如何从传感器数据计算速度？

Question

我从“缺齿”传感器获取数据以进行速度测量。有什么办法可以获得速度与时间的瞬态图吗？通过计算指示传感器齿轮中“缺齿”的过零点的数量，我可以获得测量的平均速度，但我更感兴趣的是看到时间历程图。 在此先感谢。

Answer 1

% I will first generate a example sensor output 
Ts = 0.001; 
t = 0:Ts:10; 
freq = linspace(2, 5, length(t)); % increase the tooth frequency from 2Hz to 5Hz. 
theta = cumsum(freq*2*pi*Ts); 
x = sin(theta); 
figure('Name', 'missing tooth sensor') % plot the sensor output 
plot(x) 

% Now, I will perform the actual calculations. 
iCrossings = find(sign(x(1:end-1)) ~= sign(x(2:end))); % finds the crossings 
dtCrossing = diff(t(iCrossings)); % calculate the time between the crossings 
figure('Name', 'tooth frequency') 
hold on 
plot(t, freq, 'g'); % plot the real frequency in green 
plot(t(iCrossings(1:end-1)), 1./(2*dtCrossing), 'b'); % plot the measured frequency in blue. 

的代码产生以下数字：

可以由频率与tooths之间的距离乘以所述齿频率转换成速度。滤波器可能有助于消除（采样）噪声。