CN110319767A - A kind of implementation method of ultrasound electric machine high-precision actuation sensor - Google Patents
A kind of implementation method of ultrasound electric machine high-precision actuation sensor Download PDFInfo
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- CN110319767A CN110319767A CN201910615088.0A CN201910615088A CN110319767A CN 110319767 A CN110319767 A CN 110319767A CN 201910615088 A CN201910615088 A CN 201910615088A CN 110319767 A CN110319767 A CN 110319767A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a kind of ultrasound electric machine high-precision actuation sensor implementation methods, it is related to a kind of sensor technology to cut off self-lock with characteristics such as nanometer resolutions based on ultrasound electric machine actuator, especially a kind of active high-precision position segmentation detection technique；Two-way timing sequencer is set, respectively displacement timing M and synchronous sequence t；Pulse T is detected by physical location to trigger displacement timing end Sync synchronous with synchronous sequence；Time of synchronous sequence t is determined jointly according to current ultrasonic motor speed and angular displacement resolution ratio；Shift pulse N+1 is generated at corresponding (N+1) t of synchronous sequence t to determine the time point position of the displacement next sub-divided pulse of timing M；This method may make ultrasound electric machine to be provided with the active high-precision sensors such as simple at low cost, the covering 106 full speed degree adjustable range of ultrasound electric machine of angular displacement high resolution, structure.
Description
Technical field
The invention belongs to sensor technology more particularly to a kind of ultrasound electric machine high-precision actuation sensor implementation methods.
Background technique
Compared with conventional motors, ultrasound electric machine have the slow-speed of revolution, torque/mass ratio are big, fast response time, cut off self-lock,
Nanometer resolution, without electromagnetic interference the features such as.
After conventional motors have a power failure, rotor-position is in free state, i.e., rotor current physical location is in random
State.So, it is therefore necessary to assist detection to turn by special (volume is big, precision is installed, expensive) position sensor
The current physical location of son, referred to as passive sensor.Ultrasound electric machine has the excellent characteristic that cuts off self-lock, i.e. motor powers off
Later rotor can be under the action of precompression, and rotor remains that current physical location is constant.Meanwhile ultrasound electric machine also has
Under pulsed driving mode, rotor angular displacement can achieve 0.1 rad or less for nanoscale position resolution, i.e. rotor.This hair
The bright ultrasound electric machine that is based on cuts off self-lock and the characteristics such as nanometer resolution, using point-by-point timing corrections, variable fixed point timing,
The methods of timing phase shift is rotated, stator fixed point timing is synchronized with rotor rotation timing and is associated with, has been accomplished using less
Hardware detection point carrys out the timing of same one-step site and rotation, realizes physics coarse positioning.Meanwhile coming not further according to the speed of current rotor
The disconnected relative time changed between displacement timing and synchronous sequence realizes that the physical vlan position segmentation relative to synchronous sequence is fixed
Position, referred to as active sensor.
Summary of the invention
The technical problem to be solved by the present invention is in order to solve passive type high-precision sensor volume is big, structure processing with
Installation precision requires high, expensive etc.；The present invention proposes a kind of ultrasound electric machine high-precision actuation sensor implementation method.
The present invention uses following technical scheme to solve above-mentioned technical problem
A kind of ultrasound electric machine high-precision actuation sensor implementation method, comprising the following steps:
Step 1, two-way timing sequencer is set, respectively displacement timing M and synchronous sequence t；
Step 2, pulse T is detected by physical location to trigger displacement timing end Sync synchronous with synchronous sequence；Enable displacement timing M
With the initial pulse of synchronous sequence t and the triggering of hardware detection pulse T along synchronous, synchronous sequence t pulse real-time lock is allowed to detect
Pulse T realizes physical location to the conversion for segmenting time point；
Step 3, time of synchronous sequence t is determined jointly according to current ultrasonic motor speed and angular displacement resolution ratio；Wherein, t
=hardware physical detection angle * T/ resolution ratio synchronous sequence the time；
Step 4, shift pulse N+1 is generated at corresponding (N+1) t of synchronous sequence t to determine the displacement next sub-divided pulse of timing M
Time point position；Detection shifts timing M initial pulse to the time of (N+1) t pulse, by time and physical vlan position
Conversion, can obtain current motor approximation angular displacement physical location.
As a kind of further preferred scheme of ultrasound electric machine high-precision actuation sensor implementation method of the present invention, in step
In 1, timing sequencer is made of any form of sequential logical circuit.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The purpose of the present invention is to provide a kind of ultrasound electric machine high-precision actuation sensor implementation method, this method may make ultrasound
It is active that motor is provided with simple at low cost, covering 106 full speed degree adjustable range of ultrasound electric machine of angular displacement high resolution, structure etc.
High-precision sensor.
Detailed description of the invention
Fig. 1 is displacement time series and synchronous sequential logic functional block diagram；
Fig. 2 is displacement time series and synchronous sequence waveform diagram.
Symbol is described as follows in figure:
T is the hardware synchronization burst length, related with current motor speed；
N is software shift pulse, shifts timing sub-divided pulse counting end；
Sync is displacement timing end synchronous with synchronous sequence；
Shift is displacement time sequential pulse output end；
M is sub-divided pulse；
Tick is synchronous sequence pulse output end；
T is synchronous sequence pulse.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
To show effect of the invention, present invention will be further explained by specific examples below.It should be understood, however, that
These embodiments are only used for that the present invention is explained in greater detail, and but should not be understood as limiting the present invention.
As shown, Fig. 1 is displacement time series and synchronous sequential logic functional block diagram；Fig. 2 is displacement time series and synchronous sequence
Waveform diagram.Symbol is described as follows in figure:
T is the hardware synchronization burst length, related with current motor speed；
N is software shift pulse, shifts timing sub-divided pulse counting end；
Sync is displacement timing end synchronous with synchronous sequence；
Shift is displacement time sequential pulse output end；
M is sub-divided pulse；
Tick is synchronous sequence pulse output end；
T is synchronous sequence pulse.
Specific embodiment is as follows:
The present invention is a kind of ultrasound electric machine high-precision actuation sensor implementation method, comprising the following steps:
Firstly, setting two-way timing sequencer is respectively to shift timing and synchronous sequence.Illustrate: timing sequencer can be
Any form of sequential logical circuit is constituted.
Secondly, detecting pulse T by physical location to trigger displacement timing end Sync synchronous with synchronous sequence, when enabling displacement
The initial pulse of sequence M and synchronous sequence t are with the triggering of hardware detection pulse T along synchronous.Allow synchronous sequence t pulse real-time lock regular inspection
Pulse T is surveyed, realizes physical location to the conversion for segmenting time point.
Third, the time of synchronous sequence t are determined jointly according to current ultrasonic motor speed and angular displacement resolution ratio.
In order to meet the requirement of angular displacement resolution ratio, then there is t=(hardware physical detection angle * T)/resolution ratio synchronous sequence time.
Such as: the spacing of physical location is 1 °, it is desirable that angular displacement resolution ratio is 1 ".Being adjusted in real time according to current motor speed enables t be equal to
Physical location is converted into the time point position segmented by 1/the 3600 of T, at this moment corresponding void is said in time point position
Quasi- physical location resolution ratio is 1 ".
4th, the time point of the displacement next sub-divided pulse of timing M is determined by the shift pulse N+1 of software generation
It sets, is generated at corresponding (N+1) t of synchronous sequence t.The time for shifting timing M initial pulse to (N+1) t pulse is detected, using
The conversion of time and physical vlan position, so that it may know current motor approximation angular displacement physical location.
The present invention may make ultrasound electric machine to have simple at low cost, the covering ultrasound electric machine of angular displacement high resolution, structure
The ability of the active high-precision sensor subdivision angular displacement such as 106 full speed degree adjustable ranges.
The present invention is not limited to above-mentioned specific embodiment, and those of ordinary skill in the art are disclosed interior according to the present invention
Hold, other numerous embodiments can be used.Therefore, all based on technical thought of the invention, do some simple variations or
The design of change, both falls within the scope of protection of the invention.
Claims (2)
1. a kind of ultrasound electric machine high-precision actuation sensor implementation method, it is characterised in that: comprising the following steps:
Step 1, two-way timing sequencer is set, respectively displacement timing M and synchronous sequence t；
Step 2, pulse T is detected by physical location to trigger displacement timing end Sync synchronous with synchronous sequence；Enable displacement timing M
With the initial pulse of synchronous sequence t and the triggering of hardware detection pulse T along synchronous, synchronous sequence t pulse real-time lock is allowed to detect
Pulse T realizes physical location to the conversion for segmenting time point；
Step 3, time of synchronous sequence t is determined jointly according to current ultrasonic motor speed and angular displacement resolution ratio；Wherein, t
=hardware physical detection angle * T/ resolution ratio synchronous sequence the time；
Step 4, shift pulse N+1 is generated at corresponding (N+1) t of synchronous sequence t to determine the displacement next sub-divided pulse of timing M
Time point position；Detection shifts timing M initial pulse to the time of (N+1) t pulse, by time and physical vlan position
Conversion, can obtain current motor approximation angular displacement physical location.
2. a kind of ultrasound electric machine high-precision actuation sensor implementation method according to claim 1, it is characterised in that: in step
In rapid 1, timing sequencer is made of any form of sequential logical circuit.
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| CN201910615088.0A CN110319767B (en) | 2019-07-09 | 2019-07-09 | Implementation method of high-precision actuation sensor of ultrasonic motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910615088.0A CN110319767B (en) | 2019-07-09 | 2019-07-09 | Implementation method of high-precision actuation sensor of ultrasonic motor |
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| CN110319767A true CN110319767A (en) | 2019-10-11 |
| CN110319767B CN110319767B (en) | 2021-05-28 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003043987A (en) * | 2001-07-30 | 2003-02-14 | Matsushita Electric Ind Co Ltd | Plasma display device |
| CN1410776A (en) * | 2002-11-27 | 2003-04-16 | 湖南大学 | Homosequence specific phase frequency measurement method and high accuracy frequency meter |
| CN106301116A (en) * | 2016-08-29 | 2017-01-04 | 杭州大精机械制造有限公司 | The control system of pulse step motor |
| CN108254001A (en) * | 2017-12-14 | 2018-07-06 | 科瑞工业自动化系统（苏州）有限公司 | A kind of method of sonac and its measurement accuracy |
| CN109143971A (en) * | 2018-10-26 | 2019-01-04 | 上海理工大学 | A kind of error compensator and method based on square-wave pulse encoder feedback signal |
-
2019
- 2019-07-09 CN CN201910615088.0A patent/CN110319767B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003043987A (en) * | 2001-07-30 | 2003-02-14 | Matsushita Electric Ind Co Ltd | Plasma display device |
| CN1410776A (en) * | 2002-11-27 | 2003-04-16 | 湖南大学 | Homosequence specific phase frequency measurement method and high accuracy frequency meter |
| CN106301116A (en) * | 2016-08-29 | 2017-01-04 | 杭州大精机械制造有限公司 | The control system of pulse step motor |
| CN108254001A (en) * | 2017-12-14 | 2018-07-06 | 科瑞工业自动化系统（苏州）有限公司 | A kind of method of sonac and its measurement accuracy |
| CN109143971A (en) * | 2018-10-26 | 2019-01-04 | 上海理工大学 | A kind of error compensator and method based on square-wave pulse encoder feedback signal |
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