Vehicle-mounted debugging computer fixing device capable of adaptively adjusting position

Abstract

The invention discloses a vehicle-mounted debugging computer fixing device capable of adaptively adjusting the position, which comprises an intelligent electric control module and a suspension damping module, the intelligent electric control module comprises a gyroscope, a direct current motor, a power supply circuit, a pressure sensor and a microcontroller, and the suspension damping module comprises a main bracket, a screen fixing frame and a base. The main support is vertically fixed on a to-be-tested vehicle through a base, a sliding rail is arranged in the main support, a direct current motor, a damping regulator, a first spring, a sliding block and a second spring are sequentially arranged in the sliding rail from the top end to the bottom end, and the screen fixing frame is connected with the sliding block through a connecting rod. And the microcontroller is electrically connected with the gyroscope, the pressure sensor and the direct current motor. Compared with the prior art, the electronic control module is adopted to conduct self-adaptive adjustment on the device, and the stable state can be achieved at the fastest speed when irregular vibration is encountered.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and more specifically, to a fixing device for a vehicle-mounted debugging computer capable of adaptively adjusting a position. Background Art

[0002] During vehicle driving, especially when driving on uneven roads, the vehicle will produce various vibrations, which will directly affect the stability of the debugging equipment (such as computers, sensors, etc.). If the debugging equipment cannot be stably fixed, it may cause inaccurate debugging data and affect the reliability of the debugging results. During the vehicle debugging process, it is very important to keep the relative position of the debugging equipment and the vehicle stable, which helps the debugging personnel to observe and operate accurately. However, vehicle vibration may cause the debugging equipment to shift in position, affecting the debugging personnel's operation and observation, and may even cause equipment damage.

[0003] Traditional vehicle debugging computer fixtures usually use simple fixing methods, such as screw fastening or clamp fixing. These methods cannot provide sufficient buffering and shock absorption effects when facing vehicle vibrations, and also lack adaptive adjustment functions. That is, when the vehicle vibration changes, the fixture cannot automatically adjust to the new vibration conditions and keep the equipment stable. Therefore, a fixture that integrates an intelligent electronic control adjustment module and a suspension shock absorption mechanical structure is needed to achieve the functions of adaptive adjustment and maintaining relative position stability.

[0004] The prior art proposes an automatic balancing extension structure for a vehicle-mounted tablet, including a tablet device and a bracket device. The bracket device is mainly composed of a bottom fixing component, a push rod component and a top component. The push rod component is mainly composed of a push rod mechanism, a push rod drive motor and a top adapter. The drive motor converts the rotational motion into a linear motion, so that the push rod mechanism performs a linear reciprocating motion. The top adapter connects the top component to form a whole with the push rod component. The top component is mainly composed of a device fixing base, a base connector, a top drive motor and a top hand screw. There is a spherical ejector pin on the device fixing base, and a base foam is provided in the assembly gap between the device fixing base and the tablet device. The spherical ejector pin and the spherical cavity of the base connector form a spherical fit, and there is a top drive motor inside the base connector. The defect of this solution is that the electronic control module is not used to adaptively adjust the device, and when encountering irregular vibrations, it is impossible to achieve a stable state at the fastest speed.

[0005] To this end, in combination with the above requirements and the defects in the prior art, the present application proposes a fixing device for a vehicle-mounted debugging computer that can adaptively adjust the position. Summary of the invention

[0006] The present invention provides a fixing device for an on-vehicle debugging computer capable of adaptively adjusting position, which has a simple and light structure, is easy to install and use, and combines intelligent electric control with suspension shock absorption technology to achieve better buffering and shock absorption and position retention effects.

[0007] The primary purpose of the present invention is to solve the above technical problems. The technical solution of the present invention is as follows:

[0008] A first aspect of the present invention provides a fixing device for an on-vehicle debugging computer that can adaptively adjust its position, comprising: an intelligent electronic control module and a suspension shock absorption module, wherein the intelligent electronic control module comprises a gyroscope, a DC motor, a power supply circuit, a pressure sensor and a microcontroller, and the suspension shock absorption module comprises a main bracket, a screen fixing bracket and a base, wherein the main bracket is vertically fixed to the vehicle to be tested through the base, a slide rail is arranged in the main bracket, and a DC motor, a damping adjuster, a first spring, a slider and a second spring are arranged in sequence from the top to the bottom, the screen fixing bracket is connected to the slider through a connecting rod, and the microcontroller is electrically connected to the gyroscope, the pressure sensor and the DC motor.

[0009] Furthermore, the main bracket also includes: an outer shell and a metal rod, a channel is left on the side of the outer shell close to the connecting rod, the metal rod is nested and installed in the center of the inner shell of the main bracket, the metal rod is provided with a slide rail, and a slider is provided on the metal rod, the DC motor and the damping adjuster are arranged at the top of the metal rod, one end of the first spring is installed on the damping adjuster, and the other end is nested and connected with the slider, and one end of the second spring is installed at the bottom end of the outer shell, and the other end is nested and connected with the slider.

[0010] Furthermore, the slider is connected to the connecting rod via a first connecting sleeve, which is made of metal, one end of which is nested on the slider and the other end of which is threadedly connected to the connecting rod; a screen fixing hole is provided on the screen fixing frame for fixing and supporting the screen according to the size and dimensions of the screen.

[0011] Furthermore, the damping adjuster includes: a nut, a connector, a second connecting sleeve and a screw rod, the nut is respectively connected to the first spring through the second connecting sleeve and to the output end of the DC motor through the connector, and the nut is installed on the screw rod.

[0012] Furthermore, the connector is made of light metal, one end of which is connected to the output end of the DC motor via a fixing screw, and the other end of which is connected to the nut in a nested manner.

[0013] A second aspect of the present invention provides an adaptive adjustment method for a vehicle-mounted debugging computer fixing device, the method being used for the vehicle-mounted debugging computer fixing device capable of adaptively adjusting position, comprising the following steps:

[0014] S1. When the vehicle to be tested shakes, the gyroscope collects parameters generated by changes in the vehicle's running posture and the readings generated by the pressure sensor being stretched by the first spring and transmits them to the microcontroller.

[0015] S2. The microcontroller compares the parameters collected by the gyroscope according to a preset table to obtain the optimal control parameters of the DC motor.

[0016] S3. The microcontroller controls the rotation direction of the DC motor according to the indication of the pressure sensor, uses the optimal control parameters to control the speed of the DC motor, and excites it according to the digital PID regulation control algorithm. The DC motor drives the damping regulator to move radially, thereby controlling the damping of the first spring.

[0017] S4, the pressure sensor continues to return readings to the microcontroller, and steps S2-S3 are repeated until the reading of the pressure sensor is 0, and the microcontroller controls the DC motor to stop excitation.

[0018] Furthermore, before comparing the parameters collected by the gyroscope with the preset table, it is necessary to use the Kalman filter algorithm to process the collected parameters to overcome the zero drift phenomenon; the specific process of processing the collected parameters is: first sample the xy axis, then calculate the sampling sum of the xyz axis, and then obtain the xyz axis Kalman variable by calculating the accelerometer covariance queue, calculate the accelerometer offset, and finally calculate the angle correction value of the gyroscope xyz axis according to the accelerometer offset.

[0019] Furthermore, the specific calculation process of the Kalman filter algorithm is:

[0020] Initialize the floating-point data acceleration axa, aya, aza, the gyroscope raw angle variables axg, ayg, azg, the accelerometer offsets gxo, gyo, gzo, set the accelerometer proportional coefficient floatacc_ratio, the gyroscope proportional coefficient gyratio and the accelerometer filtering algorithm sampling times t, and use the following process for calculation:

[0021] First, sample the xy axis, and its sampling queue is:

[0022] float axs[t]={0},ays[t]={0},azs[t]={0}

[0023] Then calculate the sampling sum of the xyz axis:

[0024] long aax_sum,aay_sum,aaz_sum

[0025] Compute the accelerometer covariance queue:

[0026] a_x

[10] ={0},a_y

[10] ={0},a_z

[10] ={0},g_x

[10] ={0},g_y

[10]

[0027] ={0},g_z

[10] ={0}

[0028] Get the x-axis Kalman variable float Px=1, Rx, Kx, Sx, Vx, Qx, the y-axis Kalman variable float Py=1, Ry, Ky, Sy, Vy, Qy and the z-axis Kalman variable float Pz=1, Rz, Kz, Sz, Vz, Qz; according to the preset sampling number time, calculate the sampling sum axo+=ax; ayo+=ay; azo+=az; gxo+=gx; gyo+=gy; gzo+=gz.

[0029] Calculate the accelerometer offset gxo / =times; gyo / =times; gzo / =times; let the differential time dt=(now_time-lastTime) / 1000, the last sampling time lastTime=now_time, and calculate the acceleration of the xyz axis:

[0030] acx=ax / ac_ratio

[0031] axy=ay / ac_ratio

[0032] acz=az / ac_ratio

[0033] Finally, the angle correction values ​​of the gyroscope xyz axes are calculated, where the angle aay of the x-axis to the z-axis is atan(acx / acz)*180 / π, the angle aax of the y-axis to the z-axis is atan(acy / acz)*(-180) / π, and the angle aac of the x-axis to the y-axis is atan(acz / acy)*180 / π.

[0034] Further, in step S3, the direction of rotation of the DC motor is controlled according to the indication of the pressure sensor: when the indication of the pressure sensor is a positive value, the DC motor rotates in the reverse direction, and when the indication of the pressure sensor is a negative value, the DC motor rotates in the forward direction; when the DC motor is excited by the digital PID regulation control algorithm adopted, the input value of the algorithm is the optimal control parameter, which is input into the three controllers of proportional coefficient P, integral coefficient I and differential coefficient D, and the control amount of the DC motor is obtained by summing them.

[0035] Furthermore, the digital PID regulation control algorithm is specifically as follows:

[0036]

[0037] Wherein, t represents the time interval from the start of adjustment to the output of the current control quantity, Kp is the proportional coefficient, Ti is the integral time constant, Td is the differential time constant, and e(t) is the deviation between the expected value of the controlled object parameter and the actual parameter value.

[0038] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0039] The present invention provides a fixing device for an on-vehicle debugging computer capable of adaptively adjusting position. A microcontroller is used to judge the posture change during the vehicle debugging process according to data collected by a gyroscope. A pressure sensor controls the speed and direction of a DC motor according to its own indication and information collected by the gyroscope, thereby controlling the radial movement of a damping regulator on a metal rod, and further controlling the damping of a spring to achieve an optimal suspension buffering shock absorbing effect. The spring damping can be adaptively adjusted to meet the debugging requirements of multiple working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a structural schematic diagram of a fixing device for a vehicle-mounted debugging computer capable of adaptively adjusting position.

[0041] Figure 2 A circuit connection diagram in an embodiment of the present invention.

[0042] Figure 3 It is a schematic structural diagram of a main support in an embodiment of the present invention.

[0043] Figure 4 The present invention is a flow chart of an adaptive adjustment method of a vehicle-mounted debugging computer fixing device.

[0044] Figure 5 This is a flow chart of adaptive adjustment performed by a fixing device when a vehicle shakes in one embodiment of the present invention.

[0045] Figure 6 It is a schematic diagram of a digital PID regulation control algorithm in one embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of a control algorithm model built using MATLAB in one embodiment of the present invention.

[0047] Figure 8 It is a step curve diagram of the digital PID regulation control algorithm in one embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0050] Example 1

[0051] like Figure 1 and Figure 2 As shown, the present invention provides a fixing device for an on-vehicle debugging computer capable of adaptively adjusting position, comprising: an intelligent electric control module 1 and a suspension damping module 2, wherein the intelligent electric control module 1 comprises a gyroscope 101, a DC motor 102, a power supply circuit, a pressure sensor 103 and a microcontroller 104, the suspension damping module 2 comprises a main bracket 3, a screen fixing bracket 4 and a base 5, the main bracket 3 is vertically fixed on the vehicle to be tested through the base 5, a slide rail 301 is arranged in the main bracket 3, and a DC motor 102, a damping adjuster 302, a first spring 303, a slider 304 and a second spring 305 are arranged in sequence from the top to the bottom, the screen fixing bracket 4 is connected to the slider 304 through a connecting rod 401, and the microcontroller 104 is electrically connected to the gyroscope 101, the pressure sensor 103 and the DC motor 102.

[0052] In a specific embodiment, the power supply circuit includes a 7.2V lithium battery and an expansion circuit mainboard.

[0053] It should be noted that the microcontroller serves as the central processor of the intelligent electronic control module, and is used to receive data collected by the gyroscope, and processes the collected data information to control the speed and direction of the DC motor; the gyroscope is horizontally installed on the expansion circuit mainboard, and is used to collect the vehicle's running posture data during vehicle debugging, and transmit the data to the microcontroller; the expansion circuit is used for the control circuit of the DC motor and the external circuit of the gyroscope; the pressure sensor controls the speed and direction of the DC motor; the DC motor serves as an actuator, and is used to control the radial movement of the damping regulator to adjust the damping of the spring; the 7.2V lithium battery provides power for the intelligent electronic control module.

[0054] like Figure 3As shown, the main bracket 3 also includes: a shell 306 and a metal rod 307, a channel is left on the side of the shell 306 close to the connecting rod 401, the metal rod 307 is nested and installed in the center of the shell 306 of the main bracket 3, the metal rod 307 is provided with a slide rail 301, and a slider 304 is provided thereon, the DC motor 102 and the damping regulator 302 are arranged at the top of the metal rod 307, one end of the first spring 303 is installed on the damping regulator 302, and the other end is nested and connected with the slider 304, and one end of the second spring 305 is installed at the bottom end of the shell 306, and the other end is nested and connected with the slider 304.

[0055] In a specific embodiment, the housing 306 is made of metal, and two of them are usually provided for fixing the screen fixing frame. The first spring 303 is a small damping spring, and the second spring 305 is a large damping spring.

[0056] The slider 304 is connected to the connecting rod 401 via a first connecting sleeve, which is made of metal, one end of which is nested on the slider 304 and the other end is connected to the connecting rod 401 via a thread; a screen fixing hole is provided on the screen fixing frame 4 for fixing and supporting the screen according to the size and dimensions of the screen.

[0057] The damping regulator 302 includes: a nut, a connector, a second connecting sleeve and a screw rod. The nut is connected to the first spring 303 through the second connecting sleeve and to the output end of the DC motor 102 through the connector. The nut is installed on the screw rod.

[0058] The connector is made of light metal, one end of which is connected to the output end of the DC motor 102 via a fixing screw, and the other end of which is connected to the nut via a nesting manner.

[0059] In a specific embodiment, the intelligent electric control module 1 needs to be placed horizontally in the vehicle, and the initial direction of the gyroscope is calibrated, and the suspension shock absorption module 2 is fixed on the debugging vehicle by fixing screws.

[0060] When the debugging device is fixed on the screen fixing bracket, under the action of gravity, the large damping spring is compressed and the small damping spring is stretched. At this time, the pressure sensor connected to the small damping spring generates an indication. The microcontroller sends corresponding action instructions to the DC motor according to the positive and negative of the pressure sensor. The DC motor generates excitation and adjusts the radial movement of the damping regulator until the pressure sensor indicates 0 and stops moving.

[0061] When the debugged vehicle shakes, the gyroscope automatically collects the parameters of the vehicle's running posture changes and feeds the obtained information back to the microcontroller. The microcontroller compares the size and reverse direction of the parameters with the control coefficients in the microcontroller storage program table to determine the best control coefficient, and then controls the motor speed and steering to adjust the radial movement distance of the damping adjuster.

[0062] It should be noted that the purpose of the present invention is to provide a fixing device for a vehicle debugging computer with a reasonable structure, which can adaptively adjust and maintain the relative position. In order to solve the problems that the test equipment computer fixing device in the prior art only has a fixing function but does not have the function of buffering and protecting the screen and maintaining the relative position of "man-machine", and the shaking during the debugging process will not only cause discomfort to the debugging personnel but also the vibration and impact caused by the shaking will shorten the service life of the debugging equipment, etc., a solution combining an intelligent electronic control module and a suspension shock absorption module is adopted to achieve the effect of buffering and shock absorption and maintaining the relative position stability.

[0063] When the test vehicle vibrates, the gyroscope in the intelligent electronic control module will collect data information about the vehicle vibration. The microcontroller receives the data information and compares the collected data with the table data through the table lookup method to determine the speed and direction of the DC current motor to control the radial movement distance of the damping regulator. The change in spring damping directly acts on the pressure sensor. When the pressure sensor reading is within the appropriate range, the spring damping in the suspension damping module reaches the optimal state; the screen fixing frame in the suspension damping module can protect the screen and maintain the relative position, the slide rail can guide and limit the range of movement, and the spring can buffer and reset. This design solves the screen jitter caused by the vehicle operation process very well, and achieves very good anti-shake protection and maintains a relatively stable position.

[0064] At the same time, the overall structure of the fixing device is simple and light, and the damping of the spring can be automatically adjusted according to the working conditions. Due to the use of adjustable springs and slide rails, when debugging on the vehicle, the vibration generated by the car will be offset by the device to protect the screen, and maintain a relatively stable position with the driver to make the debugging process more comfortable.

[0065] Example 2

[0066] Based on the above embodiment 1, combined with Figure 4-Figure 6 This embodiment describes in detail the second aspect of the present invention, a method for adaptively adjusting a fixing device for a vehicle-mounted debugging computer, which method is used for the fixing device for a vehicle-mounted debugging computer that can adaptively adjust its position.

[0067] like Figure 4 As shown, the following steps are included:

[0068] S1. When the vehicle to be tested shakes, the gyroscope 101 collects parameters generated by changes in the vehicle's running posture, and the readings generated by the pressure sensor 103 being stretched by the first spring 303 are transmitted to the microcontroller 104.

[0069] S2. The microcontroller 104 compares the parameters collected by the gyroscope 101 according to a preset table to obtain the optimal control parameters of the DC motor 102.

[0070] S3, the microcontroller 104 controls the rotation direction of the DC motor 102 according to the indication of the pressure sensor 103, uses the optimal control parameters to control the speed of the DC motor 102, and excites it according to the digital PID regulation control algorithm. The DC motor 102 drives the damping regulator 302 to move radially, thereby controlling the damping of the first spring 303.

[0071] S4, the pressure sensor 103 continues to return the reading to the microcontroller 104, and steps S2-S3 are repeated until the reading of the pressure sensor 103 is 0, and the microcontroller 104 controls the DC motor 102 to stop exciting.

[0072] In a specific embodiment, the hanging plate is made of lightweight metal and is fixed to the vehicle by hanging plate fixing screws. The hanging plate is connected to the main bracket by fixing screws. The main bracket is composed of a metal shell, a metal rod, a slider, and a spring. A channel is left on the side of the metal shell close to the connecting rod. The slider, connecting sleeve, connecting rod, and screen fixing frame are all made of metal. The large damping spring is nested and connected to the slider and is mounted on the metal rod together. One side of the slider is connected to the connecting sleeve by threads, the connecting rod is nested and connected to the connecting sleeve, and the screen fixing frame is connected to the connecting rod by fixing screws.

[0073] like Figure 5 As shown, when the screen is fixed on the fixed frame, due to the gravity of the screen, the entire screen will slide slightly downward along with the slider and the slide rail, the large damping spring at the bottom of the slider is compressed, and the spring at the top of the slider is stretched. At this time, the reading of the pressure sensor increases, the DC motor is excited, and the damping regulator moves radially. When the pressure sensor reading is 0, the DC motor stops being excited.

[0074] When the vehicle to be tested has a small shake, the display will be protected by buffering and decompression under the action of the spring and the slide rail and maintain a stable relative position with the test engineer. When testing on a rough road, the test vehicle will shake greatly, and the display can no longer maintain a stable relative position with the test engineer. At this time, the intelligent electronic control adjustment module will work, and the DC motor will rotate forward and reverse according to the direction of the display shaking. When the pressure sensor reads 0, the DC motor stops exciting, so as to achieve the best effect of buffering and decompression to protect the screen and maintain a relatively stable position.

[0075] It should be noted that due to the zero drift phenomenon of the gyroscope, the credibility of the data measured in a single real-time measurement is not high, so it is necessary to use the Kalman filter algorithm to process the collected data.

[0076] The parameters collected by the gyroscope 101 need to be processed using a Kalman filter algorithm before being compared with a preset table to overcome the zero drift phenomenon; the specific process of processing the collected parameters is: first, the xy axis is sampled, and then the sampling sum of the xyz axis is calculated, and then the xyz axis Kalman variable is obtained by calculating the accelerometer covariance queue, and the accelerometer offset is calculated, and finally the angle correction value of the gyroscope xyz axis is calculated according to the accelerometer offset.

[0077] In a specific embodiment, the sampling times of the accelerometer filtering algorithm are set to 8 times and the queue sampling times are set to 200 times, and the calculation process is obtained as follows:

[0078] First, define two unsigned long integers unsigned long now_time and last_time; define the differential time of floating-point data as float dt; define the floating-point data accelerometer gyroscope raw angle variables axa=0, aya=0, aza=0, axg=0, ayg=0, azg=0; accelerometer offset gxo=0, gyo=0, gzo=0, accelerometer proportional coefficient float acc_ratio=16384.0, gyroscope proportional coefficient gyratio=131.0; the accelerometer filtering algorithm sampling times is 8 times.

[0079] x,y axis sampling queue float axs[8]={0},ays[8]={0},azs[8]={0}; x,y,z axis sampling and long aax_sum,aay_sum,aaz_sum; accelerometer covariance queue a_x

[10] ={0},a_y

[10] ={0},a_z

[10] ={0},g_x

[10] ={0},g_y

[10] ={0},g_z

[10] ={0}; x axis Kalman variable float Px=1,Rx,Kx,Sx,Vx,Qx; y axis Kalman variable float Py=1,Ry,Ky,Sy,Vy,Qy; z axis Kalman variable float Pz=1, Rz, Kz, Sz, Vz, Qz; the sampling times are 200 times, the sampling and axo+=ax; ayo+=ay; azo+=az; gxo+=gx; gyo+=gy; gzo+=gz; calculate the accelerometer offset gxo / =times; gyo / =times; gzo / =times.

[0080] Where axo represents the cumulative value of x-axis acceleration for the sampling times, ayo represents the cumulative value of y-axis acceleration for the sampling times, azo represents the cumulative value of z-axis acceleration for the sampling times, gxo represents the cumulative value of x-axis acceleration offset for the sampling times, gyo represents the cumulative value of y-axis acceleration offset for the sampling times, gzo represents the cumulative value of z-axis acceleration offset for the sampling times, times the sampling times.

[0081] Differential time (s) dt = (now_time-lastTime) / 1000.0; last sampling time (ms) lastTime = now_time; x-axis acceleration acx = ax / ac_ratio; y-axis acceleration acy = ay / ac_ratio.

[0082] The acceleration of the z-axis acz=az / ac_ratio; the angle between the x-axis and the z-axis aay=atan(acx / acz)*180 / 3.1415926; the angle between the y-axis and the z-axis aax=atan(acy / acz)*(-180) / 3.1415926; the angle between the z-axis and the y-axis aaz=atan(acz / acy)*180 / 3.1415926; for the sliding weighted filtering algorithm of the accelerometer raw data, the appropriate coefficients are obtained through experimental methods.

[0083] In step S3, the direction of rotation of the DC motor 102 is controlled according to the indication of the pressure sensor 103: when the indication of the pressure sensor 103 is a positive value, the DC motor 102 rotates in the reverse direction, and when the indication of the pressure sensor 103 is a negative value, the DC motor 102 rotates forward; when the DC motor 102 is excited by the digital PID regulation control algorithm adopted, the input value of the algorithm is the optimal control parameter, which is input into the three controllers of proportional coefficient P, integral coefficient I and differential coefficient D, and the control amount of the DC motor 102 is obtained by adding them.

[0084] In a specific embodiment, the DC motor excitation adopts a digital PID regulation control algorithm: there are three control parameters in the digital PID, namely, the proportional coefficient P, the integral coefficient I, and the differential coefficient D. Its digital circuit is as follows Figure 6 As shown in the figure, r(t) is the expected value of the state parameter of a controlled object in the controlled system, y(t) is the actual value of the state parameter of the controlled object in the controlled system, and e(t) is the deviation between the expected value and the actual parameter value of the controlled object parameter. The deviation is input to the three controllers P, I, and D. The three controllers have proportional, integral, and differential parameters, which are the basic parameters of PID control. The values ​​output by the three controllers P, I, and D are added to generate u(t), which is the control quantity of the controlled object. u(t) acts on the controlled object, causing the state y(t) of the controlled object to change.

[0085] In this embodiment, the digital PID regulation control algorithm is specifically as follows:

[0086]

[0087] Wherein, t represents the time interval from the start of adjustment to the output of the current control quantity, Kp is the proportional coefficient, Ti is the integral time constant, Td is the differential time constant, and e(t) is the deviation between the expected value of the controlled object parameter and the actual parameter value.

[0088] According to the above technical features, the present invention organically combines the intelligent electronic control module and the suspension shock absorption module. The microcontroller used determines the posture changes during the vehicle debugging process based on the data collected by the gyroscope. The pressure sensor controls the speed and direction of the DC motor based on its own indication and the information collected by the gyroscope, thereby controlling the radial movement of the damping adjuster on the metal rod, and then controlling the damping of the spring to achieve the best suspension buffering shock absorption effect. The spring damping can be adaptively adjusted to meet the debugging requirements of multiple working conditions.

[0089] Example 3

[0090] According to the above-mentioned embodiment 1 and embodiment 2, as Figure 7-Figure 8 As shown, this embodiment will further expand the digital PID regulation control algorithm for explanation.

[0091] In a specific embodiment, according to the host computer experiment, this embodiment uses matlab and simulink to build the following Figure 7 The control model algorithm shown in FIG. 1 is a filter curve generated by adding the input expected value to the output value obtained by the three controllers, and further processing is performed to obtain the following Figure 8 The PID system step response curve is shown in Figure 1. From the curve, we can see that the system oscillates in the initial state, passes through the proportional link, the integral link, and the differential link, and finally reaches a stable state.

[0092] After the test is completed, the built and parameter-adjusted model is packaged, and the code is automatically generated in Simulink. The automatically generated code is then ported to the microcontroller for speed control.

[0093] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium, which, when executed, executes the steps of the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media capable of storing program codes.

[0094] Alternatively, if the above-mentioned embodiments of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media capable of storing program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0095] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. The icons describing the structural positional relationships in the accompanying drawings are only used for exemplary purposes and are not to be construed as limiting the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and is not possible to list all the embodiments here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A fixing device for a vehicle-mounted debugging computer capable of adaptively adjusting position, characterized in that: The invention comprises: an intelligent electric control module (1) and a suspension damping module (2); the intelligent electric control module (1) comprises a gyroscope (101), a DC motor (102), a power supply circuit, a pressure sensor (103) and a microcontroller (104); the suspension damping module (2) comprises a main support (3), a screen fixing frame (4) and a base (5); the main support (3) is vertically fixed on a vehicle to be tested through the base (5); a slide rail (301) is arranged inside the main support (3); a DC motor (102), a damping regulator (302), a first spring (303), a slider (304) and a second spring (305) are arranged in sequence from the top to the bottom; the screen fixing frame (4) is connected to the slider (304) through a connecting rod (401); and the microcontroller (104) is electrically connected to the gyroscope (101), the pressure sensor (103) and the DC motor (102).

2. The fixing device of the vehicle-mounted debugging computer capable of adaptively adjusting position according to claim 1, characterized in that: The main support (3) further comprises: a shell (306) and a metal rod (307); a channel is left on one side of the shell (306) close to the connecting rod (401); the metal rod (307) is nested and installed in the center of the shell (306) of the main support (3); a slide rail (301) is provided on the metal rod (307), and a slider (304) is provided on the slide rail; the DC motor (102) and the damping regulator (302) are arranged at the top end of the metal rod (307); one end of the first spring (303) is installed on the damping regulator (302), and the other end is nested and connected with the slider (304); one end of the second spring (305) is installed at the bottom end of the shell (306), and the other end is nested and connected with the slider (304); 3. The fixing device of the vehicle-mounted debugging computer capable of adaptively adjusting position according to claim 2, characterized in that: The slider (304) and the connecting rod (401) are connected via a first connecting sleeve, which is made of metal, one end of which is nested on the slider (304) and the other end of which is connected to the connecting rod (401) via a thread; the screen fixing frame (4) is provided with a screen fixing hole for fixing and carrying the screen according to the size and dimensions of the screen.

4. The fixing device of the vehicle-mounted debugging computer capable of adaptively adjusting position according to claim 1 is characterized in that: The damping regulator (302) comprises: a nut, a connector, a second connecting sleeve and a screw rod; the nut is respectively connected to the first spring (303) through the second connecting sleeve and to the output end of the DC motor (102) through the connector; and the nut is mounted on the screw rod.

5. The fixing device of the vehicle-mounted debugging computer capable of adaptively adjusting position according to claim 4 is characterized in that: The connector is made of light metal, one end of which is connected to the output end of the DC motor (102) via a fixing screw, and the other end of which is connected to the nut in a nested manner.

6. An adaptive adjustment method for a vehicle-mounted debugging computer fixing device, the method being used for a vehicle-mounted debugging computer fixing device capable of adaptively adjusting position as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: S1, when the vehicle to be tested shakes, the gyroscope (101) collects parameters generated by changes in the vehicle's running posture, and the readings generated by the pressure sensor (103) being stretched by the first spring (303) are transmitted to the microcontroller (104); S2, the microcontroller (104) compares the parameters collected by the gyroscope (101) according to a preset table to obtain the optimal control parameters of the DC motor (102); S3, the microcontroller (104) controls the rotation direction of the DC motor (102) according to the indication of the pressure sensor (103), uses the best control parameters to control the speed of the DC motor (102), and excites it according to the digital PID regulation control algorithm, so that the DC motor (102) drives the damping regulator (302) to move radially, thereby controlling the damping of the first spring (303); S4: The pressure sensor (103) continues to return readings to the microcontroller (104), and steps S2-S3 are repeated until the reading of the pressure sensor (103) is 0, and the microcontroller (104) controls the DC motor (102) to stop exciting.

7. The adaptive adjustment method of the vehicle-mounted debugging computer fixing device according to claim 6 is characterized in that: Before comparing the parameters collected by the gyroscope (101) with the preset table, the collected parameters need to be processed using a Kalman filter algorithm to overcome the zero drift phenomenon. The specific process of processing the collected parameters is as follows: first, x y The axis is sampled, and then the sampling sum of the xyz axis is calculated, and then the xyz axis Kalman variable is obtained by calculating the accelerometer covariance queue, and the accelerometer offset is calculated, and finally the angle correction value of the gyroscope xyz axis is calculated according to the accelerometer offset.

8. The method for adaptively adjusting the vehicle-mounted debugging computer fixing device according to claim 7, characterized in that: The specific calculation process of the Kalman filter algorithm is: Initialize the floating-point data acceleration axa, aya, aza, the gyroscope raw angle variables axg, ayg, azg, the accelerometer offsets gxo, gyo, gzo, set the accelerometer proportional coefficient float acc_ratio, the gyroscope proportional coefficient gyratio and the accelerometer filtering algorithm sampling times t, and use the following process for calculation: First, x y The axis is sampled, and its sampling queue is: float axs[t]=(0}, ays[t]={0}, azs[t]={0} Then calculate the sampling sum of the xyz axis: long aax_sum, aay_sum, aaz_sum Compute the accelerometer covariance queue: a_x[10]={0}, a_y[10]={0}, a_z[10]={0}, g_x[10]={0}, g_y[10]={0}, g_z[10]={0} Get the x-axis Kalman variables float Px=1, Rx, Kx, Sx, Vx, Qx, the y-axis Kalman variables float Py=1, Ry, Ky, Sy, Vy, Qy and the z-axis Kalman variables float Pz=1, Rz, Kz, Sz, Vz, Qz; according to the preset sampling times, calculate the sampling sum axo+=ax; ayo+=ay; azo+=az; gxo+=gx; gyo+=gy; gzo+=gz: Calculate the accelerometer offset gxo / =times; gyo / =times; gzo / =times; let the differential time dt=(now_time-lastTime) / 1000, the last sampling time lastTime=now_time, and calculate the acceleration of the xyz axis: acx=ax / ac_ratio acy=ay / ac_ratio acz=az / ac_ratio Finally, the angle correction values ​​of the gyroscope xyz axes are calculated, where the angle of the x-axis to the z-axis is aay=atan(acx / acz)*180 / π, the angle of the y-axis to the z-axis is aax=atann(acy / acz)*(-180) / π, and the angle of the x-axis to the y-axis is aaz=atann(acZ / acy)*180 / π.

9. The adaptive adjustment method of the vehicle-mounted debugging computer fixing device according to claim 5 is characterized in that: In step S3, the direction of rotation of the DC motor (102) is controlled according to the indication of the pressure sensor (103), specifically: when the indication of the pressure sensor (103) is a positive value, the DC motor (102) rotates in the reverse direction, and when the indication of the pressure sensor (103) is a negative value, the DC motor (102) rotates in the forward direction; when the DC motor (102) is excited by the digital PID regulation control algorithm, the input value of the algorithm is the optimal control parameter, which is input into three controllers, namely, the proportional coefficient P, the integral coefficient I and the differential coefficient D, and the control amount of the DC motor (102) is obtained by adding them together.

10. The adaptive adjustment method of the vehicle-mounted debugging computer fixing device according to claim 7, characterized in that: The digital PID regulation control algorithm is specifically as follows: Wherein, t represents the time interval from the start of adjustment to the output of the current control quantity, Kp is the proportional coefficient, Ti is the integral time constant, Td is the differential time constant, and e(t) is the deviation between the expected value of the controlled object parameter and the actual parameter value.

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