CN101144702A - Low velocity measuring method based on double code disc - Google Patents
Low velocity measuring method based on double code disc Download PDFInfo
- Publication number
- CN101144702A CN101144702A CNA200710175259XA CN200710175259A CN101144702A CN 101144702 A CN101144702 A CN 101144702A CN A200710175259X A CNA200710175259X A CN A200710175259XA CN 200710175259 A CN200710175259 A CN 200710175259A CN 101144702 A CN101144702 A CN 101144702A
- Authority
- CN
- China
- Prior art keywords
- dish
- code
- speed
- disc
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a low speed measuring method based on double coded discs, and belongs to the movement servo technology field. The measuring method adopts a main coded disc and an auxiliary coded disc to combine the measuring rotating speed and the position change, the main coded disc provides the rotating speed and the position signal of a high speed metering zone, the auxiliary coded disc provides the rotating speed and the position signal of a low speed metering zone, and a feedback impulse signal of the main coded disc is taken as a calibrated signal of the auxiliary coded disc rotating speed and a position measuring signal; the treatment is performed through the integrated fault-tolerance of the main coded disc and the auxiliary coded disc input impulse signal, thereby obtaining wide low speed measuring scope; simultaneously, the reliability of the feedback signal is improved by the comparison and correction of a coded disc signal, and the equivalent coded disc line quantity of a system can be improved to k times (k is the speed increasing ratio of a speed increasing shaft). The invention realizes the location and the speed measurement of the higher precision compared with the adoption of the coded disc with the same specification, and the high precision electric machine can be applied to adjust the speed and control the system.
Description
Technical field
The present invention relates to a kind of position and speed measurement method of motor, belong to the motion servo technical field.
Background technology
The performance of speed and position control system depends on the precision of feedback signal to a great extent, and position feedback is realized by position transducer, the high-resolution position transducer of high-precision positioning requirements.Simultaneity factor is handled out of Memory such as also can obtaining speed by the differential of location information.Position transducer at present commonly used has rotary transformer, photoelectric encoder, magnetic coder (as magnetic scale), inductosyn, grating etc., wherein incremental optical-electricity encoder since advantage such as precision is good, with low cost, easy to use be most widely used in speed governing, control field such as servo.This increment type traying is number of division N to the line number that the measuring accuracy of position and speed depends primarily on every circle, and the angular measurement precision of code-disc is
Therefore, code-disc line number is high more, and its precision is also good more.Because the restriction of process technology, the scale mark of the every circle of code-disc commonly used generally arrives between several thousand lines at the hundreds of line, the reliability that surpasses the code-disc signal of 4000 lines begins to descend, and its cost of manufacture also begins rapid rising simultaneously, has limited the further raising of code-disc rate accuracy.How to realize on conventional code-disc that more high-accuracy speed, position feedback are hot issues in high-precision servo, the governing system research always.The various improvement algorithms that people successively propose all can not fundamentally really be broken through the precision of 1 pulse of code-disc, and promptly the dynamic mutation process of motor speed can not be detected by instantaneous with higher precision.The servo-drive system low regime of Shi Xianing can only be in held stationary operation under the stable state based on this, in dynamic processes such as load changing owing to the velocity feedback dynamic response causes rotary speed unstabilization and rigidity not enough slowly, can't practicality.
Propose to improve the method that common DC motor drives precision and reliability in the at present existing patent 200610200317.5 with simple encoder.With direct current generator band reducer casing, connect code-disc on the reducer casing again, code fetch dish signal judges that to controller the motor commentaries on classics stops.This method is that code-disc is moved on to the continuous velocity control that replaces servomotor or stepper motor on the working shaft, obtains direct control to working shaft to sacrifice precision, can not improve the angle explanation precision of code-disc.
Use the speed-measuring method of pulse encoder when proposing a kind of motor slow running in the at present existing patent 200410022609.5, with be a kind of algorithm of estimation, method of estimation combination according to outer extension curve of the highest possible speed of extension computing method calculating and experience obtains velocity estimation value more accurately.Time interval T between one, two encoder pulse calculates average velocity C/T during this period of time, and the 3rd pulse not then, estimation present speed C/ (T+ Δ t)/N (N gets empirical value) obtains current motor speed.This method can not fundamentally really break through the precision of 1 pulse of code-disc, and promptly the dynamic mutation process of motor speed can not be detected by instantaneous with higher precision, can only be used for the estimation of steady rotating speed.
The test table of the servo test usefulness of a kind of high precision low speed twin shaft of invention in the at present existing patent 200310115538.9, adopt indirect driving, FUSION WITH MULTISENSOR DETECTION SYSTEM to solve big inertia, ultralow speed and high-precision contradiction, realize the high precision low speed control of system.But said method needs a plurality of power transmission shafts and a plurality of code-disc, and system complex is with high costs, only is applicable to special-purpose fields such as navigation.
Summary of the invention
The object of the present invention is to provide a kind of low velocity measuring method based on the dicode dish, the position feedback precision with the position transducer that improves low resolution realizes the High Accuracy Control of motor under low speed.Fundamentally really break through the precision of 1 pulse of code-disc, promptly the dynamic mutation process of motor speed can be detected by instantaneous with higher precision.The servo-drive system low regime of Shi Xianing can be in held stationary operation under the stable state based on this, in dynamic processes such as load changing because the raising of velocity feedback precision, it can not occurred owing to low-response causes rotary speed unstabilization and the not enough phenomenon of rigidity, strengthen practicality.
Technical scheme of the present invention is as follows:
A kind of low velocity measuring method based on the dicode dish is characterized in that this method comprises the steps:
1) needs carry out rotating speed and position measurement the axle on install and fix first code-disc as the primary key dish, the rotating speed and the position signalling of high speed measurement zone is provided; Second code-disc is connected with the axle that needs to measure by a speedup axle, as the auxiliary code dish, provides the rotating speed and the positional information of low regime;
2) pulse signal that sends of primary key dish imports the auxiliary code dish into by the speedup axle; The code-disc line number that makes the auxiliary code dish is k a times of primary key dish code-disc line number, and wherein k is the speed increasing ratio of speedup axle;
3) input of two-way code-disc input signal is contained in the controller of software control procedure, the pulse signal that main and auxiliary two group code dishes are imported carries out comprehensive fault-tolerant processing:
A. the output pulse of primary key dish is exported the calibrating signal of pulse as the auxiliary code dish, judge then: if the code-disc signal is noiseless, judge that so pulse signal of the every output of primary key dish is whether corresponding to k output pulse signal of auxiliary code dish, if satisfy this condition, the pulse signal with the output of auxiliary code dish carries out speed and position calculation so;
If b. do not satisfy this condition, the pulse signal of then using the output of primary key dish instead carries out position and velocity survey, and the number of times that accumulative total does not satisfy condition provides the code-disc fault alarm when this cumulative number surpasses the scope that provides, thereby the low speed of realizing motor is measured.
In such scheme, described primary key dish and auxiliary code dish adopt increment type traying.Incremental shaft selects 1-2 level speed reduction unit commonly used to realize that described k is 1～100.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Comprehensive fault-tolerant processing by main and auxiliary two group code dish input pulse signals, can obtain very wide low speed measurement range, and can proofread and correct the reliability that improves feedback signal by the contrast of code-disc signal, the satellite pulse information that adopts the auxiliary code dish to provide is provided in this method is carried out speed and position measurement, the auxiliary code dish can be exported k pulse corresponding to 1 pulse of primary key dish, instantaneous position and velocity survey precision can be improved k doubly.Broken through the precision under 1 pulse of conventional code-disc, promptly the dynamic mutation process of motor shaft speed can be detected by instantaneous with higher precision.The present invention has realized the high performance control of motor under the low speed, guarantees driving and normal load capacity that under low speed (0-1r/min speed adjustable range) can also held stationary.Compared with prior art, the present invention can realize the high-accuracy speed position probing with lower cost code-disc and the low-cost speed-increasing gear combination of miniwatt, is highly suitable for the high-end servo drive system exploitation of high performance-price ratio.Because the pulse signal of main and auxiliary code-disc output is the gyro frequency acquisition by the disc groove, provide the speedup axle of connection also to need not transmitted power in the scheme, the real-time of code-disc feedback signal and accuracy are all relatively good, and speed does not detect and postpones INSTANTANEOUS OBSERVATION.The present invention is simple in structure, realizes on engineering easily, is expected to be promoted widely in industrial robot, numerically-controlled machine, cannon, radar, the contour performance driving of navigational system.
Description of drawings
Fig. 1 is a dicode dish speed measuring device hardware connection layout.
Fig. 2 is the software fault-tolerant process flow block diagram.
1-primary key dish; 2-auxiliary code dish; 3-speedup axle; 4-controller; 5-motor.
Embodiment
Below in conjunction with accompanying drawing principle of the present invention, embodiment are further described.
Fig. 1 is a dicode dish speed measuring device hardware connection layout, is example with an electric machine control system, and this new measurement is made up of primary key dish 1, auxiliary code dish 2, speedup axle 3 and controller 4 and motor 5, and the primary key dish is connected by k speedup axle 3 doubly with the auxiliary code dish.Primary key dish and auxiliary code dish adopt increment type traying.
Specific implementation method of the present invention is as follows:
At first needs carry out rotating speed and position measurement the axle on install and fix first code-disc as primary key dish 1, the rotating speed and the position signalling of high speed measurement zone is provided; Second code-disc is connected with the axle that needs to measure by a speedup axle 3, as auxiliary code dish 2, provides the rotating speed and the positional information of low regime; From the principle of work of increment type traying as can be known, the even penetrating groove that distributes is ringwise arranged on the code-disc disc, light is seen through.Rotating part intermediate shaft and turning axle to be measured are that motor shaft links.When disc rotation, dark light pulse signal when logical when the photoelectric receiving arrangement place will obtain, this signal frequency is consistent with disc groove gyro frequency, the just corresponding angle of slip increment of output pulse signal of every generation, select the code-disc of low precision M line commonly used on the market for use, the angle increment Δ θ that each pulse of primary key dish output is represented is:
Speedup axle 3 is connected on the motor rotation axis, and the rotating speed of speedup axle 3 output terminals is k times of motor, and the primary key dish sends a pulse signal when motor shaft turns an angle, and the auxiliary code dish will produce k output pulse signal, corresponding k angle of slip increment.Adopt this method to be equivalent to motor inserts a M * k pulse/commentaries on classics when low speed code-disc, the angle increment Δ θ that each pulse is represented is:
The input of two-way code-disc input signal is contained in the controller of software control procedure, and the pulse signal that main and auxiliary two group code dishes are imported carries out comprehensive fault-tolerant processing:
If the code-disc signal is noiseless, when the feedback signal of primary key dish is lower than 1 pulse, the auxiliary code dish is exported less than k pulse, makes expanded range to 0～M * k the pulse/commentaries on classics of the measurement range of code-disc from original O～M pulse/commentaries on classics.This moment, primary key dish feedback pulse was as the calibrating signal of auxiliary code dish rotating speed and position measurement signal, judged pulse signal of the every output of primary key dish whether corresponding to k output pulse signal of auxiliary code dish,
If a. satisfy this condition, the pulse signal with the output of auxiliary code dish carries out speed and position calculation so; Combined treatment by main and auxiliary two group code dish input pulse signals can obtain very wide low speed measurement range;
If b. do not satisfy this condition, the pulse signal of then using the output of primary key dish instead carries out position and velocity survey, and the number of times that accumulative total does not satisfy condition provides the code-disc fault alarm when this cumulative number surpasses the scope that provides, thereby the low speed of realizing motor is measured.
As from the foregoing: the pulse signal that the primary key dish sends imports the auxiliary code dish into by the speedup axle, and the corresponding code-disc line of auxiliary code dish number can improve k doubly, and wherein k is the speed increasing ratio of speedup axle.Two-way code-disc input signal input controller, apparatus of the present invention become multiple to improve the gyration of the minimum that a code-disc can differentiate.Satisfy the requirement of software algorithm fully, realized the high performance control of motor under the low speed the feedback pulse signal.
Claims (3)
1. the low velocity measuring method based on the dicode dish is characterized in that this method comprises the steps:
1) needs carry out rotating speed and position measurement the axle on install and fix first code-disc as primary key dish (1), the rotating speed and the position signalling of high speed measurement zone is provided; Second code-disc is connected with the axle that needs to measure by a speedup axle, as auxiliary code dish (2), provides the rotating speed and the positional information of low regime;
2) pulse signal that sends of primary key dish imports the auxiliary code dish into by the speedup axle; The equivalent line number that makes the auxiliary code dish is k a times of primary key dish code-disc line number, and wherein k is the speed increasing ratio of speedup axle;
3) input of two-way code-disc input signal is contained in the controller of software control procedure, the pulse signal that main and auxiliary two group code dishes are imported carries out comprehensive fault-tolerant processing:
A. the output pulse of primary key dish is exported the calibrating signal of pulse as the auxiliary code dish, judge then: if the code-disc signal is noiseless, judge that so pulse signal of the every output of primary key dish is whether corresponding to k output pulse signal of auxiliary code dish, if satisfy this condition, the pulse signal with the output of auxiliary code dish carries out speed and position calculation so;
If b. do not satisfy this condition, the pulse signal of then using the output of primary key dish instead carries out position and velocity survey, and the number of times that accumulative total does not satisfy condition provides the code-disc fault alarm when this cumulative number surpasses the scope that provides, thereby the low speed of realizing motor is measured.
2. according to the described a kind of low velocity measuring method based on the dicode dish of claim 1, it is characterized in that: said primary key dish and auxiliary code dish adopt increment type traying.
3. according to claim 1 or 2 described a kind of low velocity measuring methods based on the dicode dish, it is characterized in that: incremental shaft selects 1-2 level speed reduction unit to realize that described k is 1～100.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710175259XA CN100483065C (en) | 2007-09-28 | 2007-09-28 | Low velocity measuring method based on double code disc |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710175259XA CN100483065C (en) | 2007-09-28 | 2007-09-28 | Low velocity measuring method based on double code disc |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101144702A true CN101144702A (en) | 2008-03-19 |
| CN100483065C CN100483065C (en) | 2009-04-29 |
Family
ID=39207349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710175259XA Expired - Fee Related CN100483065C (en) | 2007-09-28 | 2007-09-28 | Low velocity measuring method based on double code disc |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100483065C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907633A (en) * | 2010-06-29 | 2010-12-08 | 浙江大学 | High-resolution rotation-speed measuring device |
| CN105628955A (en) * | 2015-12-25 | 2016-06-01 | 南京南瑞集团公司 | Speed measurement device for pump storage group static frequency converter and speed measurement method thereof |
| CN109015646A (en) * | 2018-08-22 | 2018-12-18 | 中科新松有限公司 | Location information self-calibrating method, device, equipment and storage medium |
| CN109172935A (en) * | 2018-09-25 | 2019-01-11 | 湖南比扬医疗科技有限公司 | The device and method that a kind of pair of infusion pump driving direction and accuracy are detected |
| CN109839511A (en) * | 2017-11-27 | 2019-06-04 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of tach signal Acquisition Circuit |
| CN111015361A (en) * | 2019-12-20 | 2020-04-17 | 十堰市泰祥实业股份有限公司 | Main shaft operation equipment and main shaft operation detection mechanism thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI613536B (en) * | 2016-09-08 | 2018-02-01 | 國家中山科學研究院 | Speed measuring device calibration system and method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4111562C2 (en) * | 1991-04-10 | 1994-12-22 | Hohner Elektrotechnik Kg | Angular position sensor |
| FR2852464B1 (en) * | 2003-03-12 | 2007-03-16 | Skf Ab | SWITCHING DEVICE, BEARING BEARING, AND ELECTRIC MOTOR USING SUCH A DEVICE |
| CN1300590C (en) * | 2004-05-18 | 2007-02-14 | 桂林星辰电力电子有限公司 | Method for measuring motor speed at low-speed operation by using pulse coder |
| CN100480704C (en) * | 2005-11-24 | 2009-04-22 | 中国科学院长春光学精密机械与物理研究所 | High precision wide range velocity measuring method and circuit |
| CN200950063Y (en) * | 2006-05-18 | 2007-09-19 | 张焕庭 | Photoelectric speedometer |
-
2007
- 2007-09-28 CN CNB200710175259XA patent/CN100483065C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907633A (en) * | 2010-06-29 | 2010-12-08 | 浙江大学 | High-resolution rotation-speed measuring device |
| CN101907633B (en) * | 2010-06-29 | 2012-05-02 | 浙江大学 | High-resolution rotation-speed measuring device |
| CN105628955A (en) * | 2015-12-25 | 2016-06-01 | 南京南瑞集团公司 | Speed measurement device for pump storage group static frequency converter and speed measurement method thereof |
| CN105628955B (en) * | 2015-12-25 | 2018-10-30 | 南京南瑞集团公司 | A kind of speed measuring device and its speed-measuring method of pump-storage generator static frequency changer |
| CN109839511A (en) * | 2017-11-27 | 2019-06-04 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of tach signal Acquisition Circuit |
| CN109015646A (en) * | 2018-08-22 | 2018-12-18 | 中科新松有限公司 | Location information self-calibrating method, device, equipment and storage medium |
| CN109015646B (en) * | 2018-08-22 | 2021-07-23 | 中科新松有限公司 | Position information self-calibration method, device, equipment and storage medium |
| CN109172935A (en) * | 2018-09-25 | 2019-01-11 | 湖南比扬医疗科技有限公司 | The device and method that a kind of pair of infusion pump driving direction and accuracy are detected |
| CN111015361A (en) * | 2019-12-20 | 2020-04-17 | 十堰市泰祥实业股份有限公司 | Main shaft operation equipment and main shaft operation detection mechanism thereof |
| CN111015361B (en) * | 2019-12-20 | 2022-04-01 | 十堰市泰祥实业股份有限公司 | Main shaft operation equipment and main shaft operation detection mechanism thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100483065C (en) | 2009-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100483065C (en) | Low velocity measuring method based on double code disc | |
| CN201107393Y (en) | Synchronization / coordinating controller performance test platform | |
| CN100357706C (en) | Method for detecting position and speed of object moving along orbit | |
| CN103753351B (en) | A kind of Digit Control Machine Tool backlass monitoring method of Full-closed servo system | |
| CN102003934B (en) | Measurement method and implementation device of non-circular gear tooth profile total deviation | |
| CN101293535B (en) | Measuring method for corner of vehicle steering wheel | |
| CN103712795B (en) | A kind of Efficient measurement of gear global error, apparatus and method | |
| CN105424063A (en) | Absolute position monitoring system and method | |
| CN104698845B (en) | Radar antenna servo tracking method and system based on automatic disturbance rejection controller | |
| CN102879032A (en) | Dynamic angle measurement accuracy measuring device | |
| CN104597916A (en) | Wheel-track type large rotary table position control system and control method thereof | |
| CN101419066A (en) | Method for detecting gear tooth profile and spiral line by diaxon servocontrol | |
| CN108015797B (en) | A kind of RV speed reducer drive error on-line monitoring method | |
| CN102997887A (en) | Method and device for multi-dimensional detection of angle sensor | |
| CN100354078C (en) | Double ring detecting mechanism for robot joint speed reducer flexibility | |
| CN107092231A (en) | A kind of areflexia wave flume wave maker | |
| CN104990707A (en) | Cylindrical gear parameter accurate reversing method | |
| JP5660671B2 (en) | Encoder signal processing device | |
| CN103940398A (en) | Rotation angle measuring method, device, system and engineering machine | |
| CN110133316B (en) | Precise speed measurement system and method for photoelectric encoder | |
| CN210014751U (en) | Measuring device for detecting rotation angle of shaft | |
| CN102615550B (en) | Alternating current servo control device adopting electronic gear and use method thereof | |
| CN110906959A (en) | Implementation method of magnetoelectric absolute encoder with one-main-gear-multi-auxiliary-gear structure | |
| CN202974319U (en) | Angle measurement precision dynamic measuring device | |
| Lu et al. | A new position detection and status monitoring system for joint of SCARA |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jiashan Dongling Electronic Technology Co., Ltd. Assignor: Tsinghua University Contract fulfillment period: 2009.12.15 to 2014.12.15 contract change Contract record no.: 2009330002940 Denomination of invention: Low velocity measuring method based on double code disc Granted publication date: 20090429 License type: Exclusive license Record date: 20091230 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.12.15 TO 2014.12.15; CHANGE OF CONTRACT Name of requester: JIASHAN DONGLING ELECTRONICS TECHNOLOGY CO., LTD. Effective date: 20091230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090429 Termination date: 20160928 |