CN102590544A - Method and device for testing speed of servo motor during low-speed running - Google Patents
Method and device for testing speed of servo motor during low-speed running Download PDFInfo
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- CN102590544A CN102590544A CN2012100654321A CN201210065432A CN102590544A CN 102590544 A CN102590544 A CN 102590544A CN 2012100654321 A CN2012100654321 A CN 2012100654321A CN 201210065432 A CN201210065432 A CN 201210065432A CN 102590544 A CN102590544 A CN 102590544A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
Abstract
The invention discloses a method and a device for testing the speed of a servo motor during low-speed running. The device for testing the speed of the servo motor during low-speed running comprises a pulsed filter, a programmable logic controller, a digital signal processor and a storage. The method for testing the speed of the servo motor during low-speed running comprises the following steps of: setting parameters of the device by using upper computer software, performing frequency or period method (M/T method) speed testing on a pulse generator (PG) fractional frequency pulse of a servo driver by using a testing device, and processing multiple batches of data, and after data is screened, displaying by using the upper computer software for analysis. By using the method and the device, the low speed of the motor can be detected independently and accurately; and through visual display of an upper computer, the low-speed running condition of the motor can be analyzed conveniently, and the device for testing the speed of the servo motor can be used as a third-party testing device to meet the servo low-speed performance test requirements.
Description
Technical field
The present invention relates to a kind of speed-measuring method and speed measuring device of servomotor, speed measurement method and device when being a kind of servomotor slow running specifically.
Background technology
Servomotor slow running situation is one of servo-driver performance index, and the speed data of motor is to weigh the important information of servo-driver performance during low speed.The velocity perturbation of servomotor is big during low speed, and noise signal is big with respect to the effective information ratio; Present speed measuring device is a speed data of obtaining motor through the encoder pulse signal of installing on the detection motor shaft, and this method is not independent of servomotor, easily tested object is caused interference, perhaps receives the interference of tested object; And present proving installation is not handled to the low speed data of servomotor, is unfavorable for analyzing the slow running performance of servomotor.
The prior motor speed measuring device has following shortcoming when measuring servo low-speed performance: can not be independent of tested object; Motor speed information is not directed against the processing of low-speed characteristic; Can't analyze servomotor slow running performance in intuitive and convenient ground.
Summary of the invention
Problem to be solved by this invention is to overcome the defective that prior art exists, and speed-measuring method and device when having proposed a kind of servomotor slow running can be analyzed the low-speed performance of servomotor independently, effectively, easily.PG (Pulse Generator) divided pulse to the drive unit servo-driver of servomotor detects, and has avoided influencing each other of speed measuring device and tested object; After calculating motor speed in the digital signal processor, adopt to the disposal route of low-speed characteristic speed data is screened, select effective information; The sampling multi-group data calculates many groups speed maximal value, minimum value, mean value, velocity perturbation and asks for average; Realize drawing, reading speed performance index function in real time through upper computer software, intuitively show motor ruuning situation, the convenient analysis.
Speed-measuring method during servomotor slow running of the present invention, its technical solution problem realize that the basic ideas of goal of the invention are: the parameter that speed measuring device is set through upper computer software; Speed measuring device receives the PG divided pulse of servo-driver; Use programmable logic controller (PLC) that divided pulse is counted; Digital signal processor reads step-by-step counting and time counting from programmable logic controller (PLC); Adopt frequency period method (M/T method) to measure the many groups speed data in the motor operation course, be transferred to host computer through serial ports after speed data is handled and show.The inventive method realizes that the concrete steps of goal of the invention are following:
Steps A 1: through serial communication measurement parameter is set: message transmission rate, verification mode, every group of data sampling number of times, time in SI, sample data set number, motor revolution umber of pulse, tachometric survey resolution with upper computer software; Then, send the instruction of testing the speed through upper computer software;
Steps A 2: with pulsed filter the PG frequency division orthogonal pulses of servo-driver is carried out Schmidt's shaping, adopt LPF filtering high-frequency signal after the shaping, again the orthogonal pulses after the filtering is carried out Schmidt's shaping;
Steps A 3: with programmable logic controller (PLC) the orthogonal pulses signal of handling through filter shape is carried out the frequency multiplication counting, obtain step-by-step counting information; Simultaneously the time is counted to get time counting information;
Steps A 4: regularly from programmable logic controller (PLC), read counted number of pulses and time counting value with digital signal processor, adopt the M/T method to calculate motor speed, be stored in the external memory storage of digital signal processor;
Steps A 5: test the speed after the completion, digital signal processor is handled measurement data, asks for maximal value, minimum value, the fluctuation of speed, mean value;
Steps A 6: upper computer software reads relevant rotary speed information through serial communication, and draws corresponding rotating speed figure.
Described digital signal processor is to Measurement and Data Processing, and process is described below:
Gather multi-group data, every group of a plurality of data points of data acquisition are analyzed;
Average velocity: all speed adds up divided by number of times;
Speed data comprises first high speed, second high speed, the 3rd high speed, first low speed, second low speed, the 3rd low speed;
Judge the highest minimum speed: if first surpass 5 times at a high speed, first being top speed at a high speed, if first do not have 5 times at a high speed, second surpasses 5 times at a high speed at a high speed+first, second being top speed at a high speed, otherwise is top speed at a high speed with the 3rd; If first low speed surpasses 5 times, is minimum speed with first low speed, if first low speed does not have 5 times, second low speed+first low speed surpasses 5 times, is minimum speed with second low speed, otherwise is minimum speed with the 3rd low speed.
The inventive method is judged the rotating speed of motor situation through the PG divided pulse that detects servo-driver, is independent of servo-driver and motor, can at utmost reduce the influence of speed measuring device to servo-driver and servomotor.The system that upper computer software, digital signal processor, programmable logic controller (PLC) combine can detect input pulse in real time through the programmable logic controller (PLC) in the speed measuring device.Screen, handle through digital signal processor calculating motor speed and to rotary speed data, to obtain more reasonably data.Through the memory stores measurement data, supply host computer from speed measuring device, to obtain.Through the upper computer software operation of testing the speed, and motor speed information shown, make things convenient for analysis and judgement.
Speed measuring device during a kind of servomotor slow running of the present invention, comprising: pulsed filter, programmable logic controller (PLC), digital signal processor, storer is characterized in that:
The pulse interface of said pulsed filter is connected with the PG frequency division interface of servo-driver, and the PG divided pulse independently reflects the position and the rotary speed information of motor;
Pulsed filter at first carries out Schmidt's shaping to it after receiving input pulse, removes the signal distortion that takes place in the burst transmissions process; LPF is carried out in pulse after the shaping, the filtering high-frequency interferencing signal; Because the signal edge is milder, therefore once more filtered signal is carried out Schmidt's shaping after the filtering; Pass through shaping, filtering, obtain desirable pulse input signal after the shaping again, signal waveform and servo-drive waveform input signal electrical level polar after keeping simultaneously handling are consistent.
Programmable logic controller (PLC) receives the pulse input signal through filter process, judges that through register, latch, counter and the logical block of inside direction and number of pulses and time count.
Digital signal processor comprises speed calculation unit, data processing unit, communication unit.Digital signal processor links to each other with programmable logic controller (PLC) with address bus through data bus, from programmable logic controller (PLC), reads counted number of pulses and time counting value, and computing velocity is also done data screening, processing; Digital signal processor is stored in the speed data of testing in the storer (external memory storage), through the external memory stores batch data through data bus and address bus.
Before apparatus of the present invention are used, upper computer software is connected with the communication unit of digital signal processor through serial ports, obtains servomotor different speed information and demonstration according to different host computer operations.The agreement of described upper computer software and digital signal processor communication adopts the Modbus agreement, through sending different commands, obtains needed information of host computer and demonstration.
Compared with prior art, the beneficial effect that the present invention brought is: measurement mechanism is independent of tested object, and does not have influence between the measuring object; Slow running characteristic to servomotor can access effective information; Can relevant speed information intuitively be shown through upper computer software, help analyzing servomotor slow running characteristic.
Description of drawings
Speed measuring device structural representation (block diagram) when Fig. 1 is a servomotor slow running of the present invention.
Speed-measuring method FB(flow block) when Fig. 2 is this present invention servomotor slow running.
The software flow pattern of digital signal processor in speed measuring device when Fig. 3 is a servomotor slow running of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Embodiment 1,
Speed measuring device during servomotor slow running as shown in Figure 1 includes input pulse is carried out filter filtering 1, filtered pulse is carried out the programmable logic controller (PLC) 2 of step-by-step counting and time counting; Storage speed memory of data 7; Adopt the frequency period method to speed calculation, processing and with the digital signal processor 3 of upper machine communication; Speed measuring device is operated and the upper computer software of display speed data.The input end of its median filter 1 connects the PG divided pulse output of servo-driver; The output of wave filter 1 connects the input end of programmable logic controller (PLC) 2; Programmable logic controller (PLC) 2 is connected with address bus through data bus with digital signal processor 3; Digital signal processor 3 and storer 7 multiplexed data bus and address bus swap data; Upper computer software 8 is connected through the RS232 serial ports with digital signal processor 3.
Digital signal processor 3 comprises the speed calculation unit 4 that calculates the motor travelling speed, and the data processing unit 5 that adopts certain algorithm that speed is screened is responsible for the communication unit 6 with upper machine communication.Wherein speed calculation unit 4 reads counted number of pulses and time counting value through data bus and address bus from programmable logic controller (PLC) 2, adopts frequency period method computing velocity data, and with communication unit 6 interaction datas; The speed that speed calculation unit 4 calculates through data bus and address bus with acquisition data storage in storer 7, usefulness when supplying the communication transmission.The speed that 5 pairs of speed calculation unit of data processing unit 4 calculate is screened, and chooses the data that characterize low-speed performance.Speed data in the communication unit 6 responsible transmission testing processes, the speed index of process screening and decomposition, transmission communication order, realization host computer associative operation.
Embodiment 2
As shown in Figure 2, the speed measuring device when using the said servomotor slow running of present embodiment 1, the step that tests the speed of the motor speed when measuring the servomotor slow running is following:
Steps A 1: upper computer software is provided with following parameter through serial communication: message transmission rate, verification mode, every group of data sampling number of times, time in SI, sample data set number, motor revolution umber of pulse, tachometric survey resolution; The transmission enabled instruction of testing the speed.
Steps A 2: pulsed filter is taked LPF filtering high-frequency signal to the PG frequency division orthogonal pulses Schmidt shaping of servo-driver after the shaping, again the orthogonal pulses after the filtering is carried out Schmidt's shaping.
Steps A 3: programmable logic controller (PLC) carries out the frequency multiplication counting to the orthogonal pulses signal of handling through filter shape, obtains step-by-step counting information (counted number of pulses); Simultaneously time counting is obtained temporal information (time counting value).
Steps A 4: digital signal processor regularly reads counted number of pulses and time counting value from programmable logic controller (PLC), adopts frequency period M/T method to calculate motor speed, and the rotary speed data of measurement is stored in the external memory storage of digital signal processor.
Steps A 5: digital signal processor screens, calculates the measured speed data after the completion of testing the speed, and obtains maximal value, minimum value, the fluctuation of speed, the mean value of motor speed.
Steps A 6: upper computer software reads relevant rotary speed information, the render speed figure through serial communication.
The software flow of digital signal processor is as shown in Figure 3, through parameter initialization S1, removing memory data S2, gets in the major cycle after speed measuring device powers on; Speed measuring device carries charactron and keyboard, can carry out some simple data presentation and operations, and S3 carries out the renewal of charactron demonstration and keyboard operation; When host computer sends the order of testing the speed when operating, judge whether completions of testing the speed in the major cycle, then the multi-group data of collection is carried out data processing S4 after the completion; When needs send data to host computer, accomplish associative operation through S5; The Modbus instruction that S6 is responsible for host computer is sent is decomposed, and specific operation carried out in the operational order word that obtains being correlated with; S7 step reception host computer sends to the data of speed measuring device and carries out handled; Speed calculation is carried out in the interruption of testing the speed; When interrupting taking place; S8 reads counted number of pulses from programmable logic controller (PLC); S9 is the time for reading count value from programmable logic controller (PLC), and the S10 step adopts the frequency period method to calculate present speed then, through step S11 with data storage in storer.
Wherein the data processing unit 5 of digital signal processor is according to servomotor slow running smooth performance not; Select effectively to characterize the data of low-speed performance; Disposal route is following: gather multi-group data through upper computer software, every group of a plurality of data points of data acquisition are analyzed; Average velocity equals whole speed and adds up divided by number of times; Speed data comprises first high speed, second high speed, the 3rd high speed, first low speed, second low speed, the 3rd low speed; The highest minimum speed is judged through following method: if first high speed is above 5 times; With first high speed is top speed, if if first high speed does not have 5 times, second at a high speed+first at a high speed above 5 times; Second being top speed at a high speed, otherwise be top speed at a high speed with the 3rd; If first low speed surpasses 5 times, is minimum speed with first low speed, if if first low speed does not have 5 times, second low speed+first low speed surpasses 5 times, is minimum speed with second low speed, otherwise is minimum speed with the 3rd low speed; After multi-group data is carried out above processing, ask for the mean value of speed index, obtain final speed maximal value, minimum value, velocity perturbation, mean value, reflection servomotor slow running characteristic.
Wherein 8 functions that can realize of upper computer software are following: PORT COM is provided with function, message transmission rate, verification mode when communication between upper computer software 8 and the speed measuring device is set; Sampling parameter is provided with function, and the sampling parameter of speed measuring device is set, and comprises every group of data sampling number of times, time in SI, sample data set number, the umber of pulse of motor revolution, the resolution of tachometric survey; Real-time (the ten groups of data) function of drawing, this function stop after the completion drawing according to the speed pattern that real-time rendering respective sets number is set of sampling parameter, can read selected any one group speed pattern through read operation; Real-time drawing function, this function is drawn to the motor travelling speed in real time, knows to carry out to stop mapping operation; Read historical measurement data function, this function reads the speed ability desired value of the setting group number of measurement, and index comprises maximal value, minimum value, undulating quantity, the mean value of every group of data, and final speed maximal value, minimum value, undulating quantity, mean value.Upper computer software is easy to operate, the convenient analysis.
Claims (4)
1. the speed-measuring method during a servomotor slow running, its step is following:
Steps A 1: through serial communication measurement parameter is set with upper computer software, then, sends the instruction of testing the speed through upper computer software;
Steps A 2: with pulsed filter the PG frequency division orthogonal pulses of servo-driver is carried out Schmidt's shaping, adopt LPF filtering high-frequency signal after the shaping, again the orthogonal pulses after the filtering is carried out Schmidt's shaping;
Steps A 3: with programmable logic controller (PLC) the orthogonal pulses signal of handling through filter shape is carried out the frequency multiplication counting, obtain step-by-step counting information; Simultaneously the time is counted to get time counting information;
Steps A 4: regularly from programmable logic controller (PLC), read counted number of pulses and time counting value with digital signal processor, adopt the M/T method to calculate motor speed, the motor speed data storage that obtains is in the external memory storage of digital signal processor.
2. the speed-measuring method during according to the said servomotor slow running of claim 1 is characterized in that:
Steps A 5: with digital signal processor the motor speed data of measuring are screened, calculated, obtain maximal value, minimum value, the fluctuation of speed, the mean value of motor speed.
3. the speed measuring device during a servomotor slow running, comprising: pulsed filter, programmable logic controller (PLC), digital signal processor, storer is characterized in that:
The pulse interface of said pulsed filter is connected with the PG frequency division interface of servo-driver, and pulsed filter at first carries out Schmidt's shaping to it after receiving input pulse, removes the signal distortion that takes place in the burst transmissions process; LPF is carried out in pulse after the shaping, the filtering high-frequency interferencing signal; Pulse signals is carried out Schmidt's shaping once more, obtains desirable pulse input signal, and signal waveform and servo-drive waveform input signal electrical level polar after keeping simultaneously handling are consistent; Programmable logic controller (PLC) receives the pulse input signal through filter process, judges that through register, latch, counter and the logical block of inside direction and number of pulses and time count; Digital signal processor links to each other with programmable logic controller (PLC) with address bus through data bus, from programmable logic controller (PLC), reads counted number of pulses and time counting value, and computing velocity is also done data screening, processing; Digital signal processor is stored in the speed data of testing in the storer through data bus and address bus.
4. the speed measuring device during according to the said a kind of servomotor slow running of claim 3, it is characterized in that: said digital signal processor comprises speed calculation unit, data processing unit and communication unit; Wherein the speed calculation unit reads counted number of pulses and time counting value through data bus and address bus from programmable logic controller (PLC), adopts frequency period method computing velocity data, and with the communication unit interaction data; The speed that the speed calculation unit calculates through data bus and address bus with acquisition data storage in storer, usefulness when supplying the communication transmission; Data processing unit screens the speed that the speed calculation unit calculates, and chooses the data that characterize low-speed performance.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100654321A CN102590544A (en) | 2012-03-14 | 2012-03-14 | Method and device for testing speed of servo motor during low-speed running |
| PCT/CN2013/072000 WO2013135139A1 (en) | 2012-03-14 | 2013-02-28 | Speed measuring method and device for servo motor during low-speed running |
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| CN2012100654321A CN102590544A (en) | 2012-03-14 | 2012-03-14 | Method and device for testing speed of servo motor during low-speed running |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN103048484A (en) * | 2012-12-03 | 2013-04-17 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| WO2013135139A1 (en) * | 2012-03-14 | 2013-09-19 | 南京埃斯顿自动控制技术有限公司 | Speed measuring method and device for servo motor during low-speed running |
| CN103616839A (en) * | 2013-12-13 | 2014-03-05 | 广西大学 | Field programmable gate array (FPGA)-based adaptive speed detection device |
| CN105242062A (en) * | 2015-10-10 | 2016-01-13 | 广东威创视讯科技股份有限公司 | Fan rotating speed detection apparatus |
| CN105759763A (en) * | 2016-04-01 | 2016-07-13 | 沈阳东软医疗系统有限公司 | Method and system for controlling multi-leaf collimator |
| CN108535509A (en) * | 2018-06-20 | 2018-09-14 | 核工业理化工程研究院 | The monitoring device of rotating speed for high rotation speed servo motor |
| CN109682987A (en) * | 2018-12-29 | 2019-04-26 | 深圳市越疆科技有限公司 | A kind of motor low velocity measuring method and Motors Speed Measuring System |
| CN110488039A (en) * | 2019-08-20 | 2019-11-22 | 禹盟自动化科技(上海)有限公司 | The overproof warning device of speed |
| CN112986605A (en) * | 2021-02-22 | 2021-06-18 | 合肥宏晶微电子科技股份有限公司 | Motor speed measuring method and device |
| CN113000301A (en) * | 2021-02-26 | 2021-06-22 | 广东利元亨智能装备股份有限公司 | Dispensing system and dispensing control method |
| CN114279481A (en) * | 2021-11-25 | 2022-04-05 | 季华实验室 | Encoder rotating speed fluctuation testing system and method |
| CN114550527A (en) * | 2022-01-10 | 2022-05-27 | 西安理工大学 | Design method of comprehensive practical training device based on industrial concept |
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| CN108762163B (en) * | 2018-06-22 | 2021-12-28 | 哈尔滨工业大学 | Motion control system of mobile robot based on QT human-computer interaction interface and motor servo system |
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| WO2013135139A1 (en) * | 2012-03-14 | 2013-09-19 | 南京埃斯顿自动控制技术有限公司 | Speed measuring method and device for servo motor during low-speed running |
| CN103048484A (en) * | 2012-12-03 | 2013-04-17 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN103048484B (en) * | 2012-12-03 | 2014-10-29 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN103033640A (en) * | 2012-12-04 | 2013-04-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN103033640B (en) * | 2012-12-04 | 2014-12-10 | 中国北方车辆研究所 | Vehicle speed real-time detection method with field programmable gate array (FPGA) |
| CN103616839A (en) * | 2013-12-13 | 2014-03-05 | 广西大学 | Field programmable gate array (FPGA)-based adaptive speed detection device |
| CN105242062B (en) * | 2015-10-10 | 2019-11-26 | 广东威创视讯科技股份有限公司 | Fan rotation-speed detection device |
| CN105242062A (en) * | 2015-10-10 | 2016-01-13 | 广东威创视讯科技股份有限公司 | Fan rotating speed detection apparatus |
| CN105759763A (en) * | 2016-04-01 | 2016-07-13 | 沈阳东软医疗系统有限公司 | Method and system for controlling multi-leaf collimator |
| CN105759763B (en) * | 2016-04-01 | 2018-05-29 | 沈阳东软医疗系统有限公司 | The control method and system of a kind of multi-leaf optical grating |
| CN108535509A (en) * | 2018-06-20 | 2018-09-14 | 核工业理化工程研究院 | The monitoring device of rotating speed for high rotation speed servo motor |
| CN109682987A (en) * | 2018-12-29 | 2019-04-26 | 深圳市越疆科技有限公司 | A kind of motor low velocity measuring method and Motors Speed Measuring System |
| CN110488039A (en) * | 2019-08-20 | 2019-11-22 | 禹盟自动化科技(上海)有限公司 | The overproof warning device of speed |
| CN112986605A (en) * | 2021-02-22 | 2021-06-18 | 合肥宏晶微电子科技股份有限公司 | Motor speed measuring method and device |
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| CN114550527A (en) * | 2022-01-10 | 2022-05-27 | 西安理工大学 | Design method of comprehensive practical training device based on industrial concept |
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| WO2013135139A1 (en) | 2013-09-19 |
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Application publication date: 20120718 |