CN102447433A - Rotating speed estimation method and computer readable media applying same - Google Patents
Rotating speed estimation method and computer readable media applying same Download PDFInfo
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- CN102447433A CN102447433A CN2010105095103A CN201010509510A CN102447433A CN 102447433 A CN102447433 A CN 102447433A CN 2010105095103 A CN2010105095103 A CN 2010105095103A CN 201010509510 A CN201010509510 A CN 201010509510A CN 102447433 A CN102447433 A CN 102447433A
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Abstract
The invention relates to a rotating speed estimation method and a computer readable media applying the same, which are used for estimating the rotating speed of a motor device, wherein the rotating speed estimation method comprises the following steps of: providing a first and a second sampled signals at first; then determining a first operation parameter according to the maximum rotating speed of the motor device and the first sampled signal, and determining a second operation parameter according to the maximum rotating speed and the second sampled signal; when the rotating speed information of the motor device corresponds to a first rotating speed condition, selecting the first sampled signal and the first operation parameter to respectively be the sampled signal and the operation signal; when the rotating speed information corresponds to a second rotating speed condition, selecting the second sampled signal and the second operation parameter to respectively be the sampled signal and the operation parameter; then sampling the corresponding phase-coded signal of the sampled signal on the motor device so that a sampling numerical value is obtained; and later, obtaining a rotating speed estimated value according to the sampling numerical value and the operation parameter.
Description
Technical field
The invention relates to a kind of turn count method and computer readable media thereof, and particularly relevant for a kind of turn count method and computer readable media thereof that is applied to motor rotary speed control.
Background technology
In the prior art, the motor rotary speed evaluation method exists, and is widely used in the various occasions.In general, has photoelectric encoder on the motor, in order to produce phase-coded signal A and the phase-coded signal B that has 90 degree phase differences each other.For instance, motor whenever revolves and turns around, and the phase-coded signal A of generation and B trigger M pulse wave signal accordingly, and M is the natural number greater than 1.In the prior art, frequency measurement method (or claiming the M method) and survey periodic method (or claiming T method) are two kinds of calculation methods commonly used at present, in order to estimate the rotary speed of motor accordingly according to these a little pulse wave signals.The turn count value that produces more can be used to motor is carried out speed feedback control.
Yet, how to design and have the wide and turn count result of turn count scope turn count method comparatively accurately, for industry is constantly endeavoured one of direction.
Summary of the invention
The purpose of this invention is to provide a kind of turn count method and use its computer readable media; Compared to traditional turn count method, turn count method that the present invention is correlated with and computer readable media thereof have the wide and turn count result of turn count scope advantage comparatively accurately.
According to a first aspect of the invention, a kind of turn count method and the computer readable media of putting down in writing it are proposed, in order to motor apparatus is carried out turn count.The turn count method comprises following step.First and second sampled signal at first is provided, and first and second sampled signal has first and second sampling frequency respectively, and first sampling frequency is in fact greater than second sampling frequency.Then the maximum speed information and first sampled signal according to motor apparatus determines the first computing parameter, and determines the second computing parameter according to the maximum speed information and second sampled signal.When the rotary speed information of motor apparatus corresponds to first speed conditions, select first sampled signal and the first computing parameter respectively as sampled signal and computing parameter.When rotary speed information reaches second speed conditions, select second sampled signal and the second computing parameter respectively as sampled signal and computing parameter.With sampled signal the sampling phase code signal of treating of motor apparatus is taken a sample then, to obtain the numerical value of taking a sample.Afterwards according to sampling numerical value and computing parameter generating turn count value.First and this second speed conditions correspond to the different rotating speed scope, the range of speeds of first speed conditions is higher than the range of speeds of second speed conditions.
According to a second aspect of the invention, a kind of turn count method and the computer readable media of putting down in writing it are proposed, in order to motor apparatus is carried out turn count.The turn count method comprises following step.At first the maximum speed information and first phase-coded signal according to motor apparatus determines the first computing parameter; And according to the maximum speed information and second phase-coded signal of motor apparatus; Determine the second computing parameter; First and second phase-coded signal has different generation frequencies respectively, and the frequency of first phase-coded signal is in fact less than the frequency of second phase-coded signal.When the rotary speed information of motor apparatus reaches first speed conditions, select first phase-coded signal and the first computing parameter respectively as treating sampling phase code signal and computing parameter.When rotary speed information reaches second speed conditions, select second phase-coded signal and the second computing parameter respectively as treating sampling phase code signal and computing parameter.Treating the sampling phase code signal with sampled signal then takes a sample to obtain the numerical value of taking a sample.Afterwards according to sampling numerical value and computing parameter generating turn count value.The corresponding different rotating speeds scope of first and second speed conditions, the range of speeds of first speed conditions is the range of speeds that is higher than second speed conditions.
According to a third aspect of the invention we, a kind of turn count method and the computer readable media of putting down in writing it are proposed, in order to motor apparatus is carried out turn count.The turn count method comprises step a to c.At first like step a, according to the maximum speed information of motor apparatus and treat sampling phase code signal decision computing parameter.Then, treat the sampling phase code signal with sampled signal and take a sample, wherein also comprise substep b1 to b5 among the step b to obtain the numerical value of taking a sample like step b.At first like step b1 first and second counter is provided, writes down first and second count value respectively, under initial state, first and second count value corresponds to the termination count value.Then like step b2, drive second counter when receiving when treating the sampling phase code signal, make second count value equal first count value, and to drive first counter, first count value of resetting be initial count value.Like step b3, when receiving sampled signal, drive first counter first count value is increased progressively 1 then.Like step b4,, first count value drives the operation that first counter stops step b3 when equaling the highest count value, and make first count value maintain the highest count value.Like step b5, read second count value as sampling numerical value.Afterwards like step c, according to sampling numerical value and computing parameter generating turn count value.
For there is better understanding above-mentioned and other aspect of the present invention, hereinafter is special lifts preferred embodiment, and conjunction with figs., elaborates as follows:
Description of drawings
Fig. 1 illustrates the calcspar of the motor system of the turn count method of using the embodiment of the invention.
Fig. 2 illustrates the flow chart according to the turn count method of first embodiment of the invention.
Fig. 3 illustrates the part flow chart of the turn count method of first embodiment of the invention.
It is the numerical value change sketch map of count value CV1 and CV2 that Fig. 4 illustrates.
Fig. 5 illustrates another flow chart according to the turn count method of first embodiment of the invention.
Fig. 6 illustrates the flow chart again according to the turn count method of first embodiment of the invention.
Fig. 7 illustrates the flow chart according to the turn count method of second embodiment of the invention.
Fig. 8 illustrates another flow chart according to the turn count method of second embodiment of the invention.
Fig. 9 illustrates the flow chart according to the turn count method of third embodiment of the invention.
Embodiment
Please with reference to Fig. 1, it illustrates the calcspar of the motor system of the turn count method of using the embodiment of the invention.For instance, comprise speed control loop 110, current control loop 112, voltage vector transducer 114, current vector transducer 116, equivalent drive system 118, signal feedback interface circuit 120, speed calculation circuit 122 and motor apparatus 124 in the motor system 1.Motor apparatus 124 comprises optical encoder, in order to produce phase-coded signal.For instance, motor apparatus 124 produces phase-coded signal A and phase-coded signal B through optical encoder, wherein has 90 degree phase differences between phase-coded signal A and the B.Turn around when motor apparatus 124 revolves, phase-coded signal A and B trigger N pulse wave periodic signal accordingly, and wherein N is the natural number greater than 1.
Comprise processor and computer readable media in the speed calculation circuit 122; This computer readable media corresponds to the program code of the turn count method of the embodiment of the invention in order to record; And this processor is this computer readable media of access; To carry out the turn count method of the embodiment of the invention, come the rotating speed of motor apparatus 124 is estimated.
Further say; Though use the turn count method of speed calculation circuit 122 execution of the present invention mainly is to improve to traditional survey periodic method (or claiming T method); Make it can obtain turn count value accurately; Yet it also can integrate existing frequency measurement method (or claiming the M method), to obtain the rotation direction information of motor apparatus 124 according to the frequency measurement method.Saying further, in the operation of the rotation direction information that obtains motor apparatus 124, speed calculation circuit 122 is the phase relations according to phase-coded signal A in the motor apparatus 124 and B, obtains the direction of rotation information of motor apparatus 124 by this.
With the operation of the turn count value that obtains motor apparatus 124, its be with sampled signal to the mode that phase-coded signal A or B take a sample, obtain corresponding turn count value.Next be to lift some embodiment, so that the associative operation of the performed survey periodic method of this speed calculation circuit 122 is done further explanation.
First embodiment
The turn count method of present embodiment is according to the rotary speed information of motor apparatus, select a plurality of sampled signals one of them, and according to this phase-coded signal is taken a sample.Please with reference to Fig. 2, it illustrates the flow chart according to the turn count method of first embodiment of the invention.At first like step (a), speed calculation circuit 122 provides sampled signal Ss1 and Ss2, and the phase-coded signal A or the B that according to this optical encoder in the motor apparatus 124 are produced take a sample, to obtain the numerical value X that takes a sample.According to the cycle time of this sampling numerical value and sampled signal, speed calculation circuit 124 can obtain motor apparatus 124 and revolve the required time of time of turning around, and promptly is the turn count numerical value of motor apparatus 124.Sampled signal Ss1 and Ss2 have first and second sampling frequency respectively, and this first sampling frequency is in fact greater than this second sampling frequency.For instance, comprise in the speed calculation circuit 122 complex programmable logic device (Complex Programmable Logic Device, CPLD), in order to sampled signal Ss1 and Ss2 to be provided and the operation of timing of taking a sample according to this.
Then like step (b), speed calculation circuit 122 determines computing parameter P1 according to the maximum speed information and the sampled signal Ss1 of motor apparatus 124, and according to this maximum speed information and sampled signal Ss2 decision computing parameter P2.For instance, speed calculation circuit 122 is according to following equation calculation operations parameter P1 and P2:
Wherein Rs is the maximum speed of motor apparatus 124; T1 and T2 are respectively the cycle time of sampled signal Ss1 and Ss2; N is that motor apparatus 124 whenever revolves and turns around, the corresponding pulse wave number of cycles that triggers of its phase-coded signal A or B; K is the speed analytical range figure place of being wished to get out in the speed calculation circuit 122.
In an operational instances, the maximum speed of motor apparatus 124 be per second 4.167 change (Revolution perSecond, rps); Sampled signal Ss1 and Ss2 correspond to respectively frequency 10 MHzs (Megahertz, MHz) and 19.53 KHzs (Kilohertz, KHz); In other words; How second it have respectively 100 (Nanosecond, T1 and T2 cycle time of 51.2 microseconds (Microsecond, μ s) cycle time ns); Whenever revolve and turn around, the corresponding pulse wave number of cycles N that triggers of the phase-coded signal that this optical encoder produces is 2048; The speed analytical range figure place K that is wished to get out in the speed calculation circuit 122 for example is 15.In view of the above, speed calculation circuit 122 can obtain computing parameter P1 and P2 and correspond to numerical value 3.84 * 10 respectively according to aforesaid equation
7And 7.5 * 10
4
In step (b) afterwards, speed calculation circuit 122 obtains the rotary speed information of motor apparatus 124.For instance, the speed revolution value of the motor apparatus 124 that for example in preceding turn count operation, obtains for speed calculation unit 122 of this rotary speed information.
When this rotary speed information corresponded to first speed conditions, the turn count method of present embodiment got into step (c), and speed calculation circuit 122 selects sampled signal Ss1 as sampled signal, and selected computing parameter P1 as computing parameter P.Wherein, this first speed conditions corresponds to first range of speeds of motor apparatus 124.For instance, this first range of speeds correspond to per second 4.167 change (rps) to per minutes 4.46 change (Revolution Per Minute, rpm).In step (c) is that execution in step (e) reaches (f) afterwards; Speed calculation circuit 122 is taken a sample to obtain the numerical value X that takes a sample to the phase-coded signal of motor apparatus 124 according to this sampled signal (promptly being sampled signal Ss1) in order, reaches according to sampling numerical value X and computing parameter P and produces turn count value Y.For instance, speed calculation circuit 122 is according to following equation, comes according to sampling numerical value X and this computing parameter generating turn count value Y:
When this rotary speed information corresponded to second speed conditions, the turn count method of present embodiment got into step (d), and speed calculation circuit 122 selects sampled signal Ss2 as this sampled signal, and selected computing parameter P2 as computing parameter P.Wherein, this second speed conditions corresponds to second range of speeds of motor apparatus 124, and this second range of speeds is to be lower than aforementioned first range of speeds.For instance, this second range of speeds corresponds to 4.46rpm to 0.0087rpm.In step (d) is that execution in step (e) reaches (f) afterwards; Speed calculation circuit 122 is taken a sample to obtain the numerical value X that takes a sample to the phase-coded signal of motor apparatus 124 according to this sampled signal (promptly being sampled signal Ss2) in order, reaches according to sampling numerical value X and computing parameter P and produces turn count value Y.For instance, speed calculation circuit 122 is according to following equation, comes according to sampling numerical value X and this computing parameter generating turn count value Y:
So, the speed calculation circuit 122 of present embodiment can correspond to the rotating speed of different number ranges according to motor apparatus 124, the sampling operation that carries out phase-coded signal with the sampled signal Ss1 and the Ss2 of different frequency.So, compared to the speed calculation circuit of using traditional turn count method, the speed calculation circuit 122 of present embodiment can be effectively under the situation of the fixed-frequency of the length of buffer and phase-coded signal, broader turn count scope is provided.
Please with reference to Fig. 3, it illustrates the part flow chart of the turn count method of first embodiment of the invention.For instance, comprise in the step (e) of the turn count method of present embodiment that step (e1) is to (e5).At first like step (e1), have first counter and second counter of X position in the speed calculation circuit 122, it is recording gauge numerical value CV1 and CV2 respectively.For instance, X equals 16.Under initial state, count value CV1 and CV2 equal to stop count value, and it is for example corresponding so far first and the highest count value (FFFF) of this second counter years old
- 16, as shown in Figure 4.
Step (e1) also comprises step (e2) afterwards, and when receiving phase-coded signal, speed calculation circuit 122 drives this second counter, makes count value CV2 equal count value CV1, and drives this first counter, and replacement count value CV1 is initial count value (0000)
16In this embodiment, the reception of this phase encoder signal is to receive its leading edge (Front Edge), for example is rising edge (Rising Edge)) ED1, yet not as limit.
Step (e1) also comprises step (e3) afterwards, and when receiving this sampled signal (promptly be sampled signal Ss1 and Ss2 one of them), speed calculation circuit 122 drives these first counters count value CV1 is increased progressively 1.In this embodiment, the reception of this phase encoder signal is to receive its leading edge (Front Edge), for example is rising edge (RisingEdge)) ED1, yet not as limit.Wherein, orbution between step (e2) reaches (e3) and number of operations are the operational situation differences because of motor apparatus 124.For instance, when motor apparatus 124 runs well, be execution in step (e2) afterwards in step (e1), and carry out repeatedly step (e3) afterwards in step (e2); And after the executable operations of step (e3) repeatedly; The turn count method of present embodiment is execution in step (e2) again; Write down the triggering times of sampled signal between two phase-coded signals by this; The triggering times of this sampled signal promptly corresponds to cycle time of what sampled signals, also represents on-stream motor apparatus 124 rotation N/required time of circles.
In step (e3) afterwards, execution in step (e4) when count value CV1 equals the highest count value, speed calculation circuit 122 drives the operation that these first counters stop steps (e3), makes count value CV1 maintain the highest count value (FFFF)
16
Though in the present embodiment only with step (e3) afterwards the situation of execution in step (e4) be that example is done explanation, yet the turn count method of present embodiment is not limited thereto.In other example, the rotating speed of motor apparatus 124 is higher, and count value CV1 just resets because of the triggering of step (e2) before being incremented to its highest count value.In other words, step (e3) but also repeating step (e2) or directly execution in step (e5) afterwards, and the not operation of execution in step (e4).
In the present embodiment, though only with step (e4) afterwards the situation of execution in step (e5) be that example is done explanation, yet the turn count method of present embodiment is not limited thereto.In other example, step (e5) turn count method also can be carried out in step (e3) afterwards or (e4) afterwards.
Through aforementioned speed calculation circuit 122 to this first and the control of this second counter, speed calculation circuit 122 also can be judged the rotation speed change situation of motor apparatus 124 this moment according to the numerical value of reference count value CV1 and CV2.For instance, equal numerical value (FFFF) as count value CV1 and VC2
16The time, the initial rotating speed and the present rotating speed of expression motor apparatus 124 are 0, and in other words, motor apparatus 124 does not begin to rotate as yet; When count value CV1 equals numerical value (FFFF)
16And count value CV2 equals numerical value (FFFF)
16During in addition numerical value, expression motor apparatus 124 once had and was not equal to 0 velocity of rotation, then its velocity of rotation convergence numerical value 0 again.
In the present embodiment; Though only with speed calculation circuit 122 according to this rotary speed information correspondence of the motor apparatus 124 so far first or Rule of judgment of this second speed conditions; It is that example is done explanation that the sampled signal Ss1 of different operating frequency and the situation of the sampling operation that Ss2 carries out phase-coded signal optionally are provided; Yet the speed calculation circuit 122 of present embodiment is not limited thereto.For instance; In step (a) and (b), speed calculation circuit 122 also can provide the sampled signal Ss3 of (second sampling frequency of sampled signal Ss2 is in fact greater than this 3rd sampling frequency) that has the 3rd sampling frequency and according to the maximum speed information of motor apparatus 124 and sampled signal Ss3 decision computing parameter P3; But and the performed turn count method of the speed calculation circuit of present embodiment 122 execution in step (g) also; This rotary speed information with to motor apparatus 124 is set the speed conditions more than three or three; And the sampled signal that has the different operating frequency more than three or three is provided optionally; Carry out the sampling operation of phase-coded signal, as shown in Figure 5.So, through setting more speed conditions, the speed calculation circuit 122 of present embodiment can be realized out more broad turn count scope.
In the present embodiment; Though only use the sampled signal of a plurality of different operating frequencies to come the situation that single phase-coded signal carried out sampling operation is done explanation as example with speed calculation circuit 122; So; The speed calculation circuit 122 of the embodiment of the invention is not limited thereto, and the sampled signal that also can use a plurality of different operating frequencies simultaneously comes the phase-coded signal of a plurality of different operating frequencies is carried out sampling operation.
For instance; The motor apparatus 124 of present embodiment is also in order to provide phase-coded signal PHC1; And speed calculation circuit 122 produces the phase-coded signal PHC2 correspond to the different operating frequency according to phase-coded signal PHC1, and wherein the frequency of operation of phase-coded signal PHC1 is in fact less than the frequency of operation of phase-coded signal PHC2.In an operational instances; Phase-coded signal PHC1 be the phase-coded signal A that produces of motor apparatus 124 and phase-coded signal B (having 90 degree phase differences between the two phase place code signal) one of them; And phase-coded signal PHC2 is the quadruple phase-coded signal of speed calculation circuit 122 according to phase-coded signal A and B generation, and the zero phase of phase-coded signal PHC1 and PHC2 is the time point that triggers in identical.
Please with reference to Fig. 6, it illustrates the flow chart again according to the turn count method of first embodiment of the invention.Be different from flow chart shown in Figure 2; In step (b '); Speed calculation circuit 122 is according to maximum speed information, sampled signal Ss1 and the phase-coded signal PHC1 of motor apparatus 124; Decide computing parameter P1, and according to this maximum speed information, sampled signal Ss2 and phase-coded signal PHC2 decision computing parameter P2.For instance, speed calculation circuit 122 is according to following equation calculation operations parameter P1 and P2:
Wherein Rs is the maximum speed of motor apparatus 124; T1 and T2 are respectively the cycle time of sampled signal Ss1 and Ss2; N1 and N2 are respectively motor apparatus 124 and whenever revolve and turn around, the corresponding pulse wave number of cycles that triggers of its phase-coded signal PHC1 and PHC2, and for instance, N2 for example equals 4N1; K is the speed analytical range figure place of being wished to get out in the speed calculation circuit 122.
When this rotary speed information corresponds to first speed conditions; The turn count method gets into step (c '), speed calculation circuit 122 select sampled signal Ss1 as sampled signal, select phase-coded signal PHC1 as treating the sampling phase code signal and selecting computing parameter P1 as computing parameter P.When this rotary speed information corresponds to second speed conditions; The turn count method gets into step (d '), speed calculation circuit 122 select sampled signal Ss2 as this sampled signal, select phase-coded signal PHC2 as treating the sampling phase code signal and selecting computing parameter P2 as computing parameter P.
So, the multiple permutation and combination between the sampled signal through a plurality of different operating frequencies and the phase-coded signal of a plurality of different operating frequencies can correspondence go out a plurality of different rotating speed estimated range.In view of the above, the speed calculation circuit 122 of present embodiment can be realized out more broad turn count scope.
For instance, the kenel that the turn count method of present embodiment can program code is built in the computer readable media, and so, the corresponding processing device can be realized the aforementioned turn count method of the present invention through reading and load aforementioned program code.
Second embodiment
The turn count method of present embodiment according to the rotary speed information of motor apparatus select a plurality of phase-coded signals one of them; And come according to single sampled signal that one of them is taken a sample to these a plurality of phase-coded signals; In view of the above; The turn count method of present embodiment also can realize out comparatively broad turn count scope through the selection operation of aforementioned a plurality of phase-coded signals.
For instance; The motor apparatus 124 of present embodiment is also in order to provide phase-coded signal PHC1; And speed calculation circuit 122 produces the phase-coded signal PHC2 correspond to the different operating frequency according to phase-coded signal PHC1, and wherein the frequency of operation of phase-coded signal PHC1 is in fact less than the frequency of operation of phase-coded signal PHC2.
In an operational instances; Phase-coded signal PHC1 be the phase-coded signal A that produces of motor apparatus 124 and phase-coded signal B (having 90 degree phase differences between the two phase place code signal) one of them; And phase-coded signal PHC2 is the quadruple phase-coded signal of speed calculation circuit 122 according to phase-coded signal A and B generation, and the zero phase of phase-coded signal PHC1 and PHC2 is the time point that triggers in identical.
Please with reference to Fig. 7, it illustrates the flow chart according to the turn count method of second embodiment of the invention.At first like step (b), speed calculation circuit 122 determines computing parameter P1 ' according to this maximum speed information and the phase-coded signal PHC1 of motor apparatus 124, and according to this maximum speed information and phase-coded signal PHC2 decision computing parameter P2 '.For instance, in step (b), speed calculation circuit 122 is to come calculation operations parameter P1 ' and P2 ' according to following equation:
Wherein Rs is the maximum speed of motor apparatus 124; T1 is the cycle time of sampled signal Ss1; N1 and N2 are that motor apparatus 124 whenever revolves and turns around, the corresponding pulse wave number of cycles that triggers of phase-coded signal PHC1 and PHC2; K is the buffer figure place that is used for writing down this sampling numerical value in the speed calculation circuit 122.Maximum speed at motor apparatus 124 is 4.167rps; Sampled signal Ss1 corresponds to T1 cycle time of 100ns; Whenever revolve and turn around, corresponding pulse wave number of cycles N1 and the N2 that triggers of phase-coded signal PCH1 and PCH2 is respectively 2048 and 2048 * 4, promptly is that phase-coded signal PCH2 is the quadruple signal of phase-coded signal PCH1; Numerical value K equals in 15 the example, and computing parameter P1 ' and P2 ' correspond to numerical value 3.84 * 10 respectively
7And 0.96 * 10
7
When this rotary speed information corresponded to first speed conditions, the turn count method of present embodiment got into step (c), and speed calculation circuit 122 selects phase-coded signal PHC1 as phase-coded signal to be taken a sample, and with computing parameter P1 ' as the computing parameter.Wherein, this first speed conditions corresponds to first range of speeds of motor apparatus 124.In step (c) is that execution in step (e) reaches (f) afterwards; Speed calculation circuit 122 is taken a sample to obtain the numerical value X that takes a sample according to the phase-coded signal PHC1 of this sampled signal to motor apparatus 124 in order, reaches according to sampling numerical value X and computing parameter P and produces turn count value Y.Wherein step (e) and (f) in operation in fact respectively with Fig. 2 in step (e) and (f) identical, in this, and no longer it is given unnecessary details.
When this rotary speed information corresponded to second speed conditions, the turn count method of present embodiment got into step (d), and speed calculation circuit 122 selects phase-coded signal PHC2 as phase-coded signal to be taken a sample, and with computing parameter P2 ' as the computing parameter.Wherein, this second speed conditions corresponds to second range of speeds of motor apparatus 124.In step (d) is that execution in step (e) reaches (f) afterwards; Speed calculation circuit 122 is taken a sample to obtain the numerical value X that takes a sample according to the phase-coded signal PHC2 of this sampled signal to motor apparatus 124 in order, reaches according to sampling numerical value X and computing parameter P and produces turn count value Y.Wherein step (e) and (f) in operation in fact respectively with Fig. 2 in step (e) and (f) identical, in this, and no longer it is given unnecessary details.
So, the speed calculation circuit 122 of present embodiment can correspond to the rotating speed of different number ranges according to motor apparatus 124, with the phase-coded signal PHC1 of different frequency and PHC2 as phase-coded signal to be taken a sample.So, compared to the speed calculation circuit of using traditional turn count method, the speed calculation circuit 122 of present embodiment can be effectively under the situation of the fixed-frequency of the length of buffer and phase-coded signal, broader turn count scope is provided.
Please with reference to Fig. 8, it illustrates the flow chart according to the turn count method of second embodiment of the invention.Similar in appearance to aforementioned turn count method shown in Figure 5; Speed calculation circuit 122 also can produce two or more frequency multiplication phase-coded signals according to phase-coded signal PHC1; But and the performed turn count method of the speed calculation circuit of present embodiment 122 execution in step (g) also; This rotary speed information with to motor apparatus 124 is set the speed conditions more than three or three, and optionally uses this phase-coded signal that has the different operating frequency more than three or three as phase-coded signal to be taken a sample.So, through setting more speed conditions, the speed calculation circuit 122 of present embodiment can be realized out more broad turn count scope.
The narration relevant with Fig. 3 in the 1st embodiment, the step (e) in the turn count method of present embodiment also can comprise substep (e1)-(e5).
Through aforementioned speed calculation circuit 122 to this first and the control of this second counter, speed calculation circuit 122 also can be judged the rotation speed change situation of motor apparatus 124 this moment according to the numerical value of reference count value CV1 and CV2.For instance, equal numerical value (FFFF) as count value CV1 and VC2
16The time, the initial rotating speed and the present rotating speed of expression motor apparatus 124 are 0, change speech, and motor apparatus 124 do not begin to rotate as yet; When digital value CV1 equals numerical value (FFFF)
16 andDigital value CV2 equals numerical value (FFFF)
16During in addition numerical value, expression motor apparatus 124 once had and was not equal to 0 velocity of rotation, then its velocity of rotation convergence numerical value 0 again.
In the present embodiment; Though only with speed calculation circuit 122 use the sampled signal of single frequency of operation come to a plurality of phase-coded signals wherein one carry out sampling operation situation do explanation as example; Yet; The speed calculation circuit 122 of the embodiment of the invention is not limited thereto, and the sampled signal that also can use a plurality of different operating frequencies simultaneously comes the phase-coded signal of a plurality of different operating frequencies is carried out sampling operation, as being relevant to process step shown in Figure 6 among first embodiment.
For instance, the kenel that the aforementioned turn count method of the present invention can program code is built in the computer readable media, and so, the corresponding processing device can be realized the aforementioned turn count method of the present invention through reading and load aforementioned program code.
The 3rd embodiment
The turn count method of present embodiment is used two counters, comes motor apparatus is carried out the turn count operation.Please with reference to Fig. 9, it illustrates the flow chart according to the turn count method of third embodiment of the invention.At first like step (a), speed calculation circuit 122 is according to the maximum speed information and the sampled signal Ss decision computing parameter P of motor apparatus 124.
Then like step (b), speed calculation circuit 122 is taken a sample to the phase-coded signal of motor apparatus 124 according to this sampled signal Ss in order, to obtain the numerical value X that takes a sample.Like step (c), speed calculation circuit 122 produces the turn count value according to sampling numerical value X and computing parameter P afterwards.
For instance, step (b) also comprises step (b1)-(b5).At first, first counter and second counter with z position are provided, respectively recording gauge numerical value CV1 and count value CV2 like step (b1).For instance, z equals 16.Under initial state, count value CV1 and CV2 equal to stop count value, and it is for example corresponding so far first and the highest count value (FFFF) of this second counter years old
- 16, as shown in Figure 4.
Step (b1) also comprises step (b2) afterwards, and when receiving phase-coded signal, speed calculation circuit 122 drives this second counter, makes count value CV2 equal count value CV1, and drives this first counter, and replacement count value CV1 is initial count value (0000)
16In this embodiment, the reception of this phase encoder signal is to receive its leading edge, for example is rising edge ED1, so not as limit.
Step (b1) also comprises step (b3) afterwards, and when receiving this sampled signal, speed calculation circuit 122 drives this first counter count value CV1 is increased progressively 1.In this embodiment, the reception of this phase encoder signal is to receive its leading edge, for example is rising edge ED1, so not as limit.Wherein, orbution between step (b2) reaches (b3) and number of operations are the operational situation differences because of motor apparatus 124.For instance, when motor apparatus 124 runs well, be execution in step (b2) afterwards in step (b1), and carry out repeatedly step (b3) afterwards in step (b2); And after the executable operations of step (b3) repeatedly; The turn count method of present embodiment is execution in step (b2) again; Write down the triggering times of sampled signal between two phase-coded signals by this; The triggering times of this sampled signal promptly corresponds to cycle time of what sampled signals, the required time of a circle of also representing on-stream motor apparatus 124 rotation N to divide.
In step (b3) afterwards, execution in step (b4) when count value CV1 equals the highest count value, speed calculation circuit 122 drives the operation that these first counters stop steps (b3), makes count value CV1 maintain the highest count value (FFFF)
16
Though in the present embodiment only with step (b3) afterwards the situation of execution in step (b4) be that example is done explanation, yet the turn count method of present embodiment is not limited thereto.In other example, the rotating speed of motor apparatus 124 is higher, and count value CV1 just resets because of the triggering of step (b2) before being incremented to its highest count value.In other words, step (b3) but also repeating step (b2) or directly execution in step (b5) afterwards, and the not operation of execution in step (b4).
In the present embodiment, though only with step (b4) afterwards the situation of execution in step (b5) be that example is done explanation, right, the turn count method of present embodiment is not limited thereto.In other example, step (b5) turn count method also can be carried out in step (b3) afterwards or (b4) afterwards.
In the present embodiment, also comprise step (d), (e), (f), (g) before in step (a), and its respectively with Fig. 2 in step (a) and (b), (c), (d) have corresponding in fact operation, in this and no longer it is given unnecessary details (figure do not show).In the present embodiment, also can comprise step (d '), (e '), (f ') before in step (a), its respectively with Fig. 7 in step (b), (c), (d) have corresponding in fact operation, in this and no longer it is given unnecessary details (figure do not show).
The turn count method of present embodiment is to select to use surely the sampled signal of one or more different operating frequencies, comes the phase-coded signal of one or more different operating frequencies is carried out sampling operation.In view of the above, compared to traditional turn count method, the turn count method of present embodiment has the wider advantage of turn count scope.
In addition; The turn count method of present embodiment is more effectively integrated the frequency measurement method and is surveyed periodic method; Come to obtain effectively motor apparatus direction of rotation information and the turn count value, in view of the above, compared to traditional turn count method; The turn count method of present embodiment has more can be integrated the frequency measurement method and survey periodic method, to obtain the advantage of more accurate motor apparatus rotary manipulation information.
Moreover, because the turn count method of present embodiment is to use to survey the turn count value that periodic method is calculated motor apparatus.Equation with reference to the embodiment that the present invention lifted can be known, does not comprise the factor of the operating frequency that is relevant to the speed calculation circuit in the expression formula of the turn count value of present embodiment.In view of the above, the ripple of turn count value (Ripple) value can not promote because of the frequency of operation (to promote the service speed of high-speed counting circuit) that improves the speed calculation circuit.In view of the above, compared to traditional turn count method, the turn count method of present embodiment also has can provide the advantage with low ripple quantity and more accurate motor apparatus turn count value under the condition of identical operations speed.In addition, alleged motor apparatus among the present invention, it comprises the common electronic device such as inner rotor motor, external-rotor motor, wind-driven generator, motor for automobile of general general term.
In addition, though the present invention adopts to survey periodic method to calculate motor speed, be familiar with this art; Also can easily it be done with frequency method and combine; Utilize frequency method to come the deficiency that can't judge directivity of reinforcement periodic method, in addition, though this invention can significantly promote the speed measuring range and the precision of periodic method; Yet, periodic method measures because of being mainly used in middle low velocity; So the present invention also can through with the combining of frequency method, switch to frequency method when making high speed, make application category of the present invention more extensively with practical.
In sum, though the present invention with the preferred embodiment exposure as above, yet it is not in order to limit the present invention.Have common knowledge the knowledgeable in the technical field under the present invention, do not breaking away from the spirit and scope of the present invention, when doing various changes that are equal to or replacement.Therefore, protection scope of the present invention is when looking accompanying being as the criterion that the application's claim scope defined.
Claims (11)
1. turn count method, in order to a motor apparatus is carried out turn count, this turn count method comprises:
(a) one first sampled signal and one second sampled signal are provided, this first and this second sampled signal have one first sampling frequency and one second sampling frequency respectively, this first sampling frequency is in fact greater than this second sampling frequency;
(b) according to a maximum speed information and this first sampled signal of this motor apparatus, determine one first computing parameter, and, determine one second computing parameter according to this maximum speed information and this second sampled signal;
(c) when a rotary speed information of this motor apparatus reaches one first speed conditions, select this first sampled signal as a sampled signal, and select this first computing parameter as a computing parameter;
(d) when the rotary speed information of this motor apparatus reaches one second speed conditions, select this second sampled signal as this sampled signal, and select this second computing parameter as this computing parameter;
(e) with this sampled signal one of this motor apparatus is treated that the sampling phase code signal takes a sample, to obtain a sampling numerical value; And
(f) according to this sampling numerical value and this computing parameter generating one turn count value;
Wherein this first and this second speed conditions correspond to the different rotating speed scope respectively, the range of speeds of this first speed conditions is the range of speeds that is higher than this second speed conditions.
2. turn count method according to claim 1 is characterized in that, step (c) also comprises respectively in reaching (d):
(c1) select one first phase-coded signal of this motor apparatus to treat the sampling phase code signal as this; And
(d1) select one second phase-coded signal of this motor apparatus to treat the sampling phase code signal as this;
Wherein, this first and this second phase-coded signal have different generation frequencies, the frequency of this first phase-coded signal is in fact less than the frequency of this second phase-coded signal.
3. turn count method according to claim 1 is characterized in that, also comprises in the step (e):
(e1) one first counter and one second counter are provided, produce one first count value and one second count value respectively, this first and this second count value correspond to one and stop count value;
(e2) when receiving this when treating the sampling phase code signal, drive this second counter, make this second count value equal this first count value, and drive this first counter, this first count value of resetting is an initial count value;
(e3) when receiving this sampled signal, drive this first counter, this first count value is increased progressively 1;
(e4) equal one during high count value when this first count value, drive the operation that this first counter stops step (e3), make this first count value maintain this highest count value; And
(e5) read this second count value as this numerical value of taking a sample.
4. turn count method according to claim 1 is characterized in that, step (a) also comprises respectively in reaching (b):
(a1) one the 3rd sampled signal is provided, the 3rd sampled signal has one the 3rd sampling frequency, and this second sampling frequency is in fact greater than the 3rd sampling frequency; And
(b1), determine one the 3rd computing parameter according to this maximum speed information and the 3rd sampled signal;
Wherein, this turn count method also comprises in step (b) and (e):
(g) when this rotary speed information corresponds to one the 3rd speed conditions; Select the 3rd sampled signal as this sampled signal; And select the 3rd computing parameter as this computing parameter; Wherein the 3rd speed conditions corresponds to another range of speeds, and the range of speeds of this second speed conditions is the range of speeds that is higher than the 3rd speed conditions.
5. turn count method, in order to a motor apparatus is carried out turn count, this turn count method comprises:
(a) according to the maximum speed information and one first phase-coded signal of this motor apparatus; Determine one first computing parameter; And according to this maximum speed information and one second phase-coded signal; Determine one second computing parameter, this first and this second phase-coded signal have different generation frequencies, the frequency of this first phase-coded signal is in fact less than the frequency of this second phase-coded signal;
(b) when a rotary speed information of this motor apparatus corresponds to one first speed conditions, select this first phase-coded signal to treat the sampling phase code signal, and select this first computing parameter as a computing parameter as one;
(c) when this rotary speed information corresponds to one second speed conditions, select this second phase-coded signal to treat the sampling phase code signal, and select this second computing parameter as this computing parameter as this;
(d) with a sampled signal this is treated that the sampling phase code signal takes a sample, to obtain a sampling numerical value; And
(e) according to this sampling numerical value and this computing parameter generating one turn count value;
Wherein this first and the corresponding different rotating speeds scope of this second speed conditions, the range of speeds of this first speed conditions is the range of speeds that is higher than this second speed conditions.
6. turn count method according to claim 5 is characterized in that, also comprises:
(f) one first sampled signal and one second sampled signal are provided, this first and this second sampled signal have one first sampling frequency and one second sampling frequency respectively, this first sampling frequency is in fact greater than this second sampling frequency;
Wherein, also comprise respectively in the step (d):
When this operation operating parameters is the first computing parameter, select this first sampled signal as this sampled signal; And when this operation operating parameters is the second computing parameter, select this second sampled signal as this sampled signal.
7. turn count method according to claim 5 is characterized in that, also comprises in the step (d):
(d1) one first counter and one second counter are provided, write down one first count value and one second count value respectively, this first and this second count value correspond to one and stop count value;
(d2) receive this and treat the sampling phase code signal, drive this second counter, make this second count value equal this first count value, and drive this first counter, this first count value of resetting is an initial count value;
(d3) receive this sampled signal, drive this first counter, this first count value is increased progressively 1;
(d4) equal one during high count value when this first count value, drive the operation that this first counter stops step (d3), make this first count value maintain this highest count value; And
(d5) read this second count value as this numerical value of taking a sample.
8. turn count method according to claim 5 is characterized in that, also comprises respectively in the step (a):
One third phase position code signal is provided; Have with this first and the different generation frequency of this second phase-coded signal; The frequency of this second phase-coded signal is in fact less than the frequency of this third phase position code signal; And, determine one the 3rd computing parameter according to this maximum speed information and this third phase position code signal;
Wherein, this turn count method also comprises in step (a) and (d):
(g) when this rotary speed information corresponds to one the 3rd speed conditions, select this third phase position code signal to treat the sampling phase code signal, and select the 3rd computing parameter as this computing parameter as this,
Wherein the 3rd speed conditions corresponds to another range of speeds, and the range of speeds of this second speed conditions is the range of speeds that is higher than the 3rd speed conditions.
9. turn count method, in order to a motor apparatus is carried out turn count, this turn count method comprises:
(a) treat the sampling phase code signal according to a maximum speed information and one of this motor apparatus, determine a computing parameter;
(b) with a sampled signal this is treated that the sampling phase code signal takes a sample,, wherein also comprises in the step (b) to obtain a sampling numerical value:
(b1) one first counter and one second counter are provided, write down one first count value and one second count value respectively, this first and this second count value correspond to one and stop count value;
(b2) when receiving this when treating the sampling phase code signal, drive this second counter, make this second count value equal this first count value, and drive this first counter, this first count value of resetting is an initial count value;
(b3) when receiving this sampled signal, drive this first counter, this first count value is increased progressively 1;
(b4) equal one during high count value when this first count value, drive the operation that this first counter stops step (b3), make this first count value maintain this highest count value; And
(b5) read this second count value as this numerical value of taking a sample; And
(c) according to this sampling numerical value and this computing parameter generating one turn count value.
10. turn count method according to claim 9 is characterized in that, in step (a) before, also comprises:
(d) one first sampled signal and one second sampled signal are provided, this first and this second sampled signal have one first sampling frequency and one second sampling frequency respectively, this first sampling frequency is in fact greater than this second sampling frequency;
(e) according to a maximum speed information and this first sampled signal of this motor apparatus, determine one first computing parameter, and, determine one second computing parameter according to this maximum speed information and this second sampled signal;
(f) when a rotary speed information of this motor apparatus corresponds to one first speed conditions, select this first sampled signal as this sampled signal, and select this first computing parameter as this computing parameter; And
(g) when this rotary speed information corresponds to one second speed conditions, select this second sampled signal as this sampled signal, and select this second computing parameter as this computing parameter;
Wherein, this first and this second speed conditions correspond to the different rotating speeds scope, the range of speeds of this first speed conditions is the range of speeds that is higher than this second speed conditions.
11. turn count method according to claim 9 is characterized in that, in step (a) before, also comprises:
(d ') is according to the maximum speed information and one first phase-coded signal of this motor apparatus; Determine one first computing parameter; And according to this maximum speed information and one second phase-coded signal of this motor apparatus; Determine one second computing parameter, this first and this second phase-coded signal have different generation frequencies, the frequency of this first phase-coded signal is in fact less than the frequency of this second phase-coded signal;
When (e ') corresponds to one first speed conditions when a rotary speed information of this motor apparatus, select this first phase-coded signal to treat the sampling phase code signal, and select this first computing parameter as this computing parameter as this;
When (f ') corresponds to one second speed conditions when this rotary speed information, select this second phase-coded signal to treat the sampling phase code signal, and select this second computing parameter as this computing parameter as this;
Wherein, this first and this second speed conditions correspond to the different rotating speed scope respectively, the range of speeds of this first speed conditions is the range of speeds that is higher than this second speed conditions.
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| CN201010509510.3A CN102447433B (en) | 2010-10-08 | 2010-10-08 | Rotating speed estimation method and computer readable media applying same |
| CN201310521981.XA CN103546076B (en) | 2010-10-08 | 2010-10-08 | Turn count method and apply its computer readable media |
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| JPH1084867A (en) * | 1996-09-13 | 1998-04-07 | Snow Brand Milk Prod Co Ltd | Food material and its manufacture |
| CN101329359A (en) * | 2007-06-21 | 2008-12-24 | 台达电子工业股份有限公司 | Method for estimating multi-point smoothing motor velocity |
| CN101363742A (en) * | 2007-08-06 | 2009-02-11 | 台达电子工业股份有限公司 | Angle calculating machinery of three phase optical encoder and angle calculating method |
| US20090196131A1 (en) * | 2008-02-05 | 2009-08-06 | Hong-Ching Chen | System and method for printing visible image onto optical disc through tuning driving signal of optical pick-up unit |
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| JP4100442B2 (en) * | 2006-09-29 | 2008-06-11 | ダイキン工業株式会社 | Motor drive control device and motor drive control system |
| CN103546076B (en) * | 2010-10-08 | 2015-12-09 | 东元电机股份有限公司 | Turn count method and apply its computer readable media |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1084867A (en) * | 1996-09-13 | 1998-04-07 | Snow Brand Milk Prod Co Ltd | Food material and its manufacture |
| CN101329359A (en) * | 2007-06-21 | 2008-12-24 | 台达电子工业股份有限公司 | Method for estimating multi-point smoothing motor velocity |
| CN101363742A (en) * | 2007-08-06 | 2009-02-11 | 台达电子工业股份有限公司 | Angle calculating machinery of three phase optical encoder and angle calculating method |
| US20090196131A1 (en) * | 2008-02-05 | 2009-08-06 | Hong-Ching Chen | System and method for printing visible image onto optical disc through tuning driving signal of optical pick-up unit |
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| CN103546076A (en) | 2014-01-29 |
| CN102447433B (en) | 2014-01-15 |
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