A fixing device of a vehicle-mounted debugging computer capable of self-adapting position

Abstract

The application discloses a fixing device of a vehicle-mounted debugging computer which can self-adaptively adjust position, and belongs to the technical field of vehicle-mounted debugging computers.The fixing device 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.The suspension damping module comprises a main support, a screen fixing frame and a base.The main support is vertically fixed on a vehicle to be tested through the base.A sliding rail is arranged in the main support, and a direct current motor, a damping adjuster, 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.The screen fixing frame is connected with the sliding block through a connecting rod.The microcontroller is electrically connected with the gyroscope, the pressure sensor and the direct current motor.Compared with the prior art, the fixing device adopts the electric control module to self-adaptively adjust the device, and can reach a stable state at the fastest speed when irregular vibration is encountered.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and more specifically, to a mounting device for an on-board debugging computer with an adaptively adjustable position. Background Technology

[0002] During vehicle operation, especially on uneven roads, various vibrations occur. These vibrations directly affect the stability of testing equipment (such as computers and sensors). If the testing equipment cannot be stably fixed, it may lead to inaccurate testing data and affect the reliability of the testing results. Maintaining a stable relative position between the testing equipment and the vehicle is crucial during vehicle testing. This helps testing personnel to observe and operate accurately. Vehicle vibrations may cause the testing equipment to shift position, affecting the operation and observation of testing personnel, and may even damage the equipment.

[0003] Traditional vehicle calibration computer mounting devices typically employ simple fixing methods, such as screw fastening or clamp fixation. These methods fail to provide sufficient cushioning and shock absorption when faced with vehicle vibrations, and also lack adaptive adjustment capabilities. That is, when vehicle vibrations change, the mounting device cannot automatically adjust to adapt to new vibration conditions and maintain equipment stability. Therefore, a mounting device integrating an intelligent electronic control adjustment module and a suspended shock-absorbing mechanical structure is needed to achieve adaptive adjustment and maintain relative positional stability.

[0004] Existing technology proposes an automatic balancing extension structure for a vehicle-mounted flatbed, including a flatbed device and a support device. The support device mainly consists of a bottom fixing component, a push rod component, and a top component. The push rod component mainly consists of a push rod mechanism, a push rod drive motor, and a top adapter. The drive motor converts rotational motion into linear motion, enabling the push rod mechanism to perform linear reciprocating motion. The top adapter connects the top component, making the push rod component and the top component a single unit. The top component mainly consists of a device fixing base, a base connector, a top drive motor, and a top hand-tightening screw. The device fixing base has a spherical ejector pin, and base foam is provided in the assembly gap between the device fixing base and the flatbed device. The spherical ejector pin and the spherical cavity of the base connector form a spherical fit, and the top drive motor is located inside the base connector. The drawback of this solution is that it does not use an electronic control module for adaptive adjustment of the device, and it cannot achieve a stable state as quickly as possible when encountering irregular vibrations.

[0005] Therefore, in light of the above requirements and the shortcomings of the existing technology, this application proposes a mounting device for an on-board debugging computer with an adaptively adjustable position. Summary of the Invention

[0006] This invention provides a mounting device for an on-board debugging computer with adaptively adjustable position. It has a simple and lightweight structure, is easy to install and use, and combines intelligent electronic control and suspension shock absorption technology to achieve better buffering, shock absorption and position holding effects.

[0007] The primary objective of this invention is to solve the aforementioned technical problems. The technical solution of this invention is as follows:

[0008] The first aspect of the present invention provides a mounting device for an on-board debugging computer with adaptively adjustable position, comprising: an intelligent electronic control module and a suspension and shock absorption module. The intelligent electronic control module includes a gyroscope, a DC motor, a power supply circuit, a pressure sensor, and a microcontroller. The suspension and shock absorption module includes a main bracket, a screen mounting bracket, and a base. The main bracket is vertically fixed to the vehicle under test via the base. A slide rail is provided inside the main bracket, and a DC motor, a damping adjuster, a first spring, a slider, and a second spring are sequentially arranged from top to bottom therein. The screen mounting bracket is connected to the slider via a connecting rod. The microcontroller is electrically connected to the gyroscope, the pressure sensor, and the DC motor.

[0009] Furthermore, the main support also includes: a housing and a metal rod. The housing has a channel on the side near the connecting rod. The metal rod is nested and installed in the center inside the housing of the main support. The metal rod is provided with a slide rail and a slider. The DC motor and the damping adjuster are located 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 to the slider. One end of the second spring is installed at the bottom of the housing, and the other end is nested and connected to the slider.

[0010] Furthermore, the slider and the connecting rod are connected by a first connecting sleeve, which is made of metal, with one end nested on the slider and the other end connected to the connecting rod by a thread; the screen mounting bracket is provided with screen mounting holes 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 lead screw. The nut is connected to the first spring via the second connecting sleeve and to the output end of the DC motor via the connector. The nut is mounted on the lead screw.

[0012] Furthermore, the connector is made of lightweight metal, with one end connected to the output end of the DC motor via a fixing screw, and the other end connected to the nut via a nesting method.

[0013] A second aspect of the present invention provides an adaptive adjustment method for a vehicle-mounted debugging computer mounting device. This method, used in the aforementioned adaptively adjustable mounting device for a vehicle-mounted debugging computer, includes the following steps:

[0014] S1. When the vehicle under test shakes, the gyroscope collects the parameters generated by the change in the vehicle's running posture, and the reading generated by the pressure sensor being stretched by the first spring is transmitted to the microcontroller.

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

[0016] S3. The microcontroller controls the direction of rotation of the DC motor according to the reading of the pressure sensor, controls the speed of the DC motor with the best control parameters, and excites it according to the digital PID adjustment 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 continuously returns a reading to the microcontroller. Steps S2-S3 are repeated until the pressure sensor reading is 0. Then, the microcontroller controls the DC motor to stop excitation.

[0018] Furthermore, before comparing the parameters collected by the gyroscope with a 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, the xy-axis is sampled, then the sample sum of the xyz-axis is calculated, then the Kalman variables of the xyz-axis are obtained by calculating the accelerometer covariance queue, the accelerometer offset is calculated, and finally the angle correction value of the gyroscope xyz-axis is calculated based on the accelerometer offset.

[0019] Furthermore, the specific calculation process of the Kalman filtering algorithm is as follows:

[0020] Initialize floating-point acceleration data axa, aya, aza, gyroscope raw angle variables axg, ayg, azg, accelerometer offsets gxo, gyo, gzo, and set the accelerometer scaling factor floatacc_ratio, gyroscope scaling factor gyratio, and accelerometer filtering algorithm sampling number t. The calculation is performed as follows:

[0021] First, the x and y axes are sampled, and the sampling queue is as follows:

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

[0023] Then calculate the sample sums along the x, y, and z axes:

[0024] long aax_sum, aay_sum, aaz_sum

[0025] Calculate 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] Obtain 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; and calculate the sample sums axo+ = ax; ayo+ = ay; azo+ = az; gxo+ = gx; gyo+ = gy; gzo+ = gz based on the preset number of samplings time.

[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 along the x, y, and z axes:

[0030] acx = ax / ac_ratio

[0031] axy = ay / ac_ratio

[0032] acz = az / ac_ratio

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

[0034] Further, in step S3, controlling the direction of the DC motor rotation based on the reading of the pressure sensor specifically involves: when the reading of the pressure sensor is positive, the DC motor rotates in the reverse direction; when the reading of the pressure sensor is negative, the DC motor rotates in the forward direction. When the DC motor is excited using the digital PID regulation control algorithm, the input value of the algorithm is the optimal control parameter, which is input to the three controllers—proportional coefficient P, integral coefficient I, and derivative coefficient D—and summed to obtain the control quantity of the DC motor.

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

[0036]

[0037] Where 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 derivative time constant, and e(t) is the deviation between the expected value and the actual value of the controlled object parameter.

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

[0039] This invention provides a mounting device for an on-board debugging computer with adaptive position adjustment. The microcontroller uses data collected by a gyroscope to determine the attitude changes of the vehicle during the debugging process. The pressure sensor controls the speed and direction of the DC motor based on its own reading 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 and shock absorption effect. It can adaptively adjust the spring damping to meet the debugging requirements of multiple working conditions. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the mounting device for an on-board debugging computer with adaptively adjustable position according to the present invention.

[0041] Figure 2 This is a circuit connection diagram according to one embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the main support structure in one embodiment of the present invention.

[0043] Figure 4 This is a flowchart of an adaptive adjustment method for a vehicle-mounted debugging computer fixing device according to the present invention.

[0044] Figure 5 This is a flowchart illustrating the adaptive adjustment performed by the fixing device when the vehicle sways, according to one embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of a digital PID 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 This is a step curve diagram of a digital PID regulation control algorithm in one embodiment of the present invention. Detailed Implementation

[0048] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the 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 mounting device for an on-board debugging computer with adaptive adjustable position, comprising: an intelligent electronic control module 1 and a suspension and shock absorption module 2. The intelligent electronic control module 1 includes a gyroscope 101, a DC motor 102, a power supply circuit, a pressure sensor 103, and a microcontroller 104. The suspension and shock absorption module 2 includes a main support 3, a screen mounting bracket 4, and a base 5. The main support 3 is vertically fixed to the vehicle under test via the base 5. A slide rail 301 is provided inside the main support 3, and a DC motor 102, a damping adjuster 302, a first spring 303, a slider 304, and a second spring 305 are arranged sequentially from top to bottom inside the main support 3. The screen mounting bracket 4 is connected to the slider 304 via a connecting rod 401. The microcontroller 104 is electrically connected to the gyroscope 101, the pressure sensor 103, and the DC motor 102.

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

[0053] It should be noted that the microcontroller, as the central processing unit of the intelligent electronic control module, is used to receive data collected by the gyroscope, process the collected data, and control the speed and direction of the DC motor; the gyroscope is horizontally mounted on the expansion circuit motherboard, 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 acts as an actuator, used to control the radial movement of the damping adjuster to adjust the damping of the spring; the 7.2V lithium battery provides power to the intelligent electronic control module.

[0054] like Figure 3As shown, the main support 3 also includes a housing 306 and a metal rod 307. The housing 306 has a channel on the side near the connecting rod 401. The metal rod 307 is nested and installed in the center inside the housing 306 of the main support 3. The metal rod 307 is provided with a slide rail 301 and a slider 304. The DC motor 102 and the damping adjuster 302 are located at the top of the metal rod 307. One end of the first spring 303 is installed on the damping adjuster 302, and the other end is nested and connected to the slider 304. One end of the second spring 305 is installed at the bottom of the housing 306, and the other end is nested and connected to the slider 304.

[0055] In one specific embodiment, the outer casing 306 is made of metal, and there are typically two of them for fixing the screen mounting bracket. The first spring 303 is a small-damping spring, and the second spring 305 is a large-damping spring.

[0056] The slider 304 and the connecting rod 401 are connected by a first connecting sleeve. The connecting sleeve is made of metal, with one end nested on the slider 304 and the other end connected to the connecting rod 401 by a thread. The screen fixing bracket 4 is provided with screen fixing holes for fixing and supporting the screen according to the size and dimensions of the screen.

[0057] The damping adjuster 302 includes a nut, a connector, a second connecting sleeve, and a lead screw. 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 mounted on the lead screw.

[0058] The connector is made of lightweight metal. One end is connected to the output end of the DC motor 102 by a fixing screw, and the other end is connected to the nut by a nesting method.

[0059] In one specific embodiment, the intelligent electronic control module 1 needs to be placed horizontally inside the vehicle and the initial direction of the gyroscope needs to be calibrated. The suspension and shock absorption module 2 is fixed to the test vehicle by fixing screws.

[0060] Once the debugging equipment is fixed on the screen mounting bracket, the large damping spring is compressed and the small damping spring is stretched under the action of gravity. At this time, the pressure sensor connected to the small damping spring generates a reading. The microcontroller sends a corresponding action command to the DC motor according to the positive or negative value of the pressure sensor. The DC motor generates an excitation and adjusts the radial movement of the damping regulator until the pressure sensor reading is 0 and the movement stops.

[0061] When the vehicle shakes during testing, the gyroscope automatically collects parameters indicating changes in the vehicle's attitude and feeds the information back to the microcontroller. The microcontroller compares the magnitude and direction of the parameters with the control coefficients in its stored program table to determine the optimal control coefficients. This determines the motor's speed and direction, which in turn adjusts the radial movement distance of the damping regulator.

[0062] It should be noted that the purpose of this invention is to provide a vehicle debugging computer fixing device with a reasonable structure that can adaptively adjust and maintain relative position. In order to solve the problems that existing test equipment computer fixing devices only have a fixing function and do not have the function of buffering and protecting the screen or maintaining the relative position of "human-machine", the shaking during the debugging process not only causes discomfort to the debugging personnel, but also shortens the service life of the debugging equipment due to the vibration and impact caused by the shaking, 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 relative position stability.

[0063] When the test vehicle vibrates, the gyroscope in the intelligent electronic control module collects data on the vibration. The microcontroller receives this data and compares it with table data using a lookup method to determine the speed and direction of the DC motor, thereby controlling the radial movement distance of the damping adjuster. Changes in spring damping directly affect the pressure sensor. When the pressure sensor reading is within a suitable range, the spring damping in the suspension damping module reaches its optimal state. The screen mounting bracket in the suspension damping module protects the screen and maintains its relative position, while the slide rail guides and limits the range of motion. The spring acts as a buffer and reset mechanism. This design effectively solves the problem of screen vibration during vehicle operation, achieving excellent anti-shake protection and maintaining a relatively stable position.

[0064] Meanwhile, the overall structure of the fixing device is simple and lightweight, and the damping of the spring can be automatically adjusted according to the working conditions. Because it uses an adjustable spring in conjunction with a slide rail, the vibration generated by the car will be canceled out by the device during the on-vehicle debugging, thus protecting the screen. It also maintains a relatively stable position with the driver, making the debugging process more comfortable.

[0065] Example 2

[0066] Based on the above embodiment 1, combined with Figures 4-6 This embodiment elaborates on the second aspect of the present invention: an adaptive adjustment method for a vehicle-mounted debugging computer fixing device, which is used in the aforementioned vehicle-mounted debugging computer fixing device with an adaptively adjustable position.

[0067] like Figure 4 As shown, it includes the following steps:

[0068] S1. When the vehicle under test shakes, the gyroscope 101 collects the parameters generated by the change in the vehicle's running posture, and the reading generated by the pressure sensor 103 being stretched by the first spring 303 is transmitted to the microcontroller 104.

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

[0070] S3. The microcontroller 104 controls the direction of rotation of the DC motor 102 according to the reading of the pressure sensor 103, controls the speed of the DC motor 102 with the best control parameters, and excites it according to the digital PID adjustment 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 continuously returns its reading to the microcontroller 104. Steps S2-S3 are repeated until the reading of the pressure sensor 103 is 0. Then, the microcontroller 104 controls the DC motor 102 to stop being energized.

[0072] In one specific embodiment, the mounting plate is made of lightweight metal and is fixed to the vehicle by mounting plate fixing screws. The mounting plate is connected to the main bracket by fixing screws. The main bracket consists of a metal shell, a metal rod, a slider, and a spring. The metal shell has a channel on the side near the connecting rod. The slider, connecting sleeve, connecting rod, and screen mounting bracket are all made of metal. The high-damping spring is nested with the slider and is fitted onto the metal rod. One side of the slider is threaded to the connecting sleeve. The connecting rod is nested with the connecting sleeve. The screen mounting bracket is connected to the connecting rod by fixing screws.

[0073] like Figure 5 As shown, when the screen is fixed on the mounting bracket, due to the screen's gravity, the entire screen will slide slightly downwards 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 adjuster moves radially. When the reading of the pressure sensor is 0, the DC motor stops being excited.

[0074] When the vehicle under test experiences minor vibrations, the display is protected by the springs and slide rails, maintaining a stable relative position with the test engineer. However, during testing on rough or uneven roads, when the test vehicle experiences significant vibrations, the display can no longer maintain a stable relative position. At this point, the intelligent electronic control module activates, and the DC motor reverses direction according to the direction of the display's vibration. When the pressure sensor reading reaches zero, the DC motor stops operating, thus achieving the optimal effect of buffering and decompressing the screen while maintaining a relatively stable position.

[0075] It should be noted that because gyroscopes have zero drift, the reliability of data obtained in a single real-time measurement is not high. Therefore, it is necessary to use the Kalman filter algorithm to process the collected data.

[0076] Before comparing the parameters collected by the gyroscope 101 with a 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, the xy-axis is sampled, then the sample sum of the xyz-axis is calculated, then the Kalman variables of the xyz-axis are obtained by calculating the accelerometer covariance queue, the accelerometer offset is calculated, and finally the angle correction value of the gyroscope xyz-axis is calculated based on the accelerometer offset.

[0077] In one specific embodiment, the accelerometer filtering algorithm is set to sample 8 times, and the queue sampling is set to sample 200 times. The resulting calculation process is as follows:

[0078] First, define two unsigned long integer types: `unsigned long now_time` and `last_time`. Define the differential time of the floating-point data as `float dt`. Define the original angle variables of the floating-point accelerometer and gyroscope as `axa=0`, `aya=0`, `aza=0`, `axg=0`, `ayg=0`, and `azg=0`. Define the accelerometer offset as `gxo=0`, `gyo=0`, and `gzo=0`. Define the accelerometer proportionality coefficient as `float acc_ratio` = 16384.0 and the gyroscope proportionality coefficient as `gyratio` = 131.0. The accelerometer filtering algorithm samples 8 times.

[0079] x, y axis sampling queues float axs[8]={0},ays[8]={0},azs[8]={0};x, y, z axis sampling sums long aax_sum,aay_sum,aaz_sum;accelerometer covariance queues 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 number of samplings is 200, and the sampling sums are 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 acceleration value along the x-axis after sampling, ayo represents the cumulative acceleration value along the y-axis after sampling, azo represents the cumulative acceleration value along the z-axis after sampling, gxo represents the cumulative acceleration offset along the x-axis after sampling, gyo represents the cumulative acceleration offset along the y-axis after sampling, gzo represents the cumulative acceleration offset along the z-axis after sampling, and times represents the number of samples.

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

[0083] In step S3, controlling the direction of rotation of the DC motor 102 according to the reading of the pressure sensor 103 specifically involves the following: when the reading of the pressure sensor 103 is positive, the DC motor 102 rotates in the reverse direction; when the reading of the pressure sensor 103 is negative, the DC motor 102 rotates in the forward direction. When the DC motor 102 is excited using the digital PID regulation control algorithm, the input value of the algorithm is the optimal control parameter, which is input to the proportional coefficient P, integral coefficient I, and derivative coefficient D of the three controllers and summed to obtain the control quantity of the DC motor 102.

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

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

[0086]

[0087] Where 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 derivative time constant, and e(t) is the deviation between the expected value and the actual value of the controlled object parameter.

[0088] Based on the above technical features, this invention organically combines the intelligent electronic control module and the suspension damping module. The microcontroller uses data collected by the gyroscope to determine the attitude changes during vehicle debugging. The pressure sensor controls the speed and direction of the DC motor based on its own reading 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 and damping effect. It can adaptively adjust the spring damping to meet the debugging requirements of multiple working conditions.

[0089] Example 3

[0090] According to the above embodiments 1 and 2, as Figures 7-8 As shown, this embodiment will further elaborate on the digital PID regulation and control algorithm.

[0091] In one specific embodiment, based on the host computer experiment, this embodiment uses MATLAB and Simulink to build the following... Figure 7 The control model algorithm shown takes the input expected value as the output value obtained by three controllers, sums them to generate the filtered curve, and further processes it to obtain the result shown below. Figure 8 The step response curve of the PID system is shown. This curve shows that the system initially oscillates, then passes through the proportional, integral, and derivative components before finally reaching a stable state.

[0092] After completing the testing, the model with the built and adjusted parameters is packaged, code is automatically generated in Simulink, and then the automatically generated code is ported to the microcontroller for speed control.

[0093] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0094] Alternatively, if the above embodiments of the present invention are implemented as software functional 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 solutions of the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, 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 implementation of the present invention. The icons depicting structural positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A position-adjustable fixing device for a vehicle-mounted debugging computer, characterized in that, Intelligent electric control module (1) and suspension damping module (2) are included, the intelligent electric control module (1) includes gyroscope (101), DC motor (102), power supply circuit, pressure sensor (103) and microcontroller (104), the suspension damping module (2) includes main support (3), screen fixing frame (4) and base (5), the main support (3) is vertically fixed on the vehicle to be measured by the base (5), the main support (3) is provided with slide rail (301) in it, and DC motor (102), damping adjuster (302), first spring (303), sliding block (304) and second spring (305) are sequentially arranged in it from top to bottom, the screen fixing frame (4) is connected with the sliding block (304) by connecting rod (401), the main support (3) further includes: shell (306) and metal rod (307), the side close to the connecting rod (401) of the shell (306) is left with a passage, the metal rod (307) is nestedly installed in the central part of the shell (306) inside the main support (3), the metal rod (307) is provided with slide rail (301) thereon, and the sliding block (304) is arranged thereon, the DC motor (102) and the damping adjuster (302) are arranged at the top end of the metal rod (307), one end of the first spring (303) is installed on the damping adjuster (302), and the other end is nestedly connected with the sliding block (304), one end of the second spring (305) is installed at the bottom end of the shell (306), and the other end is nestedly connected with the sliding block (304); the microcontroller (104) is electrically connected with the gyroscope (101), the pressure sensor (103) and the DC motor (102).

2. The position self-adjustable fixing device for vehicle-mounted debugging computer according to claim 1, characterized in that, The sliding block (304) and the connecting rod (401) are connected through a first connecting sleeve, the connecting sleeve is made of metal material, one end of the connecting sleeve is nested on the sliding block (304), and the other end of the connecting sleeve is connected with the connecting rod (401) through threads; 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.

3. The position self-adjustable fixing device for vehicle-mounted debugging computer according to claim 1, characterized in that, The damping adjuster (302) includes a nut, a connector, a second connecting sleeve and a lead screw, the nut is connected with the first spring (303) through the second connecting sleeve, and is connected with the output end of the DC motor (102) through the connector, and the nut is installed on the lead screw.

4. The position self-adjustable fixing device for vehicle debugging computer according to claim 3, characterized in that, The connector is made of light metal, one end of the connector is connected with the output end of the DC motor (102) through a fixing screw, and the other end of the connector is connected with the nut in a nested manner.

5. An adaptive adjustment method for a vehicle-mounted debugging computer fixing device, the method being used for the adaptive position adjustment of the vehicle-mounted debugging computer fixing device according to any one of claims 1-4, and characterized in that, The method comprises the following steps: S1, when the vehicle to be measured shakes, the gyroscope (101) collects parameters generated by the change of the vehicle running posture, and the pressure sensor (103) transmits the reading generated by the stretching of the first spring (303) to the microcontroller (104); S2, the microcontroller (104) obtains the optimal control parameters of the DC motor (102) according to the parameters collected by the gyroscope (101) according to a preset table. S3, the microcontroller (104) controls the direction of the DC motor (102) rotation according to the pressure sensor (103) reading, uses the optimal control parameters to control the speed of the DC motor (102), and stimulates according to the digital PID adjustment control algorithm, 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) continuously returns the reading to the microcontroller (104), and repeats steps S2-S3 until the reading of the pressure sensor (103) is 0, and the microcontroller (104) controls the DC motor (102) to stop stimulating.

6. The adaptive adjustment method of a vehicle-mounted debugging computer fixing device according to claim 5, characterized in that, The parameters collected by the gyroscope (101) need to be processed by Kalman filtering algorithm before being compared with the preset table to overcome the zero drift phenomenon. The specific process of processing the collected parameters is: first, sample the xy axis, then calculate the sample sum of the xyz axis, then get the xyz axis Kalman variable by calculating the accelerometer covariance queue, calculate the accelerometer offset, and finally calculate the angle correction value of the xyz axis of the gyroscope according to the accelerometer offset.

7. The adaptive adjustment method of a vehicle-mounted debugging computer fixing device according to claim 6, characterized in that, The specific calculation process of the Kalman filtering algorithm is: Initialize floating point data acceleration axa, aya, aza, gyro raw angle variables axg, ayg, azg, accelerometer offset variables gxo, gyo, gzo, set accelerometer scale factor , gyro scale factor and accelerometer filter algorithm sample count t, using the following process: First, sample the xy axis, and the sampling queue is: Then calculate the sample sum of the xyz axis: Calculate the accelerometer covariance queue: obtained axle kalman variable , axle kalman variable and axle kalman variable ; according to preset sampling number , calculate sampling sum : Computing accelerometer offset ; let differential time , last sample time , compute acceleration in xyz axes: Finally, the included angle correction value of the xyz axis of the gyroscope is calculated, wherein the included angle of the x axis to the y axis , the included angle of the y axis to the z axis , the included angle of the z axis to the x axis .

8. The adaptive adjustment method of a vehicle-mounted debugging computer fixing device according to claim 7, characterized in that, In step S3, the direction of the DC motor (102) rotation is controlled according to the reading of the pressure sensor (103), specifically: when the reading of the pressure sensor (103) is positive, the DC motor (102) rotates in the opposite direction, and when the reading of the pressure sensor (103) is negative, the DC motor (102) rotates in the positive direction; When the DC motor (102) is stimulated by the digital PID adjustment control algorithm, the input value of the algorithm is the optimal control parameter, which is input into the proportional coefficient P, the integral coefficient I and the differential coefficient D three controllers to get the control amount of the DC motor (102).

9. The adaptive adjustment method of a vehicle-mounted debugging computer fixing device according to claim 6, characterized in that, The specific digital PID adjustment control algorithm is: where t represents a time interval from the start of the adjustment to the output of the current control amount, is a proportional coefficient, is an integral time constant, is a differential time constant, is a deviation between a desired value of a parameter of the controlled object and an actual value of the parameter.

Images