CN102998043A - Device and method for monitoring dynamic thrust of linear motor in suspension state - Google Patents
Device and method for monitoring dynamic thrust of linear motor in suspension state Download PDFInfo
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- CN102998043A CN102998043A CN2012105318064A CN201210531806A CN102998043A CN 102998043 A CN102998043 A CN 102998043A CN 2012105318064 A CN2012105318064 A CN 2012105318064A CN 201210531806 A CN201210531806 A CN 201210531806A CN 102998043 A CN102998043 A CN 102998043A
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Abstract
The invention relates to a device for monitoring the dynamic thrust of a linear motor in a suspension state, which comprises a non-contact photoelectric encoder arranged on the linear motor, a signal conversion and preprocessing circuit arranged in an upper computer, a high-speed data acquisition card and a calculation and analysis data unit, wherein the signal conversion and preprocessing circuit is connected with the high-speed data acquisition card; the non-contact photoelectric encoder comprises a linear grating and a reading head; the linear grating is fixedly connected with the linear motor stator; the reading head is fixedly connected to the reading head bracket and moves along with the motion module driven by the linear motor; the device adopts the high-precision non-contact photoelectric encoder, and through signal processing and data analysis, the dynamic thrust borne by the motion module driven by the linear motor in the suspension state is monitored in real time, so that the problem that the driving force of the linear motor in the suspension state cannot be monitored in real time is effectively solved, and the device has important significance for calibrating the performance of the linear motor.
Description
Technical field
The present invention relates to a kind of device that under suspended state, the linear electric motors dynamic thrust is carried out Real-Time Monitoring.
Background technology
That linear electric motors have is simple in structure, bearing accuracy is high, response is fast, acceleration is good, noise is low, the efficient high, is widely applied in automatic control system.Thrust has reflected the duty of motor as an important indicator weighing linear motor performance.In the little feeding digital control system of high precision, the quality that force oscillation will make servo-drive system degenerate to cause converted products reduces even scraps.Therefore, motor thrust is carried out Real-Time Monitoring very important meaning is arranged.
Existing measuring method exist measuring accuracy low, can not Real-Time Monitoring etc. characteristics, can't be accurately, the thrust output situation of dynamic monitoring linear electric motors.
Summary of the invention
Technical matters to be solved by this invention is to avoid the deficiencies in the prior art, provide a kind of high precision, contactless proving installation to come the dynamic thrust of linear electric motors under the Real-Time Monitoring suspended state, because under suspended state, friction force is very little between the motion module that linear electric motors drive and the track, can ignore, it can monitor and show the real-time thrust rating that motion module is subject to, and these data have great significance for the duty of demarcating linear electric motors under the suspended state.
The present invention institute according to principle be Newton second law shown in equation (1):
F＝m·a+f (1)
According to sampling thheorem, with the discrete a that turns to of successive value acceleration a
k, equation (1) becomes as follows:
F
k＝m·a
k+f (2)
Wherein, m is the quality of movable part object, a
kBe the acceleration in the K time when sampling, its computing method shown in formula (3),
Wherein, V
kSpeed when being the K time sampling, V
K-1Be the speed in the K-1 time when sampling, T is the sampling period, computing method shown in formula (4),
In the formula, S
kDisplacement when being the K time sampling, S
K-1Displacement when being the K-1 time sampling.
Can draw relational expression between acceleration and the displacement shown in formula (5) by formula (3) (4):
Can draw formula (6) to formula (5) substitution formula (2), as follows
Because this device is used under suspended state dynamic thrust being measured, the magnetic suspension linear motion module that drives as being used for air supporting Linear Moving Module that linear electric motors drive or linear electric motors, friction force between motion module and the track is very little, can ignore, and this device adopts contactless photoelectric encoder to carry out data acquisition, therefore the f value is very little, also can ignore.Among the present invention, S
k, S
K-1Determined by the change in displacement of measuring two continuous sampling cycles by high-precision optical displacement measurement sensor, by data analysis and software for calculation, the displacement signal of inputting is converted into real-time thrust magnitude output on the interface.
For solving the problems of the technologies described above, the present invention realizes as follows: of the present inventionly comprise the contactless photoelectric encoder that is installed on the linear electric motors and be installed on the signal conversion of host computer inside and pre-process circuit, high-speed data acquisition card, computational analysis data cell for the device of linear electric motors dynamic thrust under the monitoring suspended state; Described contactless photoelectric encoder comprises linear grating and read head; Described linear grating is fixedly connected with linear motor stator electric; Described read head is fixedly connected on the read head support, and follows the motion module that linear electric motors drive and move; Grating scale on described read head and the linear grating aligns, and guarantees the dynamic displacement data of the motion module of accurately Real-time Collection linear electric motors driving; Described read head changes by data line and signal and the pre-process circuit formation electrically connects; The dynamic displacement data of the motion module that the linear electric motors that described read head Real-time Collection arrives drive, after signal conversion and pre-process circuit processing, be transferred to high-speed data acquisition card, and analyze as calculated data cell to the data analysis in the high-speed data acquisition card and after controlling calculating, demonstrate the speed of the motion module of the real-time dynamic thrust of linear electric motors and linear electric motors driving.
Described read head Real-time Collection to the dynamic displacement data of the motion module that drives of linear electric motors be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
Use the device of linear electric motors dynamic thrust under the monitoring suspended state to carry out the method that dynamic thrust is tested: to it is characterized in that, comprise the steps:
1) sets the real-time data acquisition cycle T by host computer;
The dynamic displacement delta data S of the motion module that 2) drives by linear electric motors in continuous three cycles of contactless photoelectric encoder collection
K, S
K-1, S
K-2
3) by the computational analysis data cell, utilize formula
To above-mentioned steps 2) image data carries out analyzing and processing, obtains real time acceleration a
kValue, pass through formula
Calculate the real-time thrust of motor, wherein friction force f value for the motion module that linear electric motors under this suspended state drive is very little, can ignore, thereby can record the real-time dynamic thrust of linear electric motors under the suspended state through calculating.
4) demonstrate the speed of the motion module that the real-time dynamic thrust of linear electric motors and linear electric motors drive by host computer.
Good effect of the present invention: the device for linear electric motors dynamic thrust under the monitoring suspended state of the present invention adopts high precision, contactless optical-electricity encoder, process and data analysis by signal, real-time its dynamic thrust of monitoring of motion module to linear electric motors driving under the suspended state, realized the real-time measurement of dynamic thrust, effectively solved when linear electric motors drive under the suspended state can not Real-Time Monitoring its driving force problem, linear motor performance has great significance under the suspended state for demarcating, and along with further developing of science and technology, and the further raising of computing power, this proving installation can be changed more high-precision photoelectric encoder, and shorten greatly sampling period value T, thereby can greatly improve the precision of proving installation.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is principle of work process flow diagram of the present invention
Fig. 2 is that the present invention is used in the structural representation that linear electric motors drive the air supporting motion module
Among the figure, 1 aerostatic slide, 2 air floating rails, 3 bases, 4 read head supports, 5 read heads, 6 linear motor rotors, 7 linear grating chis, 8 linear motor stator electrics
Embodiment
Be illustrated in figure 1 as workflow diagram of the present invention, after linear motor rotor (6) drive aerostatic slide (1) is mobile, optical-electricity encoder read head (5) carries out real-time displacement and measures, signal is passed to signal conversion and pre-process circuit in real time, after the upper computer software analysis and calculating, real-time output motor thrust magnitude and translational speed value.
Be illustrated in figure 2 as the present invention and be installed on the configuration diagram on the linear electric motors driving arrangement under the air supporting state, the present invention includes the contactless photoelectric encoder that is installed on the linear electric motors and the signal conversion that is installed on host computer inside and pre-process circuit, high-speed data acquisition card, computational analysis data cell; Described contactless photoelectric encoder comprises linear grating chi (7) and read head (5); Described linear grating chi (7) is fixedly connected with linear motor stator electric (8), and linear motor stator electric (8) is fixed on the base (3); Described read head (5) is fixedly connected on the aerostatic slide (1) of linear motor rotor (6) driving by read head support (4), and aerostatic slide (1) slides along air floating rails (2); Grating scale on described read head (5) and the linear grating chi (7) aligns, and guarantees the dynamic displacement data of correct Real-time Collection aerostatic slide (1); Described read head (5) changes by data line and signal and the pre-process circuit formation electrically connects; The dynamic displacement data of the aerostatic slide (1) that described read head (5) Real-time Collection arrives, after signal conversion and pre-process circuit processing, be transferred to high-speed data acquisition card, and analyze as calculated data cell to the data analysis in the high-speed data acquisition card and after controlling calculating, demonstrate aerostatic slide (1) suffered real-time thrust and speed; Described read head (5) Real-time Collection to the dynamic displacement data of aerostatic slide (1) be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
Use the device of linear electric motors dynamic thrust under the monitoring suspended state to carry out the method that dynamic thrust is tested: to it is characterized in that, comprise the steps:
1) sets the real-time data acquisition cycle T by host computer;
2) the dynamic displacement delta data S of the aerostatic slide (1) of the driving by linear electric motors in continuous three cycles of contactless photoelectric encoder collection
K, S
K-1, S
K-2
3) by the computational analysis data cell, utilize formula
To above-mentioned steps 2) image data carries out analyzing and processing, obtains real time acceleration a
kValue, pass through formula
The real-time thrust of calculated line motor, wherein friction force f value for the aerostatic slide (1) that linear electric motors under this suspended state drive is very little, can ignore, thereby can record the real-time dynamic thrust of linear electric motors under the suspended state through calculating.
4) demonstrate the speed of the real-time dynamic thrust of linear electric motors and aerostatic slide (1) by host computer.
A kind of concrete application example that is used for the device and method of linear electric motors dynamic thrust under the monitoring suspended state that the present invention that just explains through diagrams recited above is correlated with; owing to concerning the technician in constructed field, being easy to carry out on this basis some modifications; therefore shown in this instructions is not really wanted a kind of device and method for linear electric motors dynamic thrust under the monitoring suspended state of the present invention is confined to or in described concrete mechanism and the scope of application; therefore every corresponding modify that may be utilized and equivalent all belong to the protection domain of patent of the present invention.
Claims (3)
1. device that is used for linear electric motors dynamic thrust under the monitoring suspended state is characterized in that: be installed on the contactless photoelectric encoder on the linear electric motors and be installed on the signal conversion of host computer inside and pre-process circuit, high-speed data acquisition card, computational analysis data cell; Described contactless photoelectric encoder comprises linear grating and read head; Described linear grating is fixedly connected with linear motor stator electric; Described read head is fixedly connected on the read head support, and follows the motion module that linear electric motors drive and move; Grating scale on described read head and the linear grating aligns, and guarantees the dynamic displacement data of the motion module of accurately Real-time Collection linear electric motors driving; Described read head changes by data line and signal and the pre-process circuit formation electrically connects; The dynamic displacement data of the motion module that the linear electric motors that described read head Real-time Collection arrives drive, after signal conversion and pre-process circuit processing, be transferred to high-speed data acquisition card, and analyze as calculated data cell to the data analysis in the high-speed data acquisition card and after controlling calculating, demonstrate the speed of the motion module of the real-time dynamic thrust of linear electric motors and linear electric motors driving.
2. according to claim 1 for the device of linear electric motors dynamic thrust under the monitoring suspended state, it is characterized in that: described read head Real-time Collection to the dynamic displacement data of the motion module that drives of linear electric motors be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
3. right to use requires 1 described device for linear electric motors dynamic thrust under the monitoring suspended state to carry out the method that dynamic thrust is tested: it is characterized in that, comprise the steps:
1) sets the real-time data acquisition cycle T by host computer;
The dynamic displacement delta data S of the motion module that 2) drives by linear electric motors in continuous three cycles of contactless photoelectric encoder collection
K, S
K-1, S
K-2
3) by the computational analysis data cell, utilize formula
To above-mentioned steps 2) image data carries out analyzing and processing, obtains real time acceleration a
kValue, pass through formula
Calculate the real-time thrust of motor, wherein friction force f value for the motion module that linear electric motors under this suspended state drive is very little, can ignore, thereby can record the real-time dynamic thrust of linear electric motors under the suspended state through calculating;
4) demonstrate the speed of the motion module that the real-time dynamic thrust of linear electric motors and linear electric motors drive by host computer.
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|---|---|---|---|
| CN201210531806.4A CN102998043B (en) | 2012-12-12 | 2012-12-12 | Device and method for monitoring dynamic thrust of linear motor in suspension state |
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| CN201210531806.4A CN102998043B (en) | 2012-12-12 | 2012-12-12 | Device and method for monitoring dynamic thrust of linear motor in suspension state |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104483565A (en) * | 2014-12-03 | 2015-04-01 | 中国第一汽车股份有限公司无锡油泵油嘴研究所 | Testing device for dynamic performance of actuator |
| CN109870261A (en) * | 2019-03-01 | 2019-06-11 | 西北工业大学 | A kind of lower resistance magnetic suspension platform for microdriver thrust measurement |
| CN111692984A (en) * | 2020-06-19 | 2020-09-22 | 南京工业大学 | Bridge dynamic deflection measuring device and measuring method based on magnetic suspension technology |
| CN112697327A (en) * | 2020-12-16 | 2021-04-23 | 陈娟 | Physical quantity impulse test bench based on magnetic suspension principle |
| CN114545022A (en) * | 2022-01-28 | 2022-05-27 | 中国科学院电工研究所 | High-speed linear motor positioning and speed measuring real-time simulation method and system |
| CN114878050A (en) * | 2022-06-07 | 2022-08-09 | 谢晶 | Linear motor normal force detection system |
Citations (4)
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|---|---|---|---|---|
| CN1701925A (en) * | 2005-07-22 | 2005-11-30 | 北京航空航天大学 | H type air floating workbench with synchronization driving of bilateral linear motor |
| CN101509815A (en) * | 2008-12-24 | 2009-08-19 | 南京航空航天大学 | Linear electric motor mechanical characteristic test system and method |
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2012
- 2012-12-12 CN CN201210531806.4A patent/CN102998043B/en not_active Expired - Fee Related
Patent Citations (4)
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| CN1701925A (en) * | 2005-07-22 | 2005-11-30 | 北京航空航天大学 | H type air floating workbench with synchronization driving of bilateral linear motor |
| CN101509815A (en) * | 2008-12-24 | 2009-08-19 | 南京航空航天大学 | Linear electric motor mechanical characteristic test system and method |
| CN201611350U (en) * | 2009-12-18 | 2010-10-20 | 重庆建设工业(集团)有限责任公司 | Magnetic-suspension high-speed measuring instrument calibrating device |
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Non-Patent Citations (1)
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|---|
| 人民教育出版社教学资源分社，人民教育出版社物理室: "《新教材新学案 物理1必修》", 30 April 2008, 人民教育出版社 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104483565A (en) * | 2014-12-03 | 2015-04-01 | 中国第一汽车股份有限公司无锡油泵油嘴研究所 | Testing device for dynamic performance of actuator |
| CN109870261A (en) * | 2019-03-01 | 2019-06-11 | 西北工业大学 | A kind of lower resistance magnetic suspension platform for microdriver thrust measurement |
| CN111692984A (en) * | 2020-06-19 | 2020-09-22 | 南京工业大学 | Bridge dynamic deflection measuring device and measuring method based on magnetic suspension technology |
| CN112697327A (en) * | 2020-12-16 | 2021-04-23 | 陈娟 | Physical quantity impulse test bench based on magnetic suspension principle |
| CN114545022A (en) * | 2022-01-28 | 2022-05-27 | 中国科学院电工研究所 | High-speed linear motor positioning and speed measuring real-time simulation method and system |
| CN114878050A (en) * | 2022-06-07 | 2022-08-09 | 谢晶 | Linear motor normal force detection system |
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