CN102589405B - Motor rotor displacement measurement method - Google Patents
Motor rotor displacement measurement method Download PDFInfo
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- CN102589405B CN102589405B CN201210036378.8A CN201210036378A CN102589405B CN 102589405 B CN102589405 B CN 102589405B CN 201210036378 A CN201210036378 A CN 201210036378A CN 102589405 B CN102589405 B CN 102589405B
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Abstract
A kind of motor rotor displacement measurement method, this method is to arrange two magnetic induction intensity sensors along the mover direction of motion on mover, a quarter of two sensors at a distance of magnetic field pole span, the sampled signal of the two is quantified by signal processing circuit respectively and makees n times frequency multiplication operation after carrying out amplitude normalized, zero-crossing examination is carried out again, 1 group of orthogonal pulses signal is generated, the umber of pulse of pulse signal and the phase difference of this group of orthogonal pulses signal are detected. Sinusoidal magnetic field information of the present invention directly according to motor stator magnetic steel array in the mover direction of motion, magnetic field pole span τ is subdivided into
Realize high-precision motor mover displacement measurement. The present invention can solve the problems, such as to install inconvenience due to electric mover displacement measurement high-precision requirement bring calculation method complex hardware and measuring device is costly.
Description
Technical field
The present invention relates to a kind of mover displacement measurement method for a class such as dynamic coil linear motor, electric rotating machine with the motor of sinusoidal magnetic field model, particularly a kind of segmentation Measurement Algorithm of long stroke.
Background technology
Precisely and dynamically measuring technology is to realize the important step of dynamic accuracy control.In conventional application, the sensors such as grating scale, laser interferometer, magnetic railings ruler are as the measuring method of straight line and the angle displacement of dynamic coil linear motor, electric rotating machine.In patent 200720002447.8, describe and utilized stop position to detect scrambler to carry out position probing, in patent 200610033455, described and utilized grating encoder to carry out position Real-time Feedback to position.These sensors need to be arranged the special device such as magnetic field, grid that produces displacement signal feature on motor stator, arrange the electronic processing unit device of received bit shifting signal feature on mover; Or on mover, arrange special to produce displacement signal feature device, and on stator arranging electronic processing unit device.Special generation displacement signal feature device and two kinds of devices of electronic processing unit device have increased the structural complexity of sensing system.Although these sensor measurement precision are higher in addition, need comparatively complicated circuit and optical device and cost higher.And in actual motion process, if directly carry out position measurement with Hall element, all can there is noise and cause measuring accuracy loss in measuring-signal itself and sampling process.
For the such object of motor, its magnetic field itself is exactly the important channel that displacement signal detects.If can utilize the Magnetic Field of motor itself, realize high precision position shift measurement, can reduce the complicacy of installation of sensors and signal.Similar patent ZL201010034274.4, need to solve complex nonlinear equation, and this brings difficulty to industry application in real time; The signal to noise ratio (S/N ratio) that the measurement result of other similar patent describing methods is had relatively high expectations to measuring-signal itself, proposes the high requests such as complicacy, low noise to realizing circuit.Therefore, a kind of complicacy that can reduce installation of sensors and signal can realize again that precision is high, insensitive to original signal quality, signal is processed simple and quick measuring method and urgently proposed simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of measuring method of electric mover displacement, utilize the Magnetic Field of motor itself, realize the high precision position shift measurement of electric mover, without special transfer algorithm, can directly export the orthogonal intersection code signal that industrial control field is conventional.
In order to achieve the above object, the technical solution adopted in the present invention is as follows:
1) in the sinusoidal magnetic field forming at motor stator magnetic steel array, on mover, arrange two magnetic induction density sensors along mover direction of motion: sinusoidal sensor and cosine sensor, described sinusoidal sensor and cosine sensor are at a distance of τ/4, described τ is the field pole distance of motor sinusoidal magnetic field, the sampled signal of described sinusoidal sensor is quantized by signal processing circuit and carry out obtaining sinusoidal measurement signal S after amplitude normalized
0, the sampled signal of described cosine sensor is quantized by described signal processing circuit and carries out obtaining cosine measuring-signal C after amplitude normalized
0;
2) by described signal processing circuit (8) by described sinusoidal measurement signal S
0with cosine measuring-signal C
0do n frequency multiplication computing, 2
nsegmentation computing:
S
1＝2*S
0*C
0，C
1＝C
0*C
0-S
0*S
0，
S
2＝2*S
1*C
1，C
2＝C
1*C
1-S
1*S
1，
...，
S
n＝2*S
n-1*C
n-1，C
n＝C
n-1*C
n-1-S
n-1*S
n-1
Obtain sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
n, wherein: S
1, C
1, S
2, C
2... S
n-1and C
n-1for intermediate variable, n=1,2,3 ...;
3) to step 2) in the described sinusoidal subdivision's signal S that obtains after n iterative computation
nwith cosine subdivision's signal C
ncarry out zero crossing detection, generate 1 group of orthogonal measuring pulse signal: sinusoidal ranging pulse signal A and cosine ranging pulse signal B; Described sinusoidal subdivision's signal S
n> 0, described sinusoidal ranging pulse signal A output high level; Described sinusoidal subdivision's signal S
n< 0, described sinusoidal ranging pulse signal A output low level; Described cosine subdivision's signal C
n> 0, described cosine ranging pulse signal B output high level; Described cosine subdivision's signal C
n< 0, described cosine ranging pulse signal B output low level;
4) detect the umber of pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B, and the phase differential of sinusoidal ranging pulse signal A and cosine ranging pulse signal B, a pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B represents a displacement resolution
n=1,2,3, ..., the phase lag of sinusoidal ranging pulse signal A represents positive-displacement in the phase place of cosine ranging pulse signal B, and the phase place of sinusoidal ranging pulse signal A falls and represents reverse displacement in the phase place of cosine ranging pulse signal B in advance, thereby realizes the displacement measurement of electric mover.
In technique scheme, after n frequency multiplication computing, n=1,2,3 ..., described sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
ncycle be
along with the increase of frequency multiplication operation times n, the described cycle
to progressively diminish.
The invention is characterized in step 2) in definite method of frequency multiplication operation times n as follows:
If B
mthe magnetic induction density amplitude of the sinusoidal magnetic field forming for described motor stator magnetic steel array, v
xfor sensor measurement noise, noise level is
for guaranteeing to detect smoothly zero crossing, maximum frequency multiplication operation times n is
Adopt above technical scheme can make the present invention obtain beneficial effect, do not need to arrange special generation displacement signal feature device, directly utilize the sinusoidal magnetic field information of motor stator, reduce the structural complexity of sensing system, and because only relating to simple operation, algorithm more easily obtains Quick Measurement, do not need expensive electronic processing circuit and optical device that cost is minimized, in the situation that guaranteeing to detect described zero crossing, ensure and realize high precision mover displacement measurement simultaneously.
Brief description of the drawings
Fig. 1 is that to adopt dynamic coil linear motor be the mover displacement measuring device one-piece construction schematic diagram of example in the present invention.
Fig. 2 a, 2b, 2c, 2d are the present invention's schematic diagram taking frequency multiplication operation times n=4 and n=8 as sine and cosine measuring-signal, sine and cosine subdividing signal and the sine and cosine ranging pulse signal of example respectively.
Fig. 3 a, 3b are the schematic diagram of the sine and cosine ranging pulse signal as an example of two kinds of different situations of mover displacement example in the course of work of the present invention.
Wherein, 1-stator; 2-magnetic steel array; 3-sinusoidal sensor; 4-cosine sensor; 5-coil; 6-mover; 7-signal wire; 8-signal processing circuit.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further detailed.
Fig. 1 is that to adopt dynamic coil linear motor be the mounting structure schematic diagram of sensor in the mover displacement measurement method of example in the present invention, comprise dynamic coil linear motor, sinusoidal sensor 3, cosine sensor 4 and signal processing circuit 8, described dynamic coil linear motor comprises the stator 1 and the mover 6 that is provided with coil 5 with matching that are provided with magnetic steel array 2, and described signal processing circuit 8 is connected with cosine sensor 4 with sinusoidal sensor 3 by signal wire 7.
A kind of motor rotor displacement measurement method provided by the invention, the method comprises the following steps:
1) in the sinusoidal magnetic field forming at motor stator 1 magnetic steel array, on mover 6, arrange two magnetic induction density sensors along mover direction of motion: sinusoidal sensor 3 and cosine sensor 4, described sinusoidal sensor and cosine sensor are at a distance of τ/4, described τ is the field pole distance of motor sinusoidal magnetic field, the sampled signal of described sinusoidal sensor is quantized by signal processing circuit 8 and carry out obtaining sinusoidal measurement signal S after amplitude normalized
0, the sampled signal of described cosine sensor is quantized by described signal processing circuit 8 and carries out obtaining cosine measuring-signal C after amplitude normalized
0;
2) by described signal processing circuit 8 by described sinusoidal measurement signal S
0with cosine measuring-signal C
0do n frequency multiplication computing:
S
1＝2*S
0*C
0，C
1＝C
0*C
0-S
0*S
0，
S
2＝2*S
1*C
1，C
2＝C
1*C
1-S
1*S
1，
...，
S
n＝2*S
n-1*C
n-1，C
n＝C
n-1*C
n-1-S
n-1*S
n-1
Obtain sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
n, wherein: S
1, C
1, S
2, C
2... S
n-1and C
n-1for intermediate variable, n=1,2,3 ...;
3) to described sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
ncarry out zero crossing detection, generate 1 group of orthogonal measuring pulse signal: sinusoidal ranging pulse signal A and cosine ranging pulse signal B; Described sinusoidal subdivision's signal S
n> 0, described sinusoidal ranging pulse signal A output high level; Described sinusoidal subdivision's signal S
n< 0, described sinusoidal ranging pulse signal A output low level; Described cosine subdivision's signal C
n> 0, described cosine ranging pulse signal B output high level; Described cosine subdivision's signal C
n< 0, described cosine ranging pulse signal B output low level;
4) detect the umber of pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B, and the phase differential of described sinusoidal ranging pulse signal A and described cosine ranging pulse signal B, a pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B represents a displacement resolution
n=1,2,3, ..., the phase lag of described sinusoidal ranging pulse signal A represents positive-displacement in the phase place of described cosine ranging pulse signal B, the phase place of described sinusoidal ranging pulse signal A represents reverse displacement in the phase place of described cosine ranging pulse signal B in advance, thereby realizes the displacement measurement of electric mover.
After n frequency multiplication computing, described sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
ncycle be
along with the increase of frequency multiplication operation times n, the described cycle
to progressively diminish.
Definite method of described frequency multiplication operation times n is as follows:
If B
mthe magnetic induction density amplitude of the sinusoidal magnetic field forming for described motor stator magnetic steel array, v
xfor sensor measurement noise, noise level is
for guaranteeing to detect smoothly zero crossing, maximum space frequency multiplication operation times n is
Described frequency multiplication operation times n difference, can realize different segmentations and measure.
Embodiment:
With reference to figure 1,3, the displacement measurement process of demonstration mover 6, to understand better the present invention.
Described field pole is apart from τ=35.35mm, and described sinusoidal sensor and cosine sensor are 8.8375mm at a distance of τ/4.Adopt 12 bit AD samples, noise level
calculate n=8 according to maximum frequency multiplication operation times computing formula.
1) according to above-mentioned calculating, in the sinusoidal magnetic field forming at dynamic coil linear motor magnetic steel of stator array 2, on mover, arrange two magnetic induction density sensors along mover direction of motion: i.e. sinusoidal sensor 3 and cosine sensor 4, described τ is the field pole distance of motor sinusoidal magnetic field, described sinusoidal sensor 3 and cosine sensor 4 are 8.8375mm at a distance of τ/4, the sampled signal of described sinusoidal sensor 3 is quantized through signal processing circuit 8 and carry out obtaining sinusoidal measurement signal S after amplitude normalized
0, the sampled signal of described cosine sensor 4 is quantized through signal processing circuit (8) and carries out obtaining cosine measuring-signal C after amplitude normalized
0;
2) by described signal processing circuit 8 to described sinusoidal measurement signal S
0with cosine measuring-signal C
0do n i.e. 8 frequency multiplication computing, 2
8segmentation computing:
S
1＝2*S
0*C
0，C
1＝C
0*C
0-S
0*S
0，
S
2＝2*S
1*C
1，C
2＝C
1*C
1-S
1*S
1，
S
3＝2*S
2*C
2，C
3＝C
2*C
2-S
2*S
2，
S
4＝2*S
3*C
3，C
4＝C
3*C
3-S
3*S
3，
S
5＝2*S
4*C
4，C
5＝C
4*C
4-S
4*S
4，
S
6＝2*S
5*C
5，C
6＝C
5*C
5-S
5*S
5，
S
7＝2*S
6*C
6，C
7＝C
6*C
6-S
6*S
6，
S
8＝2*S
7*C
7，C
8＝C
7*C
7-S
7*S
7
Obtain sinusoidal subdivision's signal S
8with cosine subdivision's signal C
8, wherein: S
1, C
1, S
2, C
2, S
3, C
3, S
4, C
4, S
5, C
5, S
6, C
6, S
7and C
7for intermediate variable;
3) with reference to figure 2c, 2d, Fig. 2 c, 2d are the schematic diagram that is respectively the schematic diagram of the sinusoidal measurement signal as an example of n=8 example, sinusoidal subdivision's signal, sinusoidal ranging pulse signal and cosine measuring-signal, cosine subdivision's signal, cosine ranging pulse signal, by step 2) in sinusoidal subdivision's signal S through obtaining after 8 iterative computation for n time
8with cosine subdivision's signal C
8carry out zero crossing detection, generate 1 group of orthogonal measuring pulse signal: sinusoidal ranging pulse signal A and cosine ranging pulse signal B; Described sinusoidal subdivision's signal S
8> 0, sinusoidal ranging pulse signal A output high level, sinusoidal subdivision's signal S
8< 0, sinusoidal ranging pulse signal A output low level; Described cosine subdivision's signal C
8> 0, cosine ranging pulse signal B output high level, cosine subdivision's signal C
8< 0, cosine ranging pulse signal B output low level.
4), with reference to figure 3a, 3b, it is 3 that Fig. 3 a detects in the umber of pulse of t moment sinusoidal ranging pulse signal A from 0 moment meter, representative
shift length, the phase lag of sinusoidal ranging pulse signal A represents positive-displacement in the phase place of cosine ranging pulse signal B, is+0.4143mm therefore Fig. 3 a represents the t moment with respect to the displacement of 0 moment; It is 4 that Fig. 3 b detects in the umber of pulse of t moment cosine ranging pulse signal B from 0 moment meter, representative
shift length, the phase place of sinusoidal ranging pulse signal A represents reverse displacement in the phase place of cosine ranging pulse signal B in advance, is-0.5523mm therefore Fig. 3 b represents the t moment with respect to the displacement of 0 moment.
Pass through above-mentioned steps, directly utilize the sinusoidal magnetic field information of motor itself, reduce system complexity, hardware installation is convenient, computing method are simple and quick, do not need the optical device that cost is high, saved cost, in the situation that guaranteeing to detect zero crossing, ensure and realize high resolving power electric mover displacement measurement.
Claims (1)
1. a motor rotor displacement measurement method, is characterized in that, described method comprises:
1) in the sinusoidal magnetic field forming at motor stator (1) magnetic steel array, above arrange two magnetic induction density sensors along mover direction of motion at mover (6): sinusoidal sensor (3) and cosine sensor (4), described sinusoidal sensor and cosine sensor are at a distance of τ/4, described τ is the field pole distance of motor sinusoidal magnetic field, the sampled signal of described sinusoidal sensor is quantized by signal processing circuit (8) and carry out obtaining sinusoidal measurement signal S after amplitude normalized
0, the sampled signal of described cosine sensor is quantized by described signal processing circuit (8) and carries out obtaining cosine measuring-signal C after amplitude normalized
0;
2) by described signal processing circuit (8) by described sinusoidal measurement signal S
0with cosine measuring-signal C
0do n frequency multiplication computing:
S
1=2*S
0*C
0，C
1=C
0*C
0-S
0*S
0,
S
2=2*S
1*C
1，C
2=C
1*C
1-S
1*S
1,
...,
S
n=2*S
n-1*C
n-1，C
n=C
n-1*C
n-1-S
n-1*S
n-1
Obtain sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
n, wherein: S
1, C
1, S
2, C
2... S
n-1and C
n-1for intermediate variable, n=1,2,3 ...;
Maximum frequency multiplication operation times n is
wherein, B
mthe magnetic induction density amplitude of the sinusoidal magnetic field forming for described motor stator magnetic steel array, v
xfor sensor measurement noise,
for noise level;
3) to described sinusoidal subdivision's signal S
nwith cosine subdivision's signal C
ncarry out zero crossing detection, generate one group of orthogonal measuring pulse signal: sinusoidal ranging pulse signal A and cosine ranging pulse signal B; Described sinusoidal subdivision's signal S
n>0, described sinusoidal ranging pulse signal A output high level; Described sinusoidal subdivision's signal S
n<0, described sinusoidal ranging pulse signal A output low level; Described cosine subdivision's signal C
n>0, described cosine ranging pulse signal B output high level; Described cosine subdivision's signal C
n<0, described cosine ranging pulse signal B output low level;
4) detect the umber of pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B, and the phase differential of described sinusoidal ranging pulse signal A and described cosine ranging pulse signal B, a pulse of described sinusoidal ranging pulse signal A or cosine ranging pulse signal B represents a displacement resolution
n=1,2,3, ..., the phase lag of described sinusoidal ranging pulse signal A represents positive-displacement in the phase place of described cosine ranging pulse signal B, the phase place of described sinusoidal ranging pulse signal A represents reverse displacement in the phase place of described cosine ranging pulse signal B in advance, thereby realizes the displacement measurement of electric mover.
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