CN106526214A - Angular velocity calculation method and apparatus - Google Patents
Angular velocity calculation method and apparatus Download PDFInfo
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- CN106526214A CN106526214A CN201610948793.9A CN201610948793A CN106526214A CN 106526214 A CN106526214 A CN 106526214A CN 201610948793 A CN201610948793 A CN 201610948793A CN 106526214 A CN106526214 A CN 106526214A
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- current
- angular velocity
- angle value
- changed factor
- present speed
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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
Abstract
The invention provides an angular velocity calculation method and apparatus. An angle value of a motor rotor at current time is acquired, a current angle value theta[t] is obtained, a variable theta'[t] is introduced, the variable theta'[t] is defined as a sum of an angle value theta[t-1] and an angular velocity omega[t-1] of last acquisition time adjacent to the current time, at the same time, a velocity varying factor a[t] is introduced, the velocity varying factor a[t] is defined as a difference between the current angle value theta[t] and the variable theta'[t], and according to the current velocity varying factor a[t] and the angular velocity omega[t-1], a current angular velocity is calculated. According to the invention, the current angular velocity is enabled to be a function of the current velocity varying factor a[t], the velocity limit problem of a conventional velocity calculation method is converted into an acceleration limit problem, on a general industrial application occasion, an acceleration limit can satisfy the calculation demand of an angular velocity, and the precision of angular velocity calculation is improved.
Description
Technical field
The present invention relates to field of industrial automation control, more particularly, to a kind of angular speed calculation method and device.
Background technology
Angular transducer, also referred to as angular position pick up, are widely used in field of industrial automation control, for measurement angle
Displacement and angular speed.
Using the general processing method of angular transducer calculating angular speed it is in the industry at present：To in double acquisition time
The angle value θ [t] and θ [t-1] of acquisition carries out difference processing, obtains differential seat angle Δ R, in the interval time T of acquisition time twice
The angular velocity omega [t] of internal rotor is：ω [t]=(θ [t]-θ [t-1])/T=Δ R/T.
The corresponding angle output area of output signal of angular transducer for [0,2 π), so the maximum of angular velocity omega [t]
It is worth for (2 π/T), when angular speed can cause measuring error more than maximum, and the bigger maximums of interval time T are less, when
Can there is angular speed calculation mistake when being applied to high-speed electric expreess locomotive in existing angular speed calculation method.
The content of the invention
In view of this, the invention provides a kind of angular speed calculation method and device, function of the angular speed for acceleration will
The speed limit problem of existing speed calculation method is converted into acceleration limiting problem, under general industrial applications, plus
Speed limit can meet the calculating demand of angular speed, improve the precision of angular speed calculation.Concrete technical scheme is as follows：
A kind of angular speed calculation method, methods described include：
The angle value of current time rotor is acquired, current angle value θ [t] is obtained；
Defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω [t-1] be respectively with it is current
The angle value and angular speed of a time neighbouring upper acquisition time；
Arithmetic is carried out with the variable θ ' [t] to the current angle value θ [t] to subtract each other, obtain present speed changed factor a
[t]；
When the present speed changed factor a [t] is less than preset value, worked as with described according to the angular velocity omega [t-1]
Front velocity variations factor a [t], calculates and exports current angular velocity.
Preferably, methods described also includes：
When the present speed changed factor a [t] is not less than preset value, alarm signal is sent.
Preferably, function of the current angular velocity for the present speed changed factor a [t], the current angular velocity
Computing formula be：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is between the neighbouring upper acquisition time of current time and current time
Time interval.
Preferably, the span of the present speed changed factor a [t] is (0,2 π).
A kind of angular velocity calculating device, described device include：
Collecting unit, for being acquired to the angle value of current time rotor, obtains current angle value θ [t]；
Definition unit, for defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω [t-1]
The angle value and angular speed of respectively neighbouring with a current time upper acquisition time；
Acquiring unit, subtracts each other for carrying out arithmetic with the variable θ ' [t] to the current angle value θ [t], obtains current
Velocity variations factor a [t]；
Computing unit, for when the present speed changed factor a [t] is less than preset value, according to the angular velocity omega
[t-1] and the present speed changed factor a [t], calculates and exports current angular velocity.
Preferably, described device also includes：
Alarm unit, for when the present speed changed factor a [t] is not less than preset value, sending alarm signal.
Preferably, function of the current angular velocity for the present speed changed factor a [t], the current angular velocity
Computing formula be：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is between the neighbouring upper acquisition time of current time and current time
Time interval.
Preferably, the span of the present speed changed factor a [t] is (0,2 π).
Relative to prior art, beneficial effects of the present invention are as follows：
The angular speed calculation method that the present invention is provided, is acquired to the angle value of current time rotor, obtains and works as
Front angle value θ [t], introduces variable θ ' [t], variable θ ' [t] is defined as the angle of a upper acquisition time neighbouring with current time
Angle value θ [t-1] and angular velocity omega [t-1] and, while introduce velocity variations factor a [t], by velocity variations factor a [t] definition
For the difference of current angle value θ [t] and variable θ ' [t], according to present speed changed factor a [t] and angular velocity omega [t-1], count
Current angular velocity is calculated, the function that current angular velocity is present speed changed factor a [t] is made, by the speed of existing speed calculation method
Degree Limits properties are converted into acceleration limiting problem, and under general industrial applications, acceleration limiting can meet angle speed
The calculating demand of degree, improves the precision of angular speed calculation.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of angular speed calculation method flow diagram disclosed in the embodiment of the present invention；
Fig. 2 is a kind of another method flow diagram of angular speed calculation method disclosed in the embodiment of the present invention；
Fig. 3 is a kind of angular velocity calculating device structural representation disclosed in the embodiment of the present invention；
Fig. 4 is another kind of angular velocity calculating device structural representation disclosed in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, a kind of angular speed calculation method disclosed in the embodiment of the present invention the method comprising the steps of：
Step S101：The angle value of current time rotor is acquired, current angle value θ [t] is obtained；
Specifically, the angle value to rotor is spaced at preset timed intervals to be acquired, obtain current angle value θ [t]；Institute
Numerical value set in advance is actually needed according to stating prefixed time interval.
Step S102：Defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω [t-1] is respectively
It is the angle value and angular speed of a upper acquisition time neighbouring with current time；
It is understood that initial angle angle value, initial angular velocity, initial velocity changed factor and initial acceleration are all
0。
Step S103：Arithmetic is carried out with the variable θ ' [t] to the current angle value θ [t] to subtract each other, obtain present speed
Changed factor a [t]；
Specifically, present speed changed factor a [t]=θ [t]-θ ' [t].
The span of the present speed changed factor a [t] is (0,2 π).
Step S104：When the present speed changed factor a [t] is less than preset value, according to the angular velocity omega [t-1]
With the present speed changed factor a [t], calculate and export current angular velocity.
It should be noted that function of the current angular velocity for the present speed changed factor a [t], described current
The computing formula of angular speed is：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is between the neighbouring upper acquisition time of current time and current time
Time interval.
The preset value can be preset according to actual needs, when the present speed changed factor a [t] is less than default
During value, current acceleration is illustrated not departing from default limiting value, can accurately calculate current angular velocity.
The angular speed calculation method that the present invention is provided, is acquired to the angle value of current time rotor, obtains and works as
Front angle value θ [t], introduces variable θ ' [t], variable θ ' [t] is defined as the angle of a upper acquisition time neighbouring with current time
Angle value θ [t-1] and angular velocity omega [t-1] and, while introduce velocity variations factor a [t], by velocity variations factor a [t] definition
For the difference of current angle value θ [t] and variable θ ' [t], according to present speed changed factor a [t] and angular velocity omega [t-1], count
Current angular velocity is calculated, the function that current angular velocity is present speed changed factor a [t] is made, by the speed of existing speed calculation method
Degree Limits properties are converted into acceleration limiting problem, and under general industrial applications, acceleration limiting can meet angle speed
The calculating demand of degree, improves the precision of angular speed calculation.
Fig. 2 is referred to, methods described also includes：
Step S105：When the present speed changed factor a [t] is not less than preset value, alarm signal is sent.
Specifically, when the present speed changed factor a [t] is not less than preset value, illustrate that current acceleration has surpassed
Default limiting value is crossed, if the calculating for proceeding angular speed can make a mistake, now, alarm signal is sent and is pointed out.
The form for sending alarm signal includes that any one such as buzzing, voice message, warning lamp flicker can represent the shape of alarm signal
Formula.
Based on a kind of angular speed calculation method disclosed in the embodiments of the present invention, embodiment of the present invention correspondence discloses one
Angular velocity calculating device is planted, Fig. 3 is referred to, described device includes：
Collecting unit 101, for being acquired to the angle value of current time rotor, obtains current angle value θ
[t]；
Specifically, collecting unit 101 is spaced the angle value to rotor at preset timed intervals and is acquired, and anterior angle is worked as in acquisition
Angle value θ [t]；Numerical value set in advance is actually needed according to the prefixed time interval.
Definition unit 102, for defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω
[t-1] is respectively the angle value and angular speed of a upper acquisition time neighbouring with current time；
It is understood that initial angle angle value, initial angular velocity, initial velocity changed factor and initial acceleration are all
0。
Acquiring unit 103, subtracts each other for carrying out arithmetic with the variable θ ' [t] to the current angle value θ [t], obtains
Present speed changed factor a [t]；
Specifically, present speed changed factor a [t]=θ [t]-θ ' [t].
The span of the present speed changed factor a [t] is (0,2 π).
Computing unit 104, for when the present speed changed factor a [t] is less than preset value, according to the angular speed
ω [t-1] and the present speed changed factor a [t], calculate and export current angular velocity.
It should be noted that function of the current angular velocity for the present speed changed factor a [t], described current
The computing formula of angular speed is：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is between the neighbouring upper acquisition time of current time and current time
Time interval.
The preset value can be preset according to actual needs, when the present speed changed factor a [t] is less than default
During value, current acceleration is illustrated not departing from default limiting value, can accurately calculate current angular velocity.
The angular velocity calculating device that the present invention is provided, collecting unit 101 are spaced the angle to rotor at preset timed intervals
Value is acquired, and obtains current angle value θ [t], introduces variable θ ' [t], and variable θ ' [t] is defined as and is worked as by definition unit 102
The angle value θ [t-1] of the neighbouring upper acquisition time of front time and angular velocity omega [t-1] and, while introducing velocity variations because
Velocity variations factor a [t] is defined as the difference of current angle value θ [t] and variable θ ' [t] for sub- a [t], acquiring unit 103, meter
Unit 104 is calculated according to present speed changed factor a [t] and angular velocity omega [t-1], current angular velocity is calculated, is made current angular velocity
For the function of present speed changed factor a [t], the speed limit problem of existing speed calculation method is converted into into acceleration limiting
Problem, when present speed changed factor a [t] is less than preset value, illustrates scope of the current acceleration without departing from preset limit value,
Calculate and export current angular velocity.Under general industrial applications, acceleration limiting can meet the calculating need of angular speed
Ask, improve the precision of angular speed calculation.
Fig. 4 is referred to, described device also includes：
Alarm unit 105, for when the present speed changed factor a [t] is not less than preset value, sending alarm signal
Number.
Specifically, when the present speed changed factor a [t] is not less than preset value, illustrate that current acceleration has surpassed
Default limiting value is crossed, if the calculating for proceeding angular speed can make a mistake, now, alarm unit 105 sends alarm signal
Number pointed out.The form for sending alarm signal includes that any one such as buzzing, voice message, warning lamp flicker can represent report
The form of alert signal.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (8)
1. a kind of angular speed calculation method, it is characterised in that methods described includes：
The angle value of current time rotor is acquired, current angle value θ [t] is obtained；
Defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω [t-1] is respectively and current time
The angle value and angular speed of a neighbouring upper acquisition time；
Arithmetic is carried out with the variable θ ' [t] to the current angle value θ [t] to subtract each other, obtain present speed changed factor a [t]；
When the present speed changed factor a [t] is less than preset value, according to the angular velocity omega [t-1] and the current speed
Degree changed factor a [t], calculates and exports current angular velocity.
2. method according to claim 1, it is characterised in that methods described also includes：
When the present speed changed factor a [t] is not less than preset value, alarm signal is sent.
3. method according to claim 1, it is characterised in that the current angular velocity is the present speed changed factor
The function of a [t], the computing formula of the current angular velocity is：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is the time between the neighbouring upper acquisition time of current time and current time
Interval.
4. method according to claim 1, it is characterised in that the span of the present speed changed factor a [t] is
(0,2π)。
5. a kind of angular velocity calculating device, it is characterised in that described device includes：
Collecting unit, for being acquired to the angle value of current time rotor, obtains current angle value θ [t]；
Definition unit, for defined variable θ ' [t], θ ' [t]=θ [t-1]+ω [t-1], wherein, θ [t-1] and ω [t-1] is respectively
It is the angle value and angular speed of a upper acquisition time neighbouring with current time；
Acquiring unit, subtracts each other for carrying out arithmetic with the variable θ ' [t] to the current angle value θ [t], obtains present speed
Changed factor a [t]；
Computing unit, for when the present speed changed factor a [t] is less than preset value, according to the angular velocity omega [t-1]
With the present speed changed factor a [t], calculate and export current angular velocity.
6. device according to claim 5, it is characterised in that described device also includes：
Alarm unit, for when the present speed changed factor a [t] is not less than preset value, sending alarm signal.
7. device according to claim 5, it is characterised in that the current angular velocity is the present speed changed factor
The function of a [t], the computing formula of the current angular velocity is：
ω [t]=ω [t-1]+a [t]；
Wherein, ω [t] is current angular velocity, and T is the time between the neighbouring upper acquisition time of current time and current time
Interval.
8. device according to claim 5, it is characterised in that the span of the present speed changed factor a [t] is
(0,2π)。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610948793.9A CN106526214A (en) | 2016-11-02 | 2016-11-02 | Angular velocity calculation method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610948793.9A CN106526214A (en) | 2016-11-02 | 2016-11-02 | Angular velocity calculation method and apparatus |
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| CN106526214A true CN106526214A (en) | 2017-03-22 |
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ID=58292333
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| CN201610948793.9A Pending CN106526214A (en) | 2016-11-02 | 2016-11-02 | Angular velocity calculation method and apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112816729A (en) * | 2020-12-21 | 2021-05-18 | 深兰人工智能(深圳)有限公司 | Articulated vehicle angular velocity acquisition method and device, electronic equipment and storage medium |
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| CN101430558A (en) * | 2007-11-06 | 2009-05-13 | 通用汽车环球科技运作公司 | Method and apparatus to monitor position of a rotatable shaft |
| CN103703377A (en) * | 2011-06-15 | 2014-04-02 | Trw有限公司 | Measurement of motor rotor position or speed |
| CN104166791A (en) * | 2014-07-28 | 2014-11-26 | 南京铁道职业技术学院 | System and method for estimating position angle of rotor of permanent magnet synchronous motor based on visualization |
-
2016
- 2016-11-02 CN CN201610948793.9A patent/CN106526214A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101430558A (en) * | 2007-11-06 | 2009-05-13 | 通用汽车环球科技运作公司 | Method and apparatus to monitor position of a rotatable shaft |
| CN103703377A (en) * | 2011-06-15 | 2014-04-02 | Trw有限公司 | Measurement of motor rotor position or speed |
| CN104166791A (en) * | 2014-07-28 | 2014-11-26 | 南京铁道职业技术学院 | System and method for estimating position angle of rotor of permanent magnet synchronous motor based on visualization |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112816729A (en) * | 2020-12-21 | 2021-05-18 | 深兰人工智能(深圳)有限公司 | Articulated vehicle angular velocity acquisition method and device, electronic equipment and storage medium |
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Application publication date: 20170322 |