CN106932604A - Motor real time speed measuring method and system - Google Patents
Motor real time speed measuring method and system Download PDFInfo
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- CN106932604A CN106932604A CN201710137667.XA CN201710137667A CN106932604A CN 106932604 A CN106932604 A CN 106932604A CN 201710137667 A CN201710137667 A CN 201710137667A CN 106932604 A CN106932604 A CN 106932604A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
Abstract
The invention provides a kind of motor real time speed measuring method, comprise the following steps：Step 1, receives the pulse signal from motor；Step 2, obtains the cycle duration that tests the speed, and the two neighboring cycle of testing the speed is joined end to end；Step 3, the finish time in record current cycle of testing the speed；Step 4, records the quantity of the pulse and the moment of last pulse；Time difference between the moment of step 5, finish time and last pulse is used as rear adjustment window；Step 6, using the rear adjustment window in previous cycle of testing the speed as preceding adjustment window；Step 7, window is adjusted by the duration in the cycle of currently testing the speed plus preceding adjustment window and after subtracting, and is adjusted cycle duration, with reference to the quantity of pulse, calculates the real-time speed of the motor.The motor real time speed measuring method that the present invention is provided, using front and rear adjustment window, makes the duration that the cycle after adjustment is integer pulse, is obtained in that accurate motor real-time speed.Unavoidable error when avoiding traditional MT algorithms detection motor speed.
Description
Technical field
The invention mainly relates to motor speed measuring field.More particularly to a kind of motor to built-in encoder carries out high-precision real
When speed-measuring method and system.
Background technology
The features such as having that small volume, moment of torsion are big, noise is low, be easily manipulated due to motor, has ten in many industrial circles
Divide important effect.Tachometric survey is one of most basic demand in electric machine control system.For the motor of built-in encoder
Test the speed, existing conventional method of testing has measured frequency (M velocimetries) and surveys cycle (T velocimetries), frequency, cycle handover measurement
(MT velocimetries).
M velocimetries calculate rotating speed by measuring the umber of pulse in the fixed cycle according to umber of pulse and cycle duration.M is surveyed
Fast method has the error of nearly 1 pulse because there is the uncertain phenomenon of head and the tail pulse condition in time of measuring, maximum possible.Especially
It is that, when speed is relatively low, because the umber of pulse in time of measuring tails off, the accounting of error can become big, so M velocimetries preferably measure height
Speed.T velocimetries are to measure the time between two pulses, so as to obtain rotating speed.Because there is half chronomere, may
Have 1 error of chronomere.When speed is higher, the cycle for measuring is smaller, and the ratio shared by error becomes big, so T tests the speed
Method preferably measures low speed.With T velocimetries be combined M velocimetries by the MT rules that test the speed, in low speed using T velocimetries survey the cycle,
M velocimetry measured frequencies are used during high speed.
The existing speed-measuring method of three of the above, the deficiency that M velocimetries are individually present with T velocimetries in whole process tests the speed is upper
In stating also it is stated that, for MT velocimetries, during testing the speed, whole tachometric survey process is divided into two sections of speed low, high interval
It is respectively processed, relatively individually tests the speed and have larger changing in terms of overall process rate accuracy using M velocimetries or T velocimetries
It is kind, thus the universal field for applying to need to carry out motor speed high-acruracy survey.But MT velocimetries still exist with
Lower deficiency：
1.M velocimetries need a speed switching point for determination with the switching of T velocimetries, attached in tachometric survey switching point
Closely, certainly will there is the state of tachometric survey period discontinuity, cause the tachometric survey cycle unstable or change is discontinuous.
2. tachometric survey is carried out using M velocimetries at high speeds, still there is maximum possible and have nearly 1 pulse
Error, although under the rate signal umber of pulse relative low speeds state observed in the cycle of being tested the speed because fast state is next compared with
It is many, but can not still eliminate the error of nearly 1 pulse.Such error for need high-precision real testing speed occasion be can not
Receive.
3. in order to ensure error is relatively low, it is necessary to just carried out when having multiple pulses (such as 100 times) within the single cycle of testing the speed
Switching, therefore cause the cycle of testing the speed more long, it is unfavorable for the setting of controlling cycle.
In order to solve problem above, it is necessary to propose a kind of new motor real time speed measuring method and system.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind and survey during high-precision real can be carried out to motor under various speed
Speed, and allow the cycle of testing the speed completely according to the speed-measuring method and system determined the need for controlling cycle.
To solve at least one of above-mentioned technical problem, the invention provides a kind of motor real time speed measuring method, including
Following steps：Step 1, receives the pulse signal from motor；Step 2, obtains the cycle duration that tests the speed, and make two neighboring testing the speed
Cycle joins end to end；Step 3, the finish time in record current cycle of testing the speed；Step 4, records the current arteries and veins tested the speed in the cycle
The quantity of punching and the moment of current cycle of testing the speed interior last pulse；Step 5, this is currently tested the speed the finish time in cycle
And the time difference in the current cycle of testing the speed between the moment of last pulse is used as rear adjustment window；Step 6, tests the speed previous
The rear adjustment window in cycle as the cycle of currently testing the speed preceding adjustment window；Step 7, preceding tune is added by the duration in the cycle of currently testing the speed
Whole window and window is adjusted after subtracting, according to the adjustment cycle duration and the quantity of the current pulse tested the speed in the cycle, calculate this
The real-time speed of motor.
At least one embodiment of the invention, the motor real time speed measuring method that the present invention is provided also includes following step
Suddenly：Record the quantity or the quantity of pulse falling edge of the current rising edge of a pulse tested the speed in the cycle, and by the rising edge of a pulse
Quantity or the pulse falling edge quantity as the pulse signal quantity；Record last arteries and veins in the current cycle of testing the speed
The moment of last pulse falling edge is used as the current survey in the moment of the rising edge of a pulse of punching or the current cycle of testing the speed
The moment of last pulse in the fast cycle.
At least one embodiment of the invention, the step 2 is further comprising the steps：Step 2.1, this is tested the speed
Cycle duration is set to the default cycle duration that tests the speed；Whether step 2.2, judge in the cycle of currently testing the speed comprising at least one arteries and veins
Punching, if being judged as in the cycle of currently testing the speed comprising at least one pulse, goes to step 3 and makes the two neighboring cycle of testing the speed first
Tail is connected；Step 2.3, if being judged as in the cycle of currently testing the speed not comprising a pulse, goes to step 2.4；Step 2.4,
By the cycle duration that tests the speed be changed to current test the speed cycle duration and the default cycle duration that tests the speed and, and jump to step 2.2.
At least one embodiment of the invention, also comprises the steps of：It is intermittent to repair the cycle duration that tests the speed
The default cycle duration that tests the speed is changed to, and jumps to step 2.2.
To solve at least one of above-mentioned technical problem, the present invention also provides a kind of motor real time speed measuring system, including：
Controller and processor；The controller is electrically connected with the motor, and performs following step：The pulse signal from motor is received,
The timing when starting in each cycle of testing the speed, until the duration in the cycle of testing the speed for being obtained is reached, and record currently tests the speed the cycle
Finish time；Record the quantity of the current pulse signal tested the speed in the cycle and last pulse in the current cycle of testing the speed
Moment；By the time at the moment of last pulse in the finish time in the cycle of currently testing the speed and the current cycle of testing the speed
Difference, as rear adjustment window；The processor is electrically connected with the controller, and performs following step：It is current this to be obtained from the controller
Test the speed cycle duration, this it is rear adjustment window and the pulse signal quantity；Using upper one test the speed the cycle rear adjustment window it is current as this
Tested the speed the preceding adjustment window in cycle, and window is adjusted by the duration in the cycle of currently testing the speed plus preceding adjustment window and after subtracting, and is adjusted
Cycle duration；According to the adjustment cycle duration and the quantity of the current pulse tested the speed in the cycle, the real-time of the motor is calculated
Speed；Wherein current test the speed cycle and the previous cycle of testing the speed joins end to end.
At least one embodiment of the invention, the controller records the current rising edge of a pulse tested the speed in the cycle
The quantity of quantity or pulse falling edge, and believe the quantity of the quantity of the rising edge of a pulse or the pulse falling edge as the pulse
Number quantity；The controller records in the current cycle of testing the speed the moment of the rising edge of a pulse of last pulse or this is current
Test the speed last pulse falling edge in the cycle moment as last pulse in the cycle of currently testing the speed moment.
At least one embodiment of the invention, the processor by way of bus, or by accessing the controller
Internal memory mode obtained from the controller the current cycle of testing the speed duration, the rear adjustment window and the pulse signal quantity.
A kind of at least one embodiment of the invention, motor real time speed measuring system that the present invention is provided also includes testing the speed
Period determination module；Whether the quantity of the period determination module according to the pulse signal that tests the speed judges this currently test the speed more than zero
Whether include at least one pulse in cycle, if being judged as in the cycle of currently testing the speed not comprising pulse, will test the speed the cycle when
Length be changed to currently to test the speed cycle duration and the default cycle duration that tests the speed and.
At least one embodiment of the invention, the period determination module that tests the speed is intermittent by the cycle duration that tests the speed
The default cycle duration that tests the speed is set to, and after the cycle duration that tests the speed to be set to the default cycle duration that tests the speed every time immediately
Whether judge in the cycle of currently testing the speed comprising at least one pulse.
At least one embodiment of the invention, the controller is FPGA or CPLD；And/or the processor is
Dsp processor or arm processor.
Compared with prior art, the motor real time speed measuring method that the present invention is provided, due to the adjustment window before and after, makes adjustment
The adjustment cycle afterwards is the duration of integer pulse, and then is obtained in that accurate measurement motor real-time speed.Avoid tradition
Unavoidable error during MT algorithms detection motor speed.
Brief description of the drawings
It is that they are included and constitute the part of the application to provide further understanding of the invention including accompanying drawing,
Accompanying drawing shows embodiments of the invention, and plays a part of to explain the principle of the invention together with this specification.In accompanying drawing：
Fig. 1 is the FB(flow block) of an optional embodiment of motor real time speed measuring method of the invention；
Fig. 2 is the algorithm principle figure of another optional embodiment of motor real time speed measuring method of the invention；
Fig. 3 is the cycle duration determination side that tests the speed of another optional embodiment of motor real time speed measuring method of the invention
The flow chart of method；
Fig. 4 is the structured flowchart of an optional embodiment of motor real time speed measuring system of the invention.
Specific embodiment
It is that the above objects, features and advantages of the present invention can be become apparent, below in conjunction with accompanying drawing to tool of the invention
Body implementation method elaborates.
Many details are elaborated in the following description in order to fully understand the present invention, but the present invention can be with
Other manner described here is different from using other to implement, therefore the present invention is not limited by following public specific embodiment
System.
As shown in the application and claims, unless context clearly points out exceptional situation, " one ", " one ", " one
The word such as kind " and/or " being somebody's turn to do " not refers in particular to odd number, may also comprise plural number.It is, in general, that term " including " only point out bag with "comprising"
Include the step of clearly identifying and element, and these steps and element do not constitute one it is exclusive enumerate, method or equipment
It is likely to comprising the step of other or element.
With reference to the motor real time speed measuring method that Fig. 1, the present invention are provided, mainly include the following steps that：
Step 101, receives the pulse signal from motor.Pulse signal can directly or indirectly come from motor.Example
As motor itself carries encoder, encoder can produce pulse corresponding with motor speed.In current procedures, can pass through
Directly or indirectly mode receives this pulse signal.
Step 102, obtains the cycle duration T that tests the speed, and the two neighboring cycle of testing the speed is joined end to end.In current procedures,
The mode for obtaining the cycle duration T that tests the speed can be by modes such as calculating, readings.After cycle duration T is tested the speed in acquisition, surveyed with this
Fast cycle duration T carries out lasting timing.Continuing the specific method of timing can be, be opened at once when each tests the speed end cycle
Begin next to test the speed the cycle.
Step 103, the finish time Tend in record current cycle of testing the speed.
Step 104, the quantity n of the current pulse tested the speed in the cycle of record and last pulse in the cycle of currently testing the speed
Moment Tn.The meaning of the quantity n of the current pulse tested the speed in the cycle of record is indirectly to be informed in this and test the speed in the cycle,
Motor have rotated how many circles.The method of the moment Tn of last pulse can be various in the record current cycle of testing the speed.Can
The method of choosing can record the moment of each pulse, then determine which pulse is last in the cycle that currently test the speed
Pulse, and record the corresponding moment Tn of last pulse in the current cycle of testing the speed.
Step 105, by the finish time Tend in cycle of currently testing the speed and in the cycle of currently testing the speed last pulse when
The time difference Tend-Tn between Tn is carved as rear adjustment window t2.It is current due to being had been obtained in step 103 and step 104
Test the speed the finish time Tend in the cycle and moment Tn of last pulse in the cycle of currently testing the speed, therefore rear adjustment window t2 can be with
By determining that both time differences obtain.Further, since the moment Tn of last pulse is inevitable in the current cycle of testing the speed working as
Before test the speed the cycle finish time Tend before, therefore time difference between Tn and Tend can an access value, and with a mark
The mode of amount is stored.
Step 106, using the rear adjustment window in previous cycle of testing the speed as the cycle of currently testing the speed preceding adjustment window t1.
Step 107, window t2 is adjusted by the duration T in cycle of currently testing the speed plus preceding adjustment window t1 and after subtracting, and is adjusted
Cycle duration Timp=T+t1-t2,
Step 108, according to the adjustment cycle duration Timp and quantity n of the pulse currently tested the speed in the cycle, calculates to be measured
The real-time speed of motor.Due to Timp it is just the time of n whole pulse periods, so being with the rotating speed that Timp and n are calculated
Accurately.
The above is the part in a non-limitative example of motor real time speed measuring method provided by the present invention
The explanation of content.In fact, motor real time speed measuring method provided by the present invention can also have various changes in many aspects,
For example, being described further to the motor real time speed measuring method that the present invention is provided with some nonrestrictive examples below.
In the motor real time speed measuring method that the present invention is provided, in step 104, the number of the current pulse tested the speed in the cycle of record
The specific method of amount n and the moment Tn of cycle of currently testing the speed interior last pulse can be a kind of various, optional method
It is, the quantity or the quantity of pulse falling edge of the current rising edge of a pulse tested the speed in the cycle of record, and by the number of rising edge of a pulse
Amount or pulse falling edge quantity as pulse signal quantity n.It is on the other side, it is determined that in the current cycle of testing the speed last
During the moment of individual pulse, it is also possible to by the moment of the rising edge of a pulse of last pulse in the record current cycle of testing the speed or
The method at the moment of last pulse falling edge is carried out in the current cycle of testing the speed.The rising edge of strobe pulse or trailing edge when
Carve to represent the moment of pulse, at least partly allow for the convenience for catching.It is appreciated that outside the edge of strobe pulse
Moment simply needs extra device to catch this moment as the moment of pulse without departing from principle of the invention.Below
Illustrated with a nonrestrictive example.
With reference to Fig. 2, in current example, by the quantity for recording the quantity of trailing edge to determine pulse, and to decline
The moment on edge is as pulse time.When a length of T in current cycle of testing the speed.In T, there are three trailing edges D1, D2 and D3.Cause
This, can obtain being tested the speed in the cycle in current by way of the quantity for recording trailing edge, there is n=3 pulse.Also, will
Time difference between the finish time Tend in the moment of last trailing edge D3 and current cycle of testing the speed is used as rear adjustment window t2.
In this example, the rear window in previous cycle is the finish time in same previous cycle in last trailing edge D0 of previous cycle
Between difference.Because the cycle of testing the speed is end to end, so the rear adjustment window in previous cycle is the t1 in figure.By can in figure
To find out, adjustment cycle duration Timp=T+t1-t2 is exactly 3 durations of complete pulse, therefore is calculated according to Timp and n
The rotating speed for going out is accurate.
With reference to Fig. 3, following steps may further include according to a nonrestrictive example step 102：
Step 201, the cycle duration that will test the speed is set to the default cycle duration T0 that tests the speed.T0 can determine in several ways
's.For example, T0 can be an acquiescence set in advance testing the speed cycle duration.Again for example, T0 can also be according to using motor
The cycle duration that tests the speed for being suitable to coordinate with controlling cycle that the controlling cycle of the system of real-time rotating speed determines.
Whether step 202, judge in the current cycle of testing the speed comprising at least one pulse, if being judged as currently testing the speed in the cycle
Comprising at least one pulse, then step 204 is gone to.If going to step not comprising a pulse in the cycle that is judged as currently testing the speed
Rapid 203；
Step 203, by the cycle duration that tests the speed be changed to current test the speed cycle duration and the default cycle duration that tests the speed and, and
Jump to step 2.2.
Step 204, makes the two neighboring cycle of testing the speed the first connected, and go to step 103.
So set and be advantageous in that, on the one hand, T0 can be set as fully according to the requirement of controlling cycle, even if by T0
Set shorter, also do not interfere with the precision to motor speed measuring, and it is of a relatively high in rotating speed so that at least there is one in T0
During pulse, the cycle of testing the speed can stablize in T0 always, be conducive to the design of control program.On the other hand, when motor speed reduction
When, can in time extend the length in the cycle of testing the speed so that testing the speed for motor is proceeded under high accuracy.It is noticeable
It is that the circulation between step 202- steps 203 should be interpreted broadly, such as, by reading the umber of pulse n of upper a cycle, learns
Whether upper a cycle is comprising a few pulse.If there is no pulse in upper a cycle, be able to will be tested the speed in the current cycle
Cycle duration be changed to the last cycle test the speed cycle duration with it is default test the speed cycle duration T0's and, directly think currently to survey afterwards
Existing at least one pulse in the fast cycle, and jump to step 204.If still without pulse in the cycle of in fact currently testing the speed,
The cycle duration that tests the speed of next cycle can further extend, and finally realize comprising at least one in the cycle duration that tests the speed
Pulse, it is final to realize testing the speed.
Optionally, in current nonrestrictive example, also it is revised as with the intermittent cycle duration that will test the speed pre-
If the step of testing the speed cycle duration T0, and jump to step 202.So set and be advantageous in that, when the rotating speed of motor is by low turn
Can be as soon as possible the T0 according to the requirement setting of controlling cycle by the period modulation that tests the speed when speed rises.It is worth noting that, this
In " intermittence " should be broad understanding.Both can be that at regular intervals, the cycle duration that will just test the speed is revised as default survey
Fast cycle duration T0.Can also be that, every several cycles, the cycle duration that will test the speed is revised as the default cycle duration T0 that tests the speed.
Below with reference to Fig. 4, motor real time speed measuring system provided by the present invention is illustrated.The motor real time speed measuring system
System includes：Controller 1 and processor 2.Controller 1 is electrically connected with motor 10 to be measured, and receives the pulse letter from motor 10
Number.The timing when starting in each cycle of testing the speed of controller 1, until reaching the duration T in the cycle of testing the speed for being obtained." obtain " herein
It both can be the duration T that the cycle of testing the speed is obtained from outside that extensive interpretation, i.e. controller 1 should be done, such as other part generation is tested the speed
The duration T in cycle or user set the duration T in cycle of testing the speed, or voluntarily calculate the cycle of testing the speed by controller 1
Duration T.
When controller 1 starts timing and reaches the duration T in the cycle of testing the speed for being obtained, end is currently tested the speed the cycle, is opened
Open it is next test the speed the cycle, and record the finish time Tend in current cycle of testing the speed.Controller 1 records the current arteries and veins tested the speed in the cycle
The quantity n and the moment Tn of cycle of currently testing the speed interior last pulse for rushing signal.Controller 1 is by the end in cycle of currently testing the speed
The time difference of moment Tend and the moment Tn of cycle of currently testing the speed interior last pulse, as rear adjustment window t2.
Processor 2 is electrically connected with controller 1, and the cycle duration T that tests the speed, rear adjustment window t2 and pulse are obtained from controller 1
The quantity n of signal, and using upper one test the speed the cycle rear adjustment window as the cycle of currently testing the speed preceding adjustment window t1.Due to processor
2 adjust window after each cycle of testing the speed reads, therefore processor 2 can know the upper one rear adjustment window for testing the speed the cycle, also
Processor 2 can using upper one test the speed the cycle rear adjustment window as the cycle of currently testing the speed preceding adjustment window t1.Processor 2 is being obtained
On the basis of T, t1, t2, n, the calculating of Timp=T+t1-t2 is carried out, be adjusted cycle duration Timp, further according to the adjustment cycle
The duration Timp and quantity n of the pulse currently tested the speed in the cycle, calculates the real-time speed of motor 10.
The above is the part in a non-limitative example of motor real time speed measuring system provided by the present invention
The explanation of content.In fact, motor real time speed measuring system provided by the present invention can also have various changes in many aspects.
The motor real time speed measuring system that the present invention is provided is described further with some nonrestrictive examples below.
According to a nonrestrictive example, controller 1 records the quantity or arteries and veins of rising edge of a pulse in the current cycle of testing the speed
Rush the quantity of trailing edge, and the quantity of rising edge of a pulse that will record or the quantity of pulse falling edge are used as the quantity of pulse signal
n.When the quantity of the rising edge of a pulse of selection record is used as number of pulses n, controller 1 is also recorded and currently tested the speed week controller 1
In phase the moment of the rising edge of a pulse of last pulse as last pulse in the cycle of currently testing the speed moment Tn.It is similar
, when the quantity of the pulse falling edge of selection record is used as number of pulses n, controller 1 is also recorded and currently tested the speed week controller 1
In phase the moment of last pulse falling edge as last pulse in the cycle of currently testing the speed moment Tn.
It is worth noting that, the mode that processor 2 is electrically connected with controller 1 and obtains data from controller 1 can be many
Sample.It is connected with controller 1 by way of bus according to a nonrestrictive example processor 2, and by bus from control
Device processed 1 obtains the quantity n of the duration T, rear adjustment window t2 and pulse signal in current cycle of testing the speed.In other examples, treatment
Device 2 obtains the duration T in current cycle of testing the speed, rear adjustment window t2 and arteries and veins by way of the internal memory of access controller 1 from controller 1
Rush the quantity n of signal.
According to a nonrestrictive example, motor real time speed measuring system provided by the present invention is also true including the cycle of testing the speed
Cover half block 3.The period determination module that tests the speed 3 can both be independently of the individual components, or collection of controller 1 and processor 2
Into the module in controller 1 or processor 2.Whether the period determination module that tests the speed 3 is more than zero according to the quantity n of pulse signal,
Come in the cycle that judges currently to test the speed whether comprising at least one pulse, if not comprising pulse in the cycle that is judged as currently testing the speed,
The cycle duration that will test the speed be changed to currently to test the speed cycle duration T with it is default test the speed cycle duration T0's and.
Optionally, in current non-limitative example, the intermittent cycle duration that will test the speed of the period determination module that tests the speed 3
The default cycle duration T0 that tests the speed is set to, and after the cycle duration that will test the speed every time is set to the default cycle duration T0 that tests the speed immediately
Whether judge in the current cycle of testing the speed comprising at least one pulse.So set and be advantageous in that, can avoid testing the speed week
After phase duration is set to the default cycle duration T0 that tests the speed, it is absorbed in because the rotating speed of motor 10 is excessively slow that the cycle of testing the speed causes the survey tested the speed
Fast misalignment.It is worth noting that, " immediately " herein should be interpreted broadly understanding.For example, in the cycle duration that will test the speed every time
After being set to the default cycle duration T0 that tests the speed, just carried out within the current cycle of testing the speed " whether comprising at least in the cycle of currently testing the speed
The judgement of one pulse ".Again for example, after the cycle duration that will test the speed every time is set to the default cycle duration T0 that tests the speed, immediately
The next cycle or next one cycle, carry out sentencing for " whether comprising at least one pulse in the cycle of currently testing the speed "
It is disconnected.
Although the present invention is described with reference to current specific embodiment, those of ordinary skill in the art
It should be appreciated that the embodiment of the above is intended merely to the explanation present invention, can also be done in the case of without departing from spirit of the invention
Go out various equivalent change or replacement.Such as controller 1 and processor 2 it is specifically chosen can be it is various, in a non-limit
In the example of property processed, controller 1 is field programmable gate array (FPGA), and in other examples, controller 1 is with complexity
What PLD (CPLD) made.Processor is digital signal processor (at DSP in a nonrestrictive example
Reason device), and in other examples, processor is arm processor.Therefore, as long as right in spirit of the invention
The change, modification of above-described embodiment will all fall in the range of following claims.
Claims (10)
1. a kind of motor real time speed measuring method, comprises the following steps：
Step 1, receives the pulse signal from motor；
Step 2, obtains the cycle duration that tests the speed, and the two neighboring cycle of testing the speed is joined end to end；
Step 3, the finish time in record current cycle of testing the speed；
Step 4, records the quantity of the current pulse tested the speed in the cycle and last pulse in the current cycle of testing the speed
Moment；
Step 5, by the moment of last pulse in the finish time in the current cycle of testing the speed and the current cycle of testing the speed
Between time difference as rear adjustment window；
Step 6, using the rear adjustment window in previous cycle of testing the speed as the cycle of currently testing the speed preceding adjustment window；
Step 7, adjusts window, when being adjusted the cycle by the duration in the current cycle of testing the speed plus preceding adjustment window and after subtracting
It is long, further according to the adjustment cycle duration and the quantity of the current pulse tested the speed in the cycle, calculate the reality of the motor
Shi Sudu.
2. motor real time speed measuring method according to claim 1, it is characterised in that：Record and described currently test the speed in the cycle
The quantity of rising edge of a pulse or the quantity of pulse falling edge, and by the quantity of the rising edge of a pulse or the pulse falling edge
Quantity as the pulse signal quantity；
Record in the current cycle of testing the speed the moment of the rising edge of a pulse of last pulse or described currently test the speed the cycle
The moment of interior last pulse falling edge as last pulse in the current cycle of testing the speed moment.
3. motor real time speed measuring method according to claim 1, it is characterised in that the step 2 further includes following
Step：
Step 2.1, the default cycle duration that tests the speed is set to by the cycle duration that tests the speed；
Whether step 2.2, judge in the current cycle of testing the speed comprising at least one pulse, if being judged as described currently testing the speed week
At least one pulse is included in phase, is then gone to step 3 and the two neighboring cycle of testing the speed is joined end to end；
If being judged as in the current cycle of testing the speed not comprising a pulse, step 2.3 is gone to；
Step 2.3, by the cycle duration that tests the speed be changed to current test the speed cycle duration and the default cycle duration that tests the speed and, and redirect
To step 2.2.
4. motor real time speed measuring method according to claim 3, it is characterised in that also comprise the steps of：
It is intermittent that the cycle duration that tests the speed is revised as the default cycle duration that tests the speed, and jump to step 2.2.
5. a kind of motor real time speed measuring system, including：Controller and processor；
The controller is electrically connected with the motor, and performs following step：The pulse signal from motor is received, in each survey
Timing when the fast cycle starts, until reaching the duration in the cycle of testing the speed for being obtained, and records the finish time in current cycle of testing the speed；
Record the quantity of the current pulse signal tested the speed in the cycle and last pulse in the current cycle of testing the speed
Moment；By the time at the moment of last pulse in the finish time in the current cycle of testing the speed and the current cycle of testing the speed
Difference, as rear adjustment window；
The processor is electrically connected with the controller, and performs following step：Obtained from the controller and described currently tested the speed
The quantity of cycle duration, the rear adjustment window and the pulse signal；The rear adjustment window that upper one tests the speed the cycle is worked as described
Before test the speed the preceding adjustment window in cycle, adjust window by the duration in the current cycle of testing the speed plus preceding adjustment window and after subtracting, obtain
Adjustment cycle duration；According to the adjustment cycle duration and the quantity of the current pulse tested the speed in the cycle, calculate described
The real-time speed of motor；
It is wherein described current to test the speed the cycle and the previous cycle of testing the speed joins end to end.
6. motor real time speed measuring system according to claim 5, it is characterised in that：The controller records the current survey
The quantity of the rising edge of a pulse in the fast cycle or the quantity of pulse falling edge, and by the quantity of the rising edge of a pulse or the arteries and veins
The quantity of trailing edge is rushed as the quantity of the pulse signal；
The controller records in the current cycle of testing the speed the moment of the rising edge of a pulse of last pulse or described works as
Before test the speed last pulse falling edge in the cycle moment as last pulse in the current cycle of testing the speed moment.
7. motor real time speed measuring system according to claim 5, it is characterised in that：The side that the processor passes through bus
Formula, or duration, the institute in the current cycle of testing the speed are obtained from the controller by way of accessing the internal memory of the controller
The quantity of window and the pulse signal is adjusted after stating.
8. motor real time speed measuring system according to claim 5, it is characterised in that：Also include the period determination module that tests the speed；
Whether the period determination module that tests the speed, more than zero, judges described currently to test the speed the cycle according to the quantity of the pulse signal
Inside whether at least one pulse is included, if being judged as in the current cycle of testing the speed not comprising pulse, will test the speed cycle duration
Be changed to currently to test the speed cycle duration and the default cycle duration that tests the speed and.
9. motor real time speed measuring system according to claim 8, it is characterised in that：It is described to test the speed period determination module intermittently
Property ground the cycle duration that tests the speed is set to the default cycle duration that tests the speed, and the cycle duration that tests the speed is being set every time
Whether judge immediately in the current cycle of testing the speed comprising at least one pulse after being set to the default cycle duration that tests the speed.
10. motor real time speed measuring system according to claim 5, it is characterised in that：The controller is FPGA or CPLD；
And/or
The processor is dsp processor or arm processor.
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Application publication date: 20170707 |