CN100443898C - Apparatus and method for measuring rotation-axis speed by impulse - Google Patents
Apparatus and method for measuring rotation-axis speed by impulse Download PDFInfo
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- CN100443898C CN100443898C CNB2007100033700A CN200710003370A CN100443898C CN 100443898 C CN100443898 C CN 100443898C CN B2007100033700 A CNB2007100033700 A CN B2007100033700A CN 200710003370 A CN200710003370 A CN 200710003370A CN 100443898 C CN100443898 C CN 100443898C
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Abstract
A device of utilizing pulse to measure rotary speed of rotary shaft is prepared as connecting output end of pulse signal generating module to input end of signal regulating module, connecting microprocessor to high speed timing counter and also to a backward-timing counter being connected to output end of signal regulating module.
Description
Affiliated technical field
The present invention relates to a kind of method of utilizing rotation-speed measuring device to measure rotary shaft rotating speed, especially a kind of method of utilizing the impulsive measurement rotary shaft rotating speed.
Background technology
Along with continuous advancement in technology, need in the modern electro-mechanical system rotating speed of each turning axle measured then according to the result who measures and carry out control corresponding.
To the simplest measuring method of rotary shaft rotating speed is exactly to adopt the gear tachogenerator that the rotating speed that turning axle cogs is measured.When gear rotated, along with the distance between gear teeth tips, backlash and the sensor changes, the output of sensor also changed, and sensor output signal becomes square-wave signal through shaping, when gear rotation is crossed a tooth, and the square wave of output one-period.The detection method of this pulse digit tach signal mainly contains two kinds: (1) measured frequency method: in the T, the repetition change frequency N of counting measured signal can obtain corresponding rotating speeds through converting at certain time intervals.(2) survey periodic method: in the one-period of measured signal, counting high speed reference clock pulse number m can obtain corresponding rotating speeds through converting.These two kinds of measuring methods all can only guarantee measuring accuracy in certain range of speeds.For the measured frequency method, the frequency of measured signal is high more, and signal change frequency N is big more in the identical sampling period, and measuring relative errors is more little, so the measured frequency method is commonly used to measure higher rotation speed.For surveying periodic method, under certain situation of counting clock cycle, when the measured signal frequency was low more, m was big more for numeration reference clock pulse number, and measuring relative errors is more little, is commonly used to measure than the slow-speed of revolution so survey periodic method.
Because most of tachometric surveies and real-time control system integrate.The various signals of system's timing sampling draw steering order by computing then, and from this angle analysis, the measured frequency method is preferably adopted in tachometric survey.Yet in some electro-mechanical systems, the rotation speed change scope of turning axle is very big, and this just causes the frequency change of rotational speed pulse signal very big, if adopt the measured frequency method bigger at the low time error of rotating speed; Survey periodic method if adopt, the interrupt source of signal as system when rotating speed is fast, need be interrupted producing frequency and can be exerted an influence to other task executions in the system usually.Therefore, the device that adopts tradition to survey periodic method also has above-mentioned shortcoming.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method of utilizing rotation-speed measuring device to measure rotary shaft rotating speed, it can make under the situation that measured signal is higher in frequency or frequency is lower, more accurately the rotating speed of Ce Lianging is eliminated simultaneously and is interrupted producing the influence that frequency produces other task executions in the system.
The technical solution adopted for the present invention to solve the technical problems is as follows:
Apparatus of the present invention comprise the pulse signal generation module, the signal condition module, pulse signal generation module output terminal links to each other with the signal condition module input, microprocessor links to each other with the high speed timer conter, it is characterized in that: microprocessor also subtracts timer conter and links to each other with one, and this subtracts timer conter and also is connected with the output terminal of signal condition module.Described microprocessor is single-chip microcomputer or embedded control system.The described timer conter that subtracts can adopt CPLD (programmable logic chip) to realize.
The technical scheme of the inventive method is as follows: it is characterized in that, may further comprise the steps:
A, system initialization are 0 o'clock at rotating speed, give to subtract timer conter initialize 1;
B, in k control sampling period in real time, microprocessor is estimated the pulse number M of interior measured signal of k+1 sampling period;
When estimating, if M 〉=1, then this M value is composed to give and subtract timer conter, if M＜1 o'clock, then to subtract the timer conter value be 1 in setting;
When first rising edge of measured signal in k+1 control sampling period in real time arrives, startup subtracts timer conter and begins counting, and start the high speed timer conter simultaneously, the rising edge of each measured signal makes the count value that subtracts timer conter subtract 1, when the count value that subtracts timer conter is kept to zero, stop the counting of high speed timer counter clock this moment, and zone bit is set, and the count value Z of high speed timer counter clock is preserved the wait microprocessor read;
C, in k+2 control sampling period in real time, microprocessor detects whether subtract timer conter setting zone bit, if have then recomputate speed, and refresh the counting initial value that subtracts timer conter, if then do not adopt the speed in last cycle according to the count value Z of high speed timer counter clock.
The invention has the beneficial effects as follows that measurement range increases, and reduces with time error.
(1) measurement range of the present invention
The minimum pulse frequency f of institute's energy measurement of system
Max(rotating speed) determined by the counting figure place of high speed timer counter clock:
In the formula: H
MaxBe the counting figure place of high speed timer counter clock, τ is the timing cycle of high-frequency clock.Under the certain situation of τ, the counting figure place of high speed timer counter clock is big more, and the rotating speed of institute of system energy measurement is low more.
(2) measuring error of the present invention
Because the count number of high speed timer and the numeration that signal subtracts timer conter are synchronous, the counter value of high speed timer is, what signal subtracted timer conter is kept to for zero time from initial value, so the absolute error of measuring is the count cycle of ± 1 high speed timer counter clock.
This rotating speed measurement method is speed average that gear rotation is crossed a plurality of teeth, in this case, the square-wave cycle measuring relative errors of a tooth is ± and count cycle of a 1/M high speed timer counter clock.
Generally, the frequency of high speed timer is very high, so measuring error is very little, especially under the situation of turning axle high speed rotating, so adopt the method can improve the degree of accuracy of measuring in this range of speeds, and measuring owing to what get is the multiple averaging value, and the smoothness of measurement result also is improved.
The present invention is to survey periodic method rotating speed measurement method, the dynamic multicycle speed detection method of the self-adjusting of proposition.Adopt this method, system can change measured signal periodicity in the sampling period according to change in rotational speed, thereby has improved the precision that wide variation pulse tach signal is measured, and effectively solves the scheduling problem of tachometric survey and real-time control task.
Description of drawings
Fig. 1 is the structure principle chart of apparatus of the present invention.
Fig. 2 is the inventive method is calculated rotating speed when interrupting beginning a process flow diagram.
Fig. 3 is when subtracting timer conter producing the termination flag situation in a sampling period T, the measured signal and the graph of a relation in high speed timer conter and sampling period.
Fig. 4 is when subtracting timer conter not producing the termination flag situation in a sampling period T, the measured signal and the graph of a relation in high speed timer conter and sampling period.
Fig. 5 is that to subtract the timer conter initial value be 1 o'clock, the measured signal and the graph of a relation in high speed timer conter and sampling period.
The 1-microprocessor, 2-subtracts timer conter, 3-high speed timer, 4-signal condition module, 5-pulse signal generation module.
Embodiment
The present invention is further described below in conjunction with drawings and Examples.
As shown in Figure 1: apparatus of the present invention comprise microprocessor 1, high speed timer conter 3, pulse signal generation module 5, signal condition module 4, pulse signal generation module 5 output terminals link to each other with signal condition module 4 input ends, microprocessor 1 links to each other with high speed timer conter 3, it is characterized in that: microprocessor 1 also subtracts timer conter 2 and links to each other with one, and this subtracts timer conter 2 and also is connected with the output terminal of signal condition module 4.
In testing process, gear on the turning axle rotates and makes pulse signal generation module 5 produce pulse, after signal condition module 4 forms square wave, be input to then and subtract in the timer conter 2, microprocessor 1 is by reading, handle the counting that subtracts timer conter 2 and high speed timer conter 3, thereby draws the rotating speed of turning axle.
Described microprocessor 1 is single-chip microcomputer or embedded control system.The described timer conter 2 that subtracts can adopt CPLD (programmable logic chip) to realize.
The method that adopts said apparatus to measure rotating speed is:
A, system initialization are 0 o'clock at rotating speed, give to subtract timer conter initialize 1;
B, in k control sampling period in real time, microprocessor is estimated the pulse number M of interior measured signal of k+1 sampling period;
When estimating, if M 〉=1, then this M value is composed to give and subtract timer conter, if M＜1 o'clock, then to subtract the timer conter value be 1 in setting;
When first rising edge of measured signal in k+1 control sampling period in real time arrives, startup subtracts timer conter and begins counting, and start the high speed timer conter simultaneously, the rising edge of each measured signal makes the count value that subtracts timer conter subtract 1, when the count value that subtracts timer conter is kept to zero, stop the counting of high speed timer counter clock this moment, and zone bit is set, and the count value Z of high speed timer counter clock is preserved the wait microprocessor read;
C, in k+2 control sampling period in real time, microprocessor detects whether subtract timer conter setting zone bit, if have then recomputate speed, and refresh the counting initial value that subtracts timer conter, if then do not adopt the speed in last cycle according to the count value Z of high speed timer counter clock.
Adopt aforesaid way, even occur interrupting, instant rotating speed that also can the accurate Calculation turning axle, as shown in Figure 2, when breaking the beginning, microprocessor at first detects and whether subtracts timer conter and set zone bit such as step 201; If there is not overflow indicator, then rotating speed still adopts cycle rotating speed such as step 211, and then exports this rotating speed such as step 206; If any overflow indicator, then microprocessor reads the count value Z such as the step 202 of high speed timer counter clock; Z recomputates speed such as step 203 according to this numerical value; Estimate the rotating speed such as the step 204 in following cycle according to the rotating speed of new rotating speed, last one-period; The pulse number M that may occur according to the following cycle of estimating of revolution speed calculating composes M value to subtracting timer conter, and as if M＜1 o'clock, then to subtract the timer conter value be 1 in setting, as step 205, exports new rotating speed simultaneously, as step 206.
Fig. 3, Fig. 4, Fig. 5 are in the whole tachometric survey process, the demonstration of the relation that measured signal and high speed timer conter and sampling period may occur.When below respectively various situations being occurred, the explanation of the measurement computing method of rotating speed:
As shown in Figure 3, suppose to be k+1 and to control sampling period, the M=4 of pre-estimation in real time this moment, then produced termination flag this moment, the counting Z time corresponding of high speed timer conter is exactly that 4 tooth required times are rotated in measured signal at this moment, and just can calculate rotating speed this moment.
As shown in Figure 4, suppose to be k+1 and to control the sampling period in real time this moment, the M=5 of pre-estimation, then in this sampling period, do not produced termination flag this moment, termination flag produces in the control sampling period in real time at k+2, the speed that then in k+2 sampling period, keeps last one-period, do not refresh the counting initial value 5 of M, when microprocessor detects the zone bit that subtracts timer conter in k+3 sampling period, count value Z according to the high speed timer conter recomputates speed, and refreshes the counting initial value that subtracts timer conter
As shown in Figure 5, because rotating speed is slower, i.e. M＜1 sets then that to subtract the timer conter value be 1, when first rising edge of measured signal arrives in the sampling period, startup subtracts timer conter and begins counting, and starts high speed timer counter clock simultaneously, and the rising edge of each measured signal makes the count value that subtracts timer conter subtract 1, when the count value that subtracts timer conter is kept to zero, stop the counting of high speed timer conter this moment, and zone bit is set, and microprocessor calculates rotating speed this moment simultaneously.What calculated this moment is exactly the speed that gear rotates 1 tooth.Because rotating speed is slower, even the interval of 1 signal pulse also can surpass a sampling period, tachometric survey this moment is error free substantially.
When estimation M of following one-period value, can adopt acceleration method, promptly according to the speed in former cycles, calculate the acceleration of this moment, in conjunction with the speed in this cycle, thereby estimate.And the initial rate of turning axle, can be by behind the system initialization, subtract the timer conter value and be kept at 0 o'clock from 1, high speed timer conter clock elapsed time is calculated.
In sum, have can wide region, high-precision measurement rotating speed and eliminated and interrupt producing in the present invention Frequency is to the characteristics of the impact of the execution generation of other task in the system.
Claims (3)
1, a kind of method of utilizing rotation-speed measuring device to measure rotary shaft rotating speed, described rotation-speed measuring device comprises: the pulse signal generation module, the signal condition module, pulse signal generation module output terminal links to each other with the signal condition module input, microprocessor links to each other with the high speed timer conter, microprocessor also subtracts timer conter and links to each other with one, and this subtracts timer conter and also is connected with the output terminal of signal condition module, said method comprising the steps of:
A, system initialization are 0 o'clock at rotating speed, give to subtract timer conter initialize 1;
B, in k control sampling period in real time, microprocessor is estimated the pulse number M of interior measured signal of k+1 sampling period;
When estimating, if M 〉=1, then this M value is composed to give and subtract timer conter, if M＜1 o'clock, then to subtract the timer conter value be 1 in setting;
When first rising edge of measured signal in k+1 control sampling period in real time arrives, startup subtracts timer conter and begins counting, and start the high speed timer conter simultaneously, the rising edge of each measured signal makes the count value that subtracts timer conter subtract 1, when the count value that subtracts timer conter is kept to zero, stop the counting of high speed timer counter clock this moment, and zone bit is set, and the count value Z of high speed timer counter clock is preserved the wait microprocessor read;
C, in k+2 control sampling period in real time, microprocessor detects whether subtract timer conter setting zone bit, if have then recomputate speed, and refresh the counting initial value that subtracts timer conter, if then do not adopt the speed in last cycle according to the count value Z of high speed timer counter clock.
2, the method for measurement rotary shaft rotating speed according to claim 1 is characterized in that: the described timer conter that subtracts can adopt CPLD (programmable logic chip) to realize.
3, the method for measurement rotary shaft rotating speed according to claim 1 is characterized in that: described microprocessor is single-chip microcomputer or embedded control system.
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| CNB2007100033700A CN100443898C (en) | 2007-02-06 | 2007-02-06 | Apparatus and method for measuring rotation-axis speed by impulse |
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| CN102004167B (en) * | 2010-10-19 | 2012-07-25 | 国电南京自动化股份有限公司 | Measuring method for rotate speed of turbine |
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| CN105403725A (en) * | 2015-12-11 | 2016-03-16 | 重庆鸿引电子有限公司 | Rotating speed measurement method and system, and tachometer |
| CN106645784A (en) * | 2017-01-16 | 2017-05-10 | 哈尔滨理工大学 | Method and circuit for measuring rotating speed of rotary machine |
| CN107436363B (en) * | 2017-06-30 | 2019-10-18 | 南京中车浦镇海泰制动设备有限公司 | A kind of rail traffic vehicles speed dynamic measurement method |
| CN108332651B (en) * | 2018-04-23 | 2020-10-27 | 九阳股份有限公司 | System and method for detecting impeller of range hood |
| CN108809299B (en) * | 2018-08-30 | 2022-07-08 | 歌尔光学科技有限公司 | Signal frequency measurement system |
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| CN111122897B (en) * | 2019-12-23 | 2021-01-05 | 无锡物联网创新中心有限公司 | Spindle rotating speed capturing method in magnetoelectric single spindle detection system and related device |
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Patent Citations (5)
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| US5146162A (en) * | 1989-11-27 | 1992-09-08 | Stanley Electric Company, Ltd. | Engine speed measuring device with plural counters for averaging angular velocity |
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