CN106712608A - Method for detecting rotational speed of motor - Google Patents
Method for detecting rotational speed of motor Download PDFInfo
- Publication number
- CN106712608A CN106712608A CN201710046984.0A CN201710046984A CN106712608A CN 106712608 A CN106712608 A CN 106712608A CN 201710046984 A CN201710046984 A CN 201710046984A CN 106712608 A CN106712608 A CN 106712608A
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- Prior art keywords
- array
- motor
- value
- numerical value
- detection method
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Classifications
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Abstract
The invention relates to the technical field of motors. The invention discloses a method for detecting the rotational speed of a motor. The method is used for carrying out the alternate mode driving and control of pulse power supply and pulse power supply stop on the motor, and comprises the following steps of S1, carrying out AD (Analog-Digital) sampling on electromotive force generated by two ends of the motor during the period of the pulse power supply stop, and entering a step S2; S2, carrying out amplitude limiting wave filtration treatment on an AD sampling value obtained in the step S1, if amplitude limiting wave filtration is met, putting the AD sampling value in an array A, and otherwise, abandoning the AD sampling value; returning to the step S1 until the array A is full, and entering a step S3; S3, taking out a maximum value in the array A, putting the maximum value in an array B, discarding other numerical values of the array A, and returning to the step S1 until the array B is full, and entering a step S4; S4, carrying out median average wave filtration treatment on a numerical value in the array B to obtain a final numerical value, wherein the final numerical value is the characterization amount of the rotational speed of the motor. The method does not need an extra sensor, cannot influence an assembly space, and is low in cost, high in detection precision and quick in response speed.
Description
Technical field
The invention belongs to motor technologies field, more particularly to a kind of motor rotary speed detection method.
Background technology
The basis that brush direct current motor rotating speed is controlled is the detection of motor rotary speed, at present conventional motor rotary speed detection technique
Mainly there are following several ways：The detection of rotating speed is carried out using hall signal and photoelectric sensor, both modes are required for volume
Outer sensor, not only influences assembly space, and increase hardware cost.Another way be detect motor operating voltage and
Electric current, but because electric current and voltage clutter in motor work are very big and computationally intensive, the difficulty that is precisely controlled of realization is too
It is high.
Chinese publication：CN101098118A, discloses method for controlling number of revolution and its control of a kind of DC trailing system
Circuit processed, which disclose a kind of utilization motor non-pulse power during take motor armature rotation it is anti-electronic
The method that gesture carries out rotating speed control, it is disadvantageous in that this patent employs SECO and electricity that hardware circuit realizes pulse
Pressure retainer carries out the judgement of electromotive force and compares, this patent not using only device it is many, it is with high costs, and whole scheme is only
Single rotating speed control can be accomplished, it is impossible to flexibly realize various Rotating speed measring and controls, and the sampling precision of hardware is low, turns
The feedback of speed change is slow, and quick response is difficult to realize in the control of motor speed during load change.
The content of the invention
It is a kind of without extra sensor present invention aim at being provided to solve the above problems, do not interfere with assembling empty
Between, low cost, accuracy of detection is high, the motor rotary speed detection method of fast response time.
Therefore, the invention discloses a kind of motor rotary speed detection method, pulse power supply being carried out to motor and stop pulse being supplied
The over-over mode drive control of electricity, comprises the following steps：
S1, the electromotive force that the motor two ends during being powered to stop pulse produce carries out AD samplings, into step S2；
S2, carries out limit filtration treatment, if meeting limit filtration, by the AD sampled values to the AD sampled values that step S1 is obtained
It is put into array A, otherwise abandons the AD sampled values；Return to step S1, until array A is taken completely, into step S3；
S3, the maximum taken out in array A is put into array B, gives up its remainder values of array A, return to step S1, until array
B is taken completely, into step S4；
S4, the treatment of median average filter is carried out to the numerical value in array B and obtains final numerical value, and this final numerical value is motor and turns
The token state of speed.
Further, being additionally included in step S3 after its remainder values for giving up array A carries out the step of data dump to array A
Suddenly.
It is further, described that the over-over mode drive control that pulse power supply and stop pulse power is carried out to motor is specific
For：Power supply carries out pulse power supply to motor electronic switch and stop pulse is powered drive control by way of being alternately combined.
Further, the rotating speed that the duration that the stop pulse is powered meets motor does not decline substantially.
Further, the step S3 is specially：Ratio is done with the first two AD sampled values to the AD sampled values that step S1 is obtained
Compared with if being less than setting value with the absolute value of the difference of the first two AD sampled values, this AD sampled value is virtual value, is put into array
In A, conversely, this AD sampled value is given up to be invalid value or interference value；Return to step S1；Until array A is taken completely, into step
S3。
Further, the number of the numerical value of the array A is 8.
Further, the setting value is 3.
Further, the step S4 is specially：Remove the maximum and minimum value in array B, by remaining in array B
Numerical value summation is averaged, and obtains the final numerical value corresponding to rotating speed.
Further, the number of the numerical value of the array B is 6.
Further, during all numerical value in each array A are powered corresponding to a stop pulse, each numerical value B
In all numerical value correspond to during multiple stop pulses power.
Advantageous Effects of the invention：
The present invention obtains corresponding motor rotary speed by detecting the electromotive force that motor is produced during stop pulse is powered, real
The detection of existing motor rotary speed, without extra sensor, does not interfere with assembly space, low cost, and amount of calculation is small, accuracy of detection
Height, can flexibly realize various Rotating speed measring and controls, and the feedback of rotation speed change is fast, the control of motor speed during load change
On can realize quick response.
Brief description of the drawings
Fig. 1 is the method flow diagram of the specific embodiment of the invention；
Fig. 2 for the specific embodiment of the invention a stop pulse power during motor two ends EMF waveform figure.
Specific embodiment
In conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in figure 1, a kind of motor rotary speed detection method, carry out pulse power supply to motor first and stop pulse powers
Over-over mode drive control.
Specifically, power supply passes through metal-oxide-semiconductor（Can certainly be other electronic switches）Pulse power supply is carried out to motor and is stopped
The mode that only pulse power supply is alternately combined is controlled.It is responsible for effective driving and rotating speed control of motor during pulse power supply, stops
During pulse power supply, motor rotates meeting electricity generating principle because inertia may proceed to rotate using motor, is produced at motor two ends electronic
Gesture, as long as and the duration selection powered of stop pulse is suitable, now motor will not power because of stop pulse, and rotating speed declines
Or change.
In this specific embodiment, pulse power supply is driven using the PWM of 16KHZ, and it is 32ms, i.e. pulse power supply to control total cycle
Duration 30ms, stop pulse powers duration 2ms alternately combine, certainly, in other embodiments, pulse power supply duration and stop arteries and veins
Rushing powers duration can be selected according to actual conditions, as long as during ensureing pulse power supply, motor rotary speed does not decline substantially
Or change, this is that those skilled in the art can realize easily, is no longer described in detail.
Comprise the following steps：
S1, the electromotive force that the motor two ends during being powered to stop pulse produce carries out AD samplings, into step S2.
Specifically, the electromotive force that motor two ends when being powered to stop pulse by AD mouthfuls using single-chip microcomputer are produced carries out AD
Sampling.
S2, limit filtration treatment is carried out to the AD sampled values that step S1 is obtained, if meeting limit filtration, the AD is adopted
Sample value is put into array A, otherwise abandons the AD sampled values；Return to step S1, until array A is taken completely, into step S3.
Specifically, being compared with the first two AD sampled values to the AD sampled values that step S1 is obtained（If sampling first, then
The first two AD sampled values are 0）If the absolute value with the difference of the first two AD sampled values is less than setting value（This specific embodiment
In, setting value is preferably 3）, then this AD sampled value is virtual value, is put into array A, conversely, it is invalid value that this AD sampled value is
Or interference value, give up.No matter whether effectively this sampled value, all done as the previous AD sampled values of next AD sampled values
Compare.
In this specific embodiment, the number of the numerical value of array A is 8, that is, after getting 8 effective AD sampled values, enter
Step S3.Certainly, in other embodiments, the number of the numerical value of array A can be selected according to actual needs.
Because the EMF waveform that motor is produced is very mixed and disorderly, by relatively flat mitigation stabilization can be leached after this filtering
AD sampled values.
S3, the maximum for taking out array A is put into array B, gives up its remainder values of array A, return to step S1, until number
Group B is taken completely, into step S4.
In this specific embodiment, during all numerical value in preferably each array A are powered corresponding to a stop pulse,
I.e. one stop pulse is only got a numerical value and is entered in array B during powering.
S4, the treatment of median average filter is carried out to the numerical value in array B and obtains final numerical value, and this final numerical value is horse
Up to the token state of rotating speed.
Specifically, in the present embodiment, the number of the numerical value of array B is 6, certainly, in other embodiments, array B's
The number of numerical value can be selected according to actual needs, remove maximum and minimum value in array B, by its in array B
4 numerical value summations of remaininging are averaged, that is, obtain the final numerical value corresponding to rotating speed, complete motor rotary speed detection.
Further, being additionally included in step S3 after its remainder values for giving up array A carries out the step of data dump to array A
Suddenly.
During stop pulse is powered, the electromotive force that motor two ends produce is because be that generator principle is produced, and band is negative
The reason for load, so waveform is in a mess, as shown in Fig. 2 sample magnitude not all in during whole stop pulse is powered
All can be the electromotive force of true feedback rotating speed, such as B, C and D in figure is interference value, so needing first to leach whole stopping
The shallower part of internal ratio during pulse power supply, such as part A in figure, can be just the electromotive force of true feedback rotating speed, therefore adopt
With the filtering process of step S2, and, it is necessary to take out the maximum of electromotive force within this gentle time, so employing step
The filtering process of rapid S3, single stop pulse power during in stabilization and maximum electromotive force（At i.e. by two above step
Value after reason）The actual speed information of motor can not directly be represented, it is necessary to by the filtering process of step S4, can just be had
Effect rotary speed information.There is closely connection and cannot be optionally combined in the filtering process of 3 steps of the above.
Although specifically showing and describing the present invention with reference to preferred embodiment, those skilled in the art should be bright
In vain, do not departing from the spirit and scope of the present invention that appended claims are limited, in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. a kind of motor rotary speed detection method, the over-over mode driving control that pulse power supply and stop pulse are powered is carried out to motor
System, it is characterised in that comprise the following steps：
S1, the electromotive force that the motor two ends during being powered to stop pulse produce carries out AD samplings, into step S2；
S2, carries out limit filtration treatment, if meeting limit filtration, by the AD sampled values to the AD sampled values that step S1 is obtained
It is put into array A, otherwise abandons the AD sampled values；Return to step S1, until array A is taken completely, into step S3；
S3, the maximum taken out in array A is put into array B, gives up its remainder values of array A, return to step S1, until array
B is taken completely, into step S4；
S4, the treatment of median average filter is carried out to the numerical value in array B and obtains final numerical value, and this final numerical value is motor and turns
The token state of speed.
2. motor rotary speed detection method according to claim 1, it is characterised in that be additionally included in step S3 and give up array
The step of data dump is carried out to array A after its remainder values of A.
3. motor rotary speed detection method according to claim 1, it is characterised in that it is described motor is carried out pulse power supply and
The over-over mode drive control that stop pulse is powered is specially：Power supply carries out pulse power supply and stopping by electronic switch to motor
The mode drive control that pulse power supply is alternately combined.
4. motor rotary speed detection method according to claim 3, it is characterised in that：The stop pulse is covered with when powering
The rotating speed of sufficient motor does not decline substantially.
5. motor rotary speed detection method according to claim 1, it is characterised in that the step S3 is specially：To step
The AD sampled values that S1 is obtained are compared with the first two AD sampled values, if be less than with the absolute value of the difference of the first two AD sampled values
Setting value, then this AD sampled value is virtual value, is put into array A, conversely, this AD sampled value is given up to be invalid value or interference value
Abandon；Return to step S1；Until array A is taken completely, into step S3.
6. motor rotary speed detection method according to claim 5, it is characterised in that：The number of the numerical value of the array A is 8
It is individual.
7. motor rotary speed detection method according to claim 5, it is characterised in that：The setting value is 3.
8. motor rotary speed detection method according to claim 1, it is characterised in that the step S4 is specially：Remove number
Maximum and minimum value in group B, its remainder values summation in array B is averaged, and obtains the final numerical value corresponding to rotating speed.
9. motor rotary speed detection method according to claim 8, it is characterised in that：The number of the numerical value of the array B is 6
It is individual.
10. motor rotary speed detection method according to claim 1, it is characterised in that：All numerical value pair in each array A
During Ying Yuyi stop pulse is powered, during all numerical value in each numerical value B are powered corresponding to multiple stop pulses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710046984.0A CN106712608B (en) | 2017-01-20 | 2017-01-20 | A kind of motor rotary speed detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710046984.0A CN106712608B (en) | 2017-01-20 | 2017-01-20 | A kind of motor rotary speed detection method |
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| Publication Number | Publication Date |
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| CN106712608A true CN106712608A (en) | 2017-05-24 |
| CN106712608B CN106712608B (en) | 2019-10-15 |
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| CN201710046984.0A Active CN106712608B (en) | 2017-01-20 | 2017-01-20 | A kind of motor rotary speed detection method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6329779B1 (en) * | 2000-08-28 | 2001-12-11 | Delphi Technologies, Inc. | Obstacle detection method for a motor-driven panel |
| CN102778580A (en) * | 2012-07-23 | 2012-11-14 | 西安理工大学 | Method for detecting speed of permanent-magnetic synchronous motor |
| CN104378115A (en) * | 2013-08-12 | 2015-02-25 | 上海辰竹仪表有限公司 | AD sampling software filtering method |
| JP2016001945A (en) * | 2014-06-11 | 2016-01-07 | 株式会社日立産機システム | Motor controller, and erroneous wiring detection method used for the same |
| CN205809615U (en) * | 2016-06-14 | 2016-12-14 | 浙江省机电设计研究院有限公司 | The motor speed of a kind of pump and the control device of flow measurement |
-
2017
- 2017-01-20 CN CN201710046984.0A patent/CN106712608B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6329779B1 (en) * | 2000-08-28 | 2001-12-11 | Delphi Technologies, Inc. | Obstacle detection method for a motor-driven panel |
| CN102778580A (en) * | 2012-07-23 | 2012-11-14 | 西安理工大学 | Method for detecting speed of permanent-magnetic synchronous motor |
| CN104378115A (en) * | 2013-08-12 | 2015-02-25 | 上海辰竹仪表有限公司 | AD sampling software filtering method |
| JP2016001945A (en) * | 2014-06-11 | 2016-01-07 | 株式会社日立産機システム | Motor controller, and erroneous wiring detection method used for the same |
| CN205809615U (en) * | 2016-06-14 | 2016-12-14 | 浙江省机电设计研究院有限公司 | The motor speed of a kind of pump and the control device of flow measurement |
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| Publication number | Publication date |
|---|---|
| CN106712608B (en) | 2019-10-15 |
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Denomination of invention: A motor speed detection method Effective date of registration: 20211105 Granted publication date: 20191015 Pledgee: Xiamen Huli District Financing Guarantee Co., Ltd Pledgor: Xiamen Xinyang Technology Co., Ltd Registration number: Y2021980011992 |