CN102998043B - 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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- CN102998043B CN102998043B CN201210531806.4A CN201210531806A CN102998043B CN 102998043 B CN102998043 B CN 102998043B CN 201210531806 A CN201210531806 A CN 201210531806A CN 102998043 B CN102998043 B CN 102998043B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 19
- 239000000725 suspension Substances 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims description 27
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 238000007405 data analysis Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 19
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- 238000010205 computational analysis Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 abstract 2
- 238000004458 analytical method Methods 0.000 abstract 1
- 238000005070 sampling Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
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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 linear electric motors dynamic thrust being carried out to Real-Time Monitoring under suspended state.
Background technology
Linear electric motors have that structure is simple, positioning precision is high, response is fast, acceleration is good, noise is low, efficiency high, are widely applied in automatic control system.Thrust, as the important indicator weighing linear motor performance, reflects the duty of motor.In high precision Fine Feed digital control system, force oscillation causes the reduction of the quality of converted products even to be scrapped by making servo-drive system degenerate.Therefore, Real-Time Monitoring is carried out to motor thrust and have very important meaning.
Existing measuring method exist measuring accuracy low, can not the feature such as Real-Time Monitoring, cannot accurately, the thrust of dynamic monitoring linear electric motors exports situation.
Summary of the invention
Technical matters to be solved by this invention avoids the deficiencies in the prior art, a kind of high precision is provided, dynamic thrust that contactless proving installation carrys out linear electric motors under Real-Time Monitoring suspended state, due under suspended state, between the motion module that linear electric motors drive and track, friction force is very little, negligible, it can be monitored and show the real-time thrust rating that motion module is subject to, and these data have great significance for demarcating the duty of linear electric motors under suspended state.
The present invention institute foundation principle is for Newton second law is as shown in equation (1):
F＝m·a+f (1)
According to sampling thheorem, turn to a by discrete for 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 K time sampling time acceleration, its computing method as shown in formula (3),
Wherein, V
kbe speed during the K time sampling, V
k-1be the K-1 time sampling time speed, T is the sampling period, computing method as shown in formula (4),
In formula, S
kbe displacement during the K time sampling, S
k-1displacement when being the K-1 time sampling.
Can show that relational expression between acceleration and displacement is as shown in formula (5) by formula (3) (4):
Formula (5) is substituted into formula (2) formula (6) can be drawn, as follows
Because this device is used for measuring dynamic thrust under suspended state, as the magnetic suspension linear motion module that the air supporting Linear Moving Module that drives for linear electric motors or linear electric motors drive, friction force between motion module and track is very little, negligible, and this device adopts contactless photoelectric encoder to carry out data acquisition, therefore f value is very little, also negligible.In the present invention, S
k, S
k-1determined by the change in displacement measuring two continuous sampling cycles by high-precision optical displacement measurement sensor, by data analysis and software for calculation, the displacement signal of input is converted into real-time thrust magnitude and exports on interface.
For solving the problems of the technologies described above, the present invention realizes as follows: the device for monitoring dynamic thrust of linear motor at suspension state of the present invention comprises the contactless photoelectric encoder be installed on linear electric motors and the signal being installed on host computer inside is changed 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 read head support, and the motion module of following linear electric motors driving moves; Grating scale on described read head and linear grating aligns, and guarantees the dynamic displacement data of the motion module that Real-time Collection linear electric motors accurately drive; Described read head is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic displacement data of the motion module that the linear electric motors that described read head Real-time Collection arrives drive, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, 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 motion module that drive of linear electric motors be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
The device of monitoring dynamic thrust of linear motor at suspension state is used to carry out the method for dynamic thrust test: to it is characterized in that, comprise the steps:
1) by host computer setting real-time data acquisition cycle T;
2) by the dynamic displacement delta data S of the motion module of linear electric motors driving in contactless photoelectric encoder collection continuous three cycles
k, S
k-1, S
k-2;
3) by computational analysis data cell, formula is utilized
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, negligible, thus the dynamic thrust that linear electric motors are real-time under calculating can record suspended state.
4) speed of the motion module of the real-time dynamic thrust of linear electric motors and linear electric motors driving is demonstrated by host computer.
Good effect of the present invention: the device for monitoring dynamic thrust of linear motor at suspension state of the present invention adopts high precision, contactless optical-electricity encoder, by signal transacting and data analysis, monitoring its dynamic thrust real-time to the motion module of linear electric motors driving under suspended state, achieve the real-time measurement of dynamic thrust, effectively solving when linear electric motors drive under suspended state can not the problem of its driving force of Real-Time Monitoring, linear motor performance under demarcation suspended state is had great significance, and along with further developing of science and technology, and the further raising of computing power, this proving installation can change more high-precision photoelectric encoder, and shorten sampling period value T greatly, thus greatly can improve the precision of proving installation.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is principle of work process flow diagram of the present invention
Fig. 2 is the structural representation that the present invention is used in that linear electric motors drive air supporting motion module
In figure, 1 aerostatic slide 2 air floating rails 3 base 4 read head support 5 read head 6 linear motor rotor 7 linear grating chi 8 linear motor stator electric
Embodiment
Be illustrated in figure 1 workflow diagram of the present invention, after linear motor rotor (6) drives aerostatic slide (1) mobile, optical-electricity encoder read head (5) carries out real-time displacement measurement, signal is passed in real time signal conversion and pre-process circuit, after upper computer software analysis with calculating, real-time output motor thrust magnitude and translational speed value.
Be illustrated in figure 2 the present invention and be installed on configuration diagram under air supporting state on linear electric motors driving arrangement, the present invention includes the contactless photoelectric encoder be installed on linear electric motors and the signal being installed on host computer inside conversion 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 base (3); Described read head (5) is fixedly connected on the aerostatic slide (1) that linear motor rotor (6) drives by read head support (4), and aerostatic slide (1) slides along air floating rails (2); Described read head (5) aligns with the grating scale on linear grating chi (7), guarantees the dynamic displacement data of correct Real-time Collection aerostatic slide (1); Described read head (5) is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic displacement data of the aerostatic slide (1) that described read head (5) Real-time Collection arrives, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, demonstrate the real-time thrust suffered by aerostatic slide (1) 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.
The device of monitoring dynamic thrust of linear motor at suspension state is used to carry out the method for dynamic thrust test: to it is characterized in that, comprise the steps:
1) by host computer setting real-time data acquisition cycle T;
2) by the dynamic displacement delta data S of the aerostatic slide (1) of the driving of linear electric motors in contactless photoelectric encoder collection continuous three cycles
k, S
k-1, S
k-2;
3) by computational analysis data cell, formula is utilized
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, negligible, thus the dynamic thrust that linear electric motors are real-time under calculating can record suspended state.
4) speed of the real-time dynamic thrust of linear electric motors and aerostatic slide (1) is demonstrated by host computer.
A kind of embody rule example of the device and method for monitoring dynamic thrust of linear motor at suspension state that the present invention that just explains through diagrams recited above is correlated with, be easy to carry out some amendments on this basis due to the technician concerning constructed field, therefore this instructions does not really want a kind of device and method for monitoring dynamic thrust of linear motor at suspension state of the present invention to be confined in shown or 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 (1)
1. one kind for monitoring the method for dynamic thrust of linear motor at suspension state, it is characterized in that: the method is realized by a kind of device for monitoring dynamic thrust of linear motor at suspension state, and this device comprises: be installed on the contactless photoelectric encoder on linear electric motors and the signal conversion and pre-process circuit, high-speed data acquisition card, the computational analysis data cell that are installed on host computer inside; 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 read head support, and the motion module of following linear electric motors driving moves; Grating scale on described read head and linear grating aligns, and guarantees the dynamic displacement data of the motion module that Real-time Collection linear electric motors accurately drive; Described read head is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic displacement data of the motion module that the linear electric motors that described read head Real-time Collection arrives drive, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, 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 motion module that drive of linear electric motors be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit;
For monitoring a method for dynamic thrust of linear motor at suspension state, comprise the steps:
1) by host computer setting real-time data acquisition cycle T;
2) by the dynamic displacement delta data S of the motion module of linear electric motors driving in contactless photoelectric encoder collection continuous three cycles
k, S
k-1, S
k-2;
3) by computational analysis data cell, formula is utilized
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, negligible, thus the dynamic thrust that linear electric motors are real-time under calculating can record suspended state;
4) speed of the motion module of the real-time dynamic thrust of linear electric motors and linear electric motors driving is demonstrated 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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN102998043B true CN102998043B (en) | 2015-05-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109870261B (en) * | 2019-03-01 | 2020-11-03 | 西北工业大学 | Low-resistance magnetic suspension platform for measuring thrust of micro propeller |
| 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 |
| CN112697327B (en) * | 2020-12-16 | 2022-07-19 | 苏州鱼得水电气科技有限公司 | 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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102109575A (en) * | 2009-12-25 | 2011-06-29 | 上海微电子装备有限公司 | Method, device and system for testing linear motor based on virtual instrument |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102109575A (en) * | 2009-12-25 | 2011-06-29 | 上海微电子装备有限公司 | Method, device and system for testing linear motor based on virtual instrument |
Non-Patent Citations (1)
| Title |
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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.匀变速直线运动的速度与位移的关系.《新教材新学案 物理1必修》.人民教育出版社,2008, * |
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