CN107102162A - Rotary shaft rotating speed measuring method and device - Google Patents
Rotary shaft rotating speed measuring method and device Download PDFInfo
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- CN107102162A CN107102162A CN201710264585.1A CN201710264585A CN107102162A CN 107102162 A CN107102162 A CN 107102162A CN 201710264585 A CN201710264585 A CN 201710264585A CN 107102162 A CN107102162 A CN 107102162A
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- rotary shaft
- detection cycle
- rotating speed
- final position
- initial
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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
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
Abstract
The present invention provides a kind of rotary shaft rotating speed measuring method and device, in the initial time of detection cycle, obtain the initial position of rotary shaft, if receiving interrupt signal in detection cycle, then when receiving interrupt signal, the first final position of rotary shaft, and the time interval between the interrupt signal time of reception and initial time are obtained, the tachometer value for obtaining rotary shaft is calculated according to initial position, the first final position and time interval.The such scheme provided using the present invention, the velocity amplitude of rotary shaft is realized by way of programming using the original-pack displacement encoder of equipment, it can avoid that extra speed measuring coder is installed, so that overcome due to the problem of limited space can not further install other speed measuring devices, and it is cost-effective.
Description
Technical field
The present invention relates to technical field of automation equipment, and in particular to a kind of rotary shaft rotating speed measuring method and device.
Background technology
Have in the prior art in the equipment that a variety of dependence belt drive systems realize power transmission, such as WK-35 power shovels, control
System part is by controlling transmission system to realize that the lifting of power shovel, pushing etc. are operated.Transmission system includes multiple gear drive skins
Band, the rotary shaft of gear, which rotates to provide power and then drive driving belt to rotate, realizes that power is transmitted.At present, in transmission system
Each gear rotary shaft on be fitted with displacement encoder, for monitor power shovel lifting, pressing device running position,
If lifting or pressing device operating exceed after limited displacement, power shovel control section sends alarm and control device pair
The The gear deceleration answered even is shut down.In addition, in order to which the performance to transmission system is monitored, it is necessary to measure transmission system respectively
Whether power source position is consistent with the speed of driven end position, and transmission system is particularly likely that when both speed are inconsistent
The failure or other problemses that off-axis occurs in certain a part of rotary gear shaft, beat tooth cause belt slippage, it is therefore desirable to be gear
Axle configures speed measuring device.
Because the space inside transmission system is limited, tachogenerator is installed extremely difficult, it is often necessary to which gear shaft is pacified
Fill position and carry out larger change, so very likely influence the normal operation of transmission system miscellaneous part.
The content of the invention
The embodiment of the present invention aims to provide a kind of rotary shaft rotating speed measuring method and device, to solve to be driven in the prior art
The technical problem of tachometric survey is difficult in system.
Therefore, the embodiment of the present invention provides a kind of rotary shaft rotating speed measuring method, comprise the following steps：
In the initial time of detection cycle, the initial position P of rotary shaft is obtained1；
If receiving interrupt signal in the detection cycle, when receiving the interrupt signal moment, rotary shaft is obtained
First final position P21, and the time interval T between the interrupt signal time of reception and the initial time1；
According to the initial position P1, the first final position P21With the time interval T1Calculating obtains the rotation
The tachometer value of axle.
Alternatively, in above-mentioned rotary shaft rotating speed measuring method, according to the initial position P1, first final position
P21With the time interval T1In the step of calculating obtains the tachometer value of the rotary shaft, the rotation is obtained in the following manner
The tachometer value V of axle：
V=(P21-P1)/R/T1；
Wherein, R is the resolution ratio for measuring the absolute value encoder of rotary shaft position.
Alternatively, in above-mentioned rotary shaft rotating speed measuring method, also comprise the following steps：
If not receiving interrupt signal in the detection cycle, in the end time of detection cycle, rotary shaft is obtained
Second final position P22；
According to the initial position P1, the second final position P22Calculated with the detection cycle and obtain the rotary shaft
Tachometer value.
Alternatively, in above-mentioned rotary shaft rotating speed measuring method, according to the initial position P1, second final position
P22Calculated with the detection cycle in the step of obtaining the tachometer value of the rotary shaft, the rotary shaft is obtained in the following manner
Tachometer value V：
V=(P22-P1)/R/T；
Wherein, T is detection cycle.
Alternatively, in above-mentioned rotary shaft rotating speed measuring method, in the initial time of detection cycle, the first of rotary shaft is obtained
Beginning position P1The step of in：
The initial position P1It is final position of the rotary shaft in previous detection cycle, the final position is first
Final position P21Or the second final position P22。
Alternatively, in above-mentioned rotary shaft rotating speed measuring method, in the initial time of detection cycle, the first of rotary shaft is obtained
Beginning position P1The step of, specifically include：
In the initial time of detection cycle, initialization operation is performed to the position of the rotary shaft, using null value as described
The initial position P of rotary shaft1。
The embodiment of the present invention also provides a kind of rotary shaft rotating speed measurement apparatus, including：
Initial position acquisition module, in the initial time of detection cycle, obtains the initial position P of rotary shaft1；
First final position acquisition module, if receiving interrupt signal in the detection cycle, letter is interrupted receiving
During number moment, the first final position P of rotary shaft is obtained21, and the interrupt signal time of reception and the initial time it
Between time interval T1；
Tachometer value computing module, according to the initial position P1, the first final position P21With the time interval T1
Calculate the tachometer value for obtaining the rotary shaft.
Alternatively, in above-mentioned rotary shaft rotating speed measurement apparatus, obtained in the following manner in the tachometer value computing module
To the tachometer value V of the rotary shaft：
V=(P21-P1)/R/T1；
Wherein, R is the resolution ratio for measuring the absolute value encoder of rotary shaft position.
Alternatively, in above-mentioned rotary shaft rotating speed measurement apparatus, in addition to：
Second final position acquisition module, if interrupt signal is not received in the detection cycle, in detection cycle
End time, obtains the second final position P of rotary shaft22；
The tachometer value computing module, according to the initial position P1, the second final position P22With the detection week
Phase calculates the tachometer value for obtaining the rotary shaft.
Alternatively, in above-mentioned rotary shaft rotating speed measurement apparatus, in the tachometer value computing module, in the following manner
To the tachometer value V of the rotary shaft：
V=(P22-P1)/R/T；
Wherein, T is detection cycle.
Alternatively, in above-mentioned rotary shaft rotating speed measurement apparatus, in the initial position acquisition module：
The initial position P1It is final position of the rotary shaft in previous detection cycle, the final position is first
Final position P21Or the second final position P22。
Alternatively, in above-mentioned rotary shaft rotating speed measurement apparatus, the initial position acquisition module specifically for：
In the initial time of detection cycle, initialization operation is performed to the position of the rotary shaft, using null value as described
The initial position P of rotary shaft1。
The above-mentioned technical proposal that the present invention is provided, compared with prior art, at least has the advantages that：
Rotary shaft rotating speed measuring method of the present invention and device, in the initial time of detection cycle, obtain rotary shaft
Initial position, if receiving interrupt signal in detection cycle, when receiving the interrupt signal moment, obtain the of rotary shaft
Time interval between one final position, and the interrupt signal time of reception and initial time, is terminated according to initial position, first
Position P21With time interval T1Calculate the tachometer value for obtaining rotary shaft.The such scheme provided using the present invention, without extra increasing
Plus speed measuring device, it is used to measure the absolute value encoder measurement position signal of rotary shaft position signal and follow using equipment is existing
Ring interrupt cycle, is the rotating speed that can determine that rotary shaft by the simple modifications to computational methods.Therefore, the present invention is former using equipment
The displacement encoder of dress realizes the velocity amplitude of rotary shaft by way of programming, can avoid installing extra speed measuring coder,
So as to overcome due to the problem of limited space can not further install other speed measuring devices, and it is cost-effective.
Brief description of the drawings
Fig. 1 is the flow chart of one embodiment of the invention rotary shaft rotating speed measuring method；
Fig. 2 is the flow chart of another embodiment of the present invention rotary shaft rotating speed measuring method；
Fig. 3 is the theory diagram of one embodiment of the invention rotary shaft rotating speed measurement apparatus；
Fig. 4 is the principle frame of speed reduction gear box axle monitoring system in power shovel transmission system described in one embodiment of the invention
Figure.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component described in accompanying drawing with the embodiment of the present invention provided can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description that simplifies of the description present invention, rather than indicate or imply signified device or component must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.Wherein, term " first position " and
" second place " is two different positions.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two component internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment 1
The present embodiment provides a kind of rotary shaft rotating speed measuring method, is needed applied to motor, gear-box etc. to rotary shaft
In the control system for carrying out velocity measuring, as shown in figure 1, this method comprises the following steps：
S101：In the initial time of detection cycle, the initial position P of rotary shaft is obtained1, the detection cycle is to set in advance
Set, selected according to the working characteristics of rotary shaft, for example, can select the work period of rotary shaft, work as rotary shaft
Work period it is longer when, the work period can be decomposed, for example select a few minutes be used as detection cycle.
S102：If receiving interrupt signal in the detection cycle, when receiving interrupt signal, rotary shaft is obtained
First final position P21, and the time interval T between the interrupt signal time of reception and the initial time1.In described
Break signal can characterize the accidental interruption situation in the equipment course of work, if a complete detection cycle also not at the end of receive
To interrupt signal, rotary shaft can be forced to shut down, then this should be interrupted to moment as the end time of velocity measuring.
S103：According to the initial position P1, the first final position P21With the time interval T1Calculating obtains institute
The tachometer value of rotary shaft is stated, according to initial position and the first final position, be can determine in corresponding time interval inner rotary shaft
Total displacement is rotated, binding time gap length is the tachometer value that can determine that rotary shaft.
In such scheme, in the initial time of detection cycle, the initial position of rotary shaft is obtained, if being received in detection cycle
To interrupt signal, then when receiving the interrupt signal moment, the first final position of rotary shaft is obtained, and interrupt signal is received
Time interval between moment and initial time, according to initial position, the first final position P21With time interval T1Calculating is obtained
The tachometer value of rotary shaft.For example, the tachometer value that can obtain rotary shaft is：V=(P21-P1)/T1.It is preferred that can be using such as
Lower formula calculates the rotating speed for obtaining rotary shaft：V=(P21-P1)/R/T1；Wherein, R is the absolute value for measuring rotary shaft position
The resolution ratio of encoder, by above-mentioned formula calculate the obtained Speed unit of rotary shaft for revolutions per second.
The such scheme provided using the present invention, when measuring rotary shaft rotating speed, it is to avoid extra speed measuring coder is installed,
So as to overcome due to the problem of limited space can not further install other speed measuring devices, and it is cost-effective.
Embodiment 2
The rotary shaft rotating speed measuring method that the present embodiment is provided, needs to enter rotary shaft applied to motor, gear-box etc.
In the control system of row velocity measuring, as shown in Fig. 2 this method comprises the following steps：
S101：In the initial time of detection cycle, the initial position P of rotary shaft is obtained1.The detection cycle is to set in advance
Set, selected according to the working characteristics of rotary shaft, for example, can select the work period of rotary shaft, work as rotary shaft
Work period it is longer when, the work period can be decomposed, for example select a few minutes be used as detection cycle.
S102：Judge whether receive interrupt signal in the detection cycle, if then performing step S203, otherwise hold
Row step S205.The interrupt signal can characterize the accidental interruption situation in the equipment course of work.
S203：When receiving interrupt signal, the first final position P of rotary shaft is obtained21, and the interrupt signal connects
Time receiving carves the time interval T between the initial time1.That is a complete detection cycle also not at the end of receive
To interrupt signal, rotary shaft is forced to shut down, then this should be interrupted to moment as the end time of velocity measuring.
S204：According to the initial position P1, the first final position P21With the time interval T1Calculating obtains institute
State the tachometer value of rotary shaft.
S205：In the end time of detection cycle, the second final position P of rotary shaft is obtained22；That is it is complete at one
Interrupt signal is not received in whole detection cycle, the end time of detection cycle is the end time of velocity measuring.
S206：According to the initial position P1, the second final position P22Calculated with the detection cycle and obtain described
The tachometer value of rotary shaft.For example, the tachometer value that can obtain rotary shaft is：V=(P22-P1)/T, wherein T are detection cycle.Compared with
Goodly, the rotating speed for obtaining rotary shaft can be calculated using equation below：V=(P22-P1)/R/T, wherein, R is to be used to measure rotation
The resolution ratio of the absolute value encoder of shaft position, by above-mentioned formula calculate the obtained Speed unit of rotary shaft for revolutions per second.
Embodiment 3
In above scheme, the initial position P1The stop bit in previous detection cycle for the rotary shaft can be selected
Put.If there is interrupt signal generation in the previous cycle, when the final position is previous cycle interruption where rotary shaft
One final position P21；If the previous cycle does not have interrupt signal generation, when the final position is that previous detection cycle is terminated
Carve the second final position P where the rotary shaft22.In this way, advantage is that Processing Algorithm is simpler, and inferior position exists
In rotary shaft displacement detecting may after long-play postpartum build up error, the accumulated error can not be eliminated, and be led
The rotary shaft rotating speed for causing measurement to obtain may be inaccurate.Therefore, providing following manner in the present embodiment to determine rotary shaft
Initial position：In the initial time of detection cycle, initialization operation is performed to the position of the rotary shaft, using null value as described
The initial position P of rotary shaft1.I.e. in each detection cycle initial time, the displacement data that displacement encoder is accumulated is reset, will
In each detection cycle, it is believed that the initial position of rotary shaft from zero starting, is eliminated in rotary shaft During Process of Long-term Operation with this and produced
Raw displacement encoder measurement error.
Embodiment 4
The present embodiment provides a kind of rotary shaft rotating speed measurement, as shown in figure 3, it includes：
Initial position acquisition module 301, in the initial time of detection cycle, obtains the initial position P of rotary shaft1；It is described
Detection cycle is pre-set, is selected according to the working characteristics of rotary shaft, for example, can select rotary shaft
Work period, when the work period of rotary shaft is longer, the work period can be decomposed, for example, select a few minutes as detection week
Phase.
First final position acquisition module 302, if receiving interrupt signal in the detection cycle, is receiving interruption
During signal, the first final position P of rotary shaft is obtained21, and between the interrupt signal time of reception and the initial time
Time interval T1；The interrupt signal can characterize accidental interruption situation in the course of work of equipment, if in a complete inspection
The survey cycle also not at the end of receive interrupt signal, rotary shaft can be forced to shut down, then should using this interruption moment be used as speed
Spend the end time of detection.
Tachometer value computing module 303, according to the initial position P1, the first final position P21With the time interval
T1Calculate the tachometer value for obtaining the rotary shaft.
According to initial position and the first final position, it can determine in the total position of rotation of corresponding time interval inner rotary shaft
Move, binding time gap length is the tachometer value that can determine that rotary shaft.
In such scheme, in the initial time of detection cycle, the initial position of rotary shaft is obtained, if being received in detection cycle
To interrupt signal, then when receiving the interrupt signal moment, the first final position of rotary shaft is obtained, and interrupt signal is received
Time interval between moment and initial time, according to initial position, the first final position P21With time interval T1Calculating is obtained
The tachometer value of rotary shaft.For example, the tachometer value that can obtain rotary shaft is：V=(P21-P1)/T1.It is preferred that tachometer value is calculated
Module 303 can calculate the rotating speed for obtaining rotary shaft using equation below：V=(P21-P1)/R/T1；Wherein, R is to be used to measure
The resolution ratio of the absolute value encoder of rotary shaft position, the obtained Speed unit of rotary shaft is calculated by above-mentioned formula to turn/
Second.
The such scheme provided using the present invention, when measuring rotary shaft rotating speed, it is to avoid extra speed measuring coder is installed,
So as to overcome due to the problem of limited space can not further install other speed measuring devices, and it is cost-effective.
Further, above-mentioned rotary shaft rotating speed measurement apparatus, in addition to the second final position acquisition module 304, if
Interrupt signal is not received in the detection cycle, then in the end time of detection cycle, obtains the second final position of rotary shaft
P22；The tachometer value computing module 303, according to the initial position P1, the second final position P22With the detection cycle
Calculate the tachometer value for obtaining the rotary shaft.That is interrupt signal is not received in a complete detection cycle, then examine
The end time in survey cycle is the end time of velocity measuring.The tachometer value computing module 303 can pass through below equation
Obtain the tachometer value of rotary shaft：V=(P22-P1)/T, wherein T are detection cycle, it is preferred that the tachometer value computing module 303
The rotating speed for obtaining rotary shaft can be calculated using equation below：V=(P22-P1)/R/T, wherein, R is to be used to measure rotation axle position
The resolution ratio for the absolute value encoder put, by above-mentioned formula calculate the obtained Speed unit of rotary shaft for revolutions per second.
In above scheme, in the initial position acquisition module 301, the initial position P1It can select as the rotation
Final position of the axle in previous detection cycle.If there is interrupt signal generation in the previous cycle, the final position is as previous
The first final position P during cycle interruption where rotary shaft21；If the previous cycle does not have interrupt signal generation, the stop bit
Put as the second final position P where rotary shaft described in previous detection cycle end time22.In this way, advantage exists
It is simpler in Processing Algorithm, but the displacement detecting of rotary shaft may after long-play postpartum build up error,
The accumulated error can not be eliminated, and causing to measure obtained rotary shaft rotating speed may be inaccurate.
Therefore, the present embodiment also provides another implementation, the initial position acquisition module 301, in detection cycle
Initial time, initialization operation is performed to the position of the rotary shaft, using null value as the rotary shaft initial position P1。
I.e. in each detection cycle initial time, the displacement data that displacement encoder is accumulated is reset, by each detection cycle, it is believed that
The initial position of rotary shaft is eliminated the displacement encoder measurement produced in rotary shaft During Process of Long-term Operation with this and missed from zero starting
Difference.
By taking WK35 power shovels as an example, a gear shaft of WK-35 electric shovel pushing gear-boxes is fitted with absolute value displacement coding
Device, for monitor power shovel lifting, pressing device running position, if lifting or pressing device operating exceed limited position
After shifting, power shovel control section sends alarm and the corresponding motor deceleration of control device is even shut down.
For some gear shaft in reduction box, the theory diagram of its control system is as shown in figure 4, displacement encoder is (more
Circle absolute value encoder), PLC control system be power shovel lifting, push the original-pack part of reduction box, without extra setting.Its
Middle PLC control system includes SM338 modules (SIEMENS PLC is used for the signal input module that position is detected) and CPU (shown in figure
PLC CPU).Directly using former power shovel displacement encoder and PLC control system, on the premise of existing system is not changed, utilize
The run-length data that displacement encoder (multi-turn absolute value encoder) is fed back, can be periodically with reference to the interrupt routine in CPU
The actual speed for calculating power source gear shaft.Idiographic flow is：
The run-length data that displacement encoder (multi-turn absolute value encoder) is fed back is transmitted into SM338 modules, SM338
The value of the absolute value encoder of reading and storage, it is assumed that storage to PID256.In the initial time of detection cycle, first with first
Beginningization MD100 modes are by the run-length data zero setting in PID256.In detection cycle end time or receiving interrupt signal
At the time of the obtained run-length data of rotary shaft be the latest data in PID256, then utilize PID256-MD100=MD104's
Mode obtains the total kilometres data of rotary shaft, can obtain with MD104 (taking absolute value) divided by absolute value encoder resolution ratio
Rotary shaft has turned how many turns, divided by detection cycle or cycle interruption cycle, obtain the rotating speed of rotary shaft, program finally also may be used
To update MD100 data with the newest run-length data in PID256, also will current rotary shaft run-length data as next
The priming stroke data of detection cycle initial time.Circulation can obtain the tachometer value of rotary shaft as procedure described above.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (12)
1. a kind of rotary shaft rotating speed measuring method, it is characterised in that comprise the following steps：
In the initial time of detection cycle, the initial position P of rotary shaft is obtained1；
If receiving interrupt signal in the detection cycle, when receiving interrupt signal, obtain rotary shaft first terminates
Position P21, and the time interval T between the interrupt signal time of reception and the initial time1；
According to the initial position P1, the first final position P21With the time interval T1Calculating obtains the rotary shaft
Tachometer value.
2. rotary shaft rotating speed measuring method according to claim 1, it is characterised in that according to the initial position P1, it is described
First final position P21With the time interval T1In the step of calculating obtains the tachometer value of the rotary shaft, in the following manner
Obtain the tachometer value V of the rotary shaft：
V=(P21-P1)/R/T1；
Wherein, R is the resolution ratio for measuring the absolute value encoder of rotary shaft position.
3. rotary shaft rotating speed measuring method according to claim 2, it is characterised in that also comprise the following steps：
If not receiving interrupt signal in the detection cycle, in the end time of detection cycle, the second of rotary shaft is obtained
Final position P22；
According to the initial position P1, the second final position P22Calculated with the detection cycle and obtain turning for the rotary shaft
Speed value.
4. rotary shaft rotating speed measuring method according to claim 3, it is characterised in that according to the initial position P1, it is described
Second final position P22Calculated with the detection cycle in the step of obtaining the tachometer value of the rotary shaft, in the following manner
To the tachometer value V of the rotary shaft：
V=(P22-P1)/R/T；
Wherein, T is detection cycle.
5. the rotary shaft rotating speed measuring method according to claim any one of 1-4, it is characterised in that in rising for detection cycle
Begin the moment, obtain the initial position P of rotary shaft1The step of in：
The initial position P1It is final position of the rotary shaft in previous detection cycle, the final position terminates for first
Position P21Or the second final position P22。
6. the rotary shaft rotating speed measuring method according to claim any one of 1-4, it is characterised in that in rising for detection cycle
Begin the moment, obtain the initial position P of rotary shaft1The step of, specifically include：
In the initial time of detection cycle, initialization operation is performed to the position of the rotary shaft, null value is regard as the rotation
The initial position P of axle1。
7. a kind of rotary shaft rotating speed measurement apparatus, it is characterised in that including：
Initial position acquisition module, in the initial time of detection cycle, obtains the initial position P of rotary shaft1；
First final position acquisition module, if receiving interrupt signal in the detection cycle, when receiving interrupt signal,
Obtain the first final position P of rotary shaft21, and between time between the interrupt signal time of reception and the initial time
Every T1；
Tachometer value computing module, according to the initial position P1, the first final position P21With the time interval T1Calculate
To the tachometer value of the rotary shaft.
8. rotary shaft rotating speed measurement apparatus according to claim 7, it is characterised in that lead in the tachometer value computing module
Cross the tachometer value V that in the following manner obtains the rotary shaft：
V=(P21-P1)/R/T1；
Wherein, R is the resolution ratio for measuring the absolute value encoder of rotary shaft position.
9. rotary shaft rotating speed measurement apparatus according to claim 8, it is characterised in that also include：
Second final position acquisition module, if not receiving interrupt signal in the detection cycle, in the termination of detection cycle
At the moment, obtain the second final position P of rotary shaft22；
The tachometer value computing module, according to the initial position P1, the second final position P22With the detection cycle meter
Calculate the tachometer value for obtaining the rotary shaft.
10. rotary shaft rotating speed measurement apparatus according to claim 9, it is characterised in that in the tachometer value computing module,
The tachometer value V of the rotary shaft is obtained in the following manner：
V=(P22-P1)/R/T；
Wherein, T is detection cycle.
11. the rotary shaft rotating speed measurement apparatus according to claim any one of 7-10, it is characterised in that the initial position
In acquisition module：
The initial position P1It is final position of the rotary shaft in previous detection cycle, the final position terminates for first
Position P21Or the second final position P22。
12. the rotary shaft rotating speed measurement apparatus according to claim any one of 7-10, it is characterised in that the initial position
Acquisition module specifically for：
In the initial time of detection cycle, initialization operation is performed to the position of the rotary shaft, null value is regard as the rotation
The initial position P of axle1。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710264585.1A CN107102162A (en) | 2017-04-21 | 2017-04-21 | Rotary shaft rotating speed measuring method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710264585.1A CN107102162A (en) | 2017-04-21 | 2017-04-21 | Rotary shaft rotating speed measuring method and device |
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| CN201710264585.1A Pending CN107102162A (en) | 2017-04-21 | 2017-04-21 | Rotary shaft rotating speed measuring method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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