried out to show its effect for the perception of the dynamic force.Experiments consisting of acceleration and deceleration experiments and different road driving experiments are carried out to show the perception of motion through the actual data measured.Finally,the data collected from this system are used for inertia decoupling to verify the actual additional inertia load decoupling effect.