CN101430558B - 监控可旋转的轴的位置的方法和装置 - Google Patents
监控可旋转的轴的位置的方法和装置 Download PDFInfo
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- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2046—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable ferromagnetic element, e.g. a core
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- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
本发明涉及监控可旋转的轴的位置的方法和装置,具体而言,可旋转的轴配备有测量装置,该测量装置生成对应于轴的不连续角位置的输出信号。对于完整的旋转周期测量该轴的转角。确定该轴的真实角速度。角速度是在不连续角位置的相邻对之间计算出来的。确定角速度的修正,且转角误差项基于该速度修正而确定。
Description
相关申请的交叉引用
本申请要求于2007年11月6日提交的美国临时申请No.60/985,737的权益,该申请通过引用而由此被结合。
技术领域
本公开涉及监控旋转的轴的位置。
背景技术
旋转装置的控制系统依赖于位置反馈来进行运行控制和诊断。旋转装置的转角可以使用转角感测系统测得。当旋转的轴连接到电机上,例如永磁同步电动机上时,该轴的真实转角的测量是有用的。
由于各种因素,包括制造变化和公差,安装过程中感测系统的初始校正等,来自转角感测系统的输出信号容易出现误差。制造商们试图在组装和组装后的校正过程中使用调整的方法来纠正深藏于控制系统中的误差。制造商们还使用诸如严格的机器公差,精确组装方法等技术以及多位置传感装置来提供更为精确的转角测量。
解算器(resolver)组件和其它的旋转感测系统能够提供精密的转角测量。已知的解算器装置能够用来测量轴的转角,提供对应于轴的真实转角和轴旋转方向的高分辨率的信号。这些装置在宽范围的环境温度下工作,温度范围从-40℃到+125℃,从而使得能够应用于宽范围的系统之上。使用解算器组件的应用对角位置和速度测量有着精确的要求。已知制造变化会影响解算器的信号输出,从而影响使用来自解算器的输出信号来进行控制和诊断的控制系统的运行。转角测量的精度直接受解算器安装和机械调整的影响。
发明内容
可旋转的轴的角位置测量误差由转动轴和对于轴的完整的旋转测量对应于不连续角位置的转角来决定,在该完整的旋转期间轴的转速大体上恒定。对于完整的旋转,确定轴的真实角速度,而不连续角位置的相邻对之间的角速度是计算得到的。确定不连续角位置的各相邻对的速度修正,并且对于不连续角位置的各相邻对确定基于该速度修正的转角误差项也。
附图说明
参照附图,现在将用举例的方式描述一个或多个实施例,附图中该图是根据本公开的可旋转的轴和测量系统的简图。
具体实施方式
现在参看附图,其中图示仅出于图解特定的示范性实施例的目的而并非出于对其进行限制的目的,该图示意性地描绘了根据当前描述的实施例构造的用于可旋转的轴10的测量系统20。该测量系统20和轴10可用于采用旋转机械轴,例如电动机的部件和系统。
测量系统20包括解算器组件30,该解算器组件30可操作地且信号地连接到集成电路40(“解算器处理IC”)上。解算器组件30包括可变磁阻装置,该装置包括解算器定子32和解算器转子34。解算器转子34同轴地且固定地连接到轴10上并随其旋转。解算器转子34被适当地定位和组装在轴10上,该轴10包括指向磁北或真北的凹槽(未示出),其在制造公差之内用于定向。解算器转子34包括位于外圆周上的多个凸耳或偏心距(eccentricity)。在图中所示的系统中,解算器转子34显示了两个凸耳,但是解算器组件30可以使用其它数量的凸耳。解算器定子32优选固定地安装到轴10在其中旋转的壳体上(图中未表示),例如电动机外壳上。解算器定子32包括包含感应线圈的主励磁变压器36以及包含拾取感应线圈的一对辅助接收变压器38和39。辅助变压器38和39优选放置成使得它们的纵轴线成90度直角,以产生包含正弦函数和余弦函数的输出信号。图中所描绘的实施例中该解算器组件30包含具有一个极对(pole-pair)的单独的速度装置。
集成电路40优选地包含适于和解算器组件30相互作用的专用电子装置,包括电气地连接到主变压器36上以及信号地连接到辅助变压器38和39上的电子装置。含有正弦电压的激励信号由集成电路40的元件产生,并被传递至主变压器36。对主变压器36应用激励信号在辅助变压器38和39中引发对应于解算器转子34的转角的输出信号。辅助变压器38和39的输出信号被集成电路40中的分析元件监控和分析。在计算中,当用数学函数例如Sin(2πFet)表示到主变压器36的激励信号时,辅助变压器38和39中引发的输出信号可由用于辅助变压器38的数学函数和用于辅助变压器39的来表示,其中表示解算器转子34的测得转角,而Fe是基于到主变压器34的激励信号的频率。因此,辅助变压器38和39被来自主变压器36的激励信号激发并产生可由集成电路40读取的与激励信号同频的信号。从辅助变压器38和39输出的电压电平的量级取决于具有凸耳的解算器转子34与解算器定子32之间的接近程度。
集成电路40包括电路,该电路运行以将来自辅助变压器38和39的信号转换为对应于解算器转子34和轴10的测得转角(“位置”)和角速度(“速度”)的输出信号。解算器转子34的测得转角表示为,而轴10的转角或真实角位置则表示为θ。集成电路40进一步优选地生成被描绘成带有方波输出的编码器仿真信号(“编码器仿真信号”),从中可以确定轴10的旋转方向。如图所示,集成电路40的输出信号被输入到微处理器(“微处理器”)50,或者另一个装置,并提供量化成N个不连续角位置的轴10的测得转角。
集成电路优选地包括微处理器或中央处理单元,包含非易失性存储器的存储介质(这些存储器包含电可编程只读存储器和只读存储器,随机存取存储器),高速时钟,模数转换和数模转换电路,以及输入/输出电路和具有适当信号调节和缓冲电路的装置。在其中一个存储器中存储了包含驻留程序指令和校正的一套算法,且执行该算法以确定解算器转子34的测得转角和测得角速度并生成从中可以确定轴10的旋转方向的编码器仿真信号。微处理器50优选地包含通用的数字计算机,该计算机包含微处理器或中央处理单元,包括只读存储器、随机存取存储器、电可编程只读存储器的存储介质,高速时钟,模数转换和数模转换电路,输入/输出电路以及具有适当信号调节和缓冲电路的装置。
在微处理器50的其中一个存储器中优选地储存有可执行程序,且该程序包含驻留程序指令和校正,其基于解算器转子34的测得转角优选地基于在此描述的等式和分析来确定解算器组件30的转角误差。转角误差可用在控制模式中来修正与轴10的位置和速度测量相关的误差。在对其应用该程序的系统的正在进行的运行期间该程序被执行。该程序包含从集成电路40监控转角和角速度。具体地,来自集成电路40的输出包含如前文所述的被量化为N个不连续的角位置的的解算器转子34的测得转角和角速度。项k和j表示测量系统20的N个不连续角位置[1...N]集合中的不连续角位置的一个相邻对。在不连续角位置k和j之间的速度估算可通过将从位置k到位置j的测得角度变化除以从位置k到位置j的消逝时间来计算。因为位置测量有固定误差,测得的速度也存在固定误差。总的分析基于如下所述的等式1-3:
在等式1,2和3中,项Wkj表示不连续角位置k和j之间的正确平均速度,Wkj表示不连续角位置k和j之间的测得角速度,角度θk和θj表示不连续角位置k和j的真实角位置,ek和ej表示不连续角位置k和j处的误差,而ΔT表示不连续角位置k和j之间的消逝时间。项(θk+ek)表示,即在位置k处的测得角位置。项αkj表示由已知常量按比例缩放的位置k和j之间的转角误差的变化。
在运行中,本实施例中的解算器组件30运行以识别六十四(64)个不连续的位置,即对解算器组件30每次旋转N=64。集成电路40运行以精确地测量每个不连续角位置之间的消逝时间,并执行与之相关的算法。对一个旋转周期的每个位置变化,例如,对于解算器组件30的单次旋转的消逝时间,都会计算和储存测得角速度的值。因此,当不连续的角位置k从1变化到64时,相邻不连续角位置k和k-1之间的测得角速度可以如等式4所述书写和确定。
系统的运行被监控,以确定对于一个完整的旋转周期所计算的平均测得角速度何时对于该完整的旋转周期大体上是恒定值,且该测得角速度的任何变化都在该测量系统20的测量误差之内。该平均测得角速度可通过将对于该完整的旋转周期的最后测得的角速度和首次测得的角速度进行比较来核对。当确定在其间进行数据采集的完整的旋转周期内该平均测得角速度大体上恒定时,对该旋转周期设定平均测得角速度,并对该完整的旋转周期捕获数据。在下述分析中,角速度表示相邻的不连续角位置k和j之间的速度,且j从1到64变化。由角位置误差引起的比例因子αk在由如下所示的等式6中计算。
由此可以确定每个位置k的第二个比例因子βk,如下述等式7中所示。
过滤第二个比例因子βk以降低在正在进行的运行中由于随机噪声而会发生的任何影响,如下面的等式8所示。
βk=βk+c·(βk-βk) [8]
调整第二个比例因子βk以防止角速度修正的多余的比例缩放,如下面等式9所示。
确定每个不连续角位置k的角度误差ek,如下等式10所示。
可以去除总和常数以确定转角误差ek,如下面等式11所示。
真实转角θk和真实角速度W可以基于测得的转角、角速度、转角误差以及比例因子确定,如下面的等式12所示。
在一个备选实施例中,由于数据和相关分析的量,由N个不连续角位置中的每个角位置来确定单独的角位置可能并不现实。因此,解算器组件30的每次旋转的360度可以被划分成64个不连续区域,或桶(bucket),且对每个桶中所得的测量值取平均值。之后参考等式1-12所描述的可执行程序可用于同样的效果。对于如下应用,这可能是必要的,在该应用中,解算器组件30由多个极对构成,导致对于轴10的每次旋转,有相应的多个解算器循环。因此,测量系统20和所述的可执行程序适于具有多个极对的解算器组件和适于测量转速的其它装置。转角误差项ek优选地存储在微处理器50中的其中一个非易失性存储设备上,用于所使用的每个测量系统,并用于控制和运行中。当轴10是电机(未示出)的一个元件时,微处理器可以使用真实转角θk和角速度W来控制到电机定子的每个线圈的电能输入,从而优化电能效率。
本公开描述了某些优选实施例及其变型。在阅读和理解本说明书后可想到更多变化和更改。因此,其意在本公开不限于公开为用来实施本公开的所设想的最佳模式的实施例,而是本公开将包括落入所附权利要求范围内的所有实施例。
Claims (15)
1.一种用于监控可旋转的轴的旋转位置的方法,包括:
生成对应于所述轴的多个不连续转角的输出信号;
对于完整的旋转,监控对应于所述轴的所述不连续转角的输出信号和消逝时间,在所述完整的旋转期间,所述轴的转速大体上恒定;
对于所述完整的旋转,确定所述轴的真实角速度,在所述完整的旋转期间,所述轴的转速大体上恒定;
计算所述不连续转角的相邻对之间的角速度;
确定基于计算角速度和真实角速度的速度修正;
确定基于所述速度修正的所述轴的转角测量中的误差;以及
确定能够与所述轴的所述不连续转角相结合的转角误差项。
2.根据权利要求1所述的方法,其特征在于,对于所述轴的所述完整的旋转,计算所述不连续转角的相邻对之间的角速度,并且其中,对于不连续转角的各所述相邻对确定速度修正。
3.根据权利要求2所述的方法,其特征在于,对于不连续角位置的各所述相邻对确定转角误差项。
4.根据权利要求2所述的方法,其特征在于,对于所述轴的所述完整的旋转,通过将每个计算的角速度除以所述不连续转角的相邻对之间的所述计算的角速度的数学平均值来确定速度修正。
5.根据权利要求1所述的方法,其特征在于,所述方法还包括修正基于所述转角误差项的所述轴的所述不连续转角。
6.根据权利要求1所述的方法,其特征在于,所述方法还包括给所述轴配备测量装置,所述测量装置运行以生成对应于所述轴的多个不连续转角的所述输出信号。
7.根据权利要求6所述的方法,其特征在于,所述方法包括确定基于所述速度修正的用于所述测量装置的所述转角误差项。
8.一种用于测量可旋转的轴的真实转角的方法,包括:
将解算器转子固定地连接到所述轴上;
提供解算器定子以生成解算器定子信号,所述解算器定子信号对应于在转子的不连续角位置处的转角;
转动所述轴,并监控所述解算器定子信号;
对于所述轴的完整的旋转,测量所述转角和其间的消逝时间,在所述完整的旋转期间所述轴的转速大体上恒定;
对于所述完整的旋转,确定所述轴的真实角速度,在所述完整的旋转期间所述轴的转速大体上恒定;
对于所述轴的所述完整的旋转,计算所述不连续角位置的相邻对之间的角速度;
确定计算角速度和真实角速度之间的速度修正;
确定基于所述速度修正的转角误差项;以及
使用所述转角误差项修正测量的转角。
9.根据权利要求8所述的方法,其特征在于,对于不连续转角的各相邻对确定速度修正。
10.根据权利要求9所述的方法,其特征在于,对于不连续转角的各相邻对确定所述转角误差项。
11.根据权利要求8所述的方法,其特征在于,所述方法包括对于所述完整的旋转,通过将每个计算的角速度值除以所述不连续角位置的各相邻对之间的所述计算的角速度的数学平均值来确定所述速度修正。
12.根据权利要求11所述的方法,其特征在于,所述方法还包括对于多个完整的旋转,测量对应于所述不连续角位置的所述轴的转角,在所述完整的旋转期间所述轴的转速大体上恒定。
13.一种确定可旋转的轴的角位置的测量中的误差的方法,包括:
确定对应于所述轴的不连续角位置的转角;
转动所述轴,并对于所述轴的完整的旋转,测量对应于所述不连续角位置的转角,在所述完整的旋转期间所述轴的转速大体上恒定;
对于所述完整的旋转,确定所述轴的真实角速度,在所述完整的旋转期间所述轴的转速大体上恒定;
对于所述轴的所述完整的旋转,计算所述不连续角位置的相邻对之间的角速度;
对于不连续角位置的各所述相邻对,确定计算角速度和真实角速度之间的速度修正;以及
对于不连续角位置的各所述相邻对确定基于所述速度修正的转角误差项。
14.根据权利要求13所述的方法,其特征在于,对于所述完整的旋转,通过将每个计算的角速度值除以所述不连续角位置的各相邻对之间的所述计算的角速度的数学平均值来确定所述速度修正。
15.根据权利要求14所述的方法,其特征在于,所述方法还包括修正基于所述转角误差项的所述轴的测量的转角。
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US8179127B2 (en) | 2012-05-15 |
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