CN108151675A - A kind of motor rotor position detection based on image phase correlation algorithm - Google Patents
A kind of motor rotor position detection based on image phase correlation algorithm Download PDFInfo
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- CN108151675A CN108151675A CN201711140132.4A CN201711140132A CN108151675A CN 108151675 A CN108151675 A CN 108151675A CN 201711140132 A CN201711140132 A CN 201711140132A CN 108151675 A CN108151675 A CN 108151675A
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- Prior art keywords
- image
- position detection
- rotor
- phase correlation
- correlation algorithm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a kind of motor rotor position detection methods based on image phase correlation algorithm, mainly include：Step 1：When motor is in rotation, by the front of digital camera alignment rotor；Step 2：Digital camera is continuously shot the direct picture of rotor；Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, the position of rotor is determined in conjunction with the interval time for shooting the adjacent two width end face figure like.A kind of motor rotor position detection method based on image phase correlation algorithm of the present invention, can realize the advantages of easy and safe to operate, accuracy of detection is high and highly reliable.
Description
Technical field
The present invention relates to motor rotor position detection technique field, and in particular, to one kind is based on image phase correlation algorithm
Motor rotor position detection method.
Background technology
Motor rotor position is detected and is obtained by measuring rotor rotation angle, the survey of rotor rotation angle at present
Amount system is mainly the following：Hall element, photoelectric encoder.The response speed and measurement accuracy of these devices are not very
Height, and be the measurement of contact, be not suitable for operating in severe working environment.Therefore it needs to overcome above-mentioned measurement device
Inconvenience, it is proposed that the outer corner measurement of new measuring method, the i.e. rotor based on image phase correlation algorithm, the party
Method can realize that high certainty of measurement, real-time are good, can carry out non-cpntact measurement.
Reason is：1st, this method is calculated using image information, and computational accuracy can reach Pixel-level, so as to reality
Existing accurate measurement.2nd, quickly and accurately image can be handled using DSP642 and fpga chip, calculated, the reality for measurement
When property provides guarantee.3rd, achieve the purpose that accurate measurement by shooting motor end face figure like, it is clear which is non-contact
Formula measures.These advantages cause the detection method to be conducive to the accurate control of motor, conducive to working in the presence of a harsh environment.
Invention content
It is an object of the present invention in view of the above-mentioned problems, propose a kind of rotor based on image phase correlation algorithm
Method for detecting position, to realize the advantages of easy and safe to operate, accuracy of detection is high and highly reliable.
To achieve the above object, the technical solution adopted by the present invention is：A kind of motor based on image phase correlation algorithm
Rotor position detecting method mainly includes：
Step 1：When motor is in rotation, by the front of digital camera alignment rotor；
Step 2：Digital camera is continuously shot the direct picture of rotor；
Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, in conjunction with bat
The interval time for taking the photograph the adjacent two width end face figure like determines the position of rotor.
Further, the rotor in the step 1 uses Miniature precision deceleration device, draws a low speed shaft,
The corner of low speed shaft is measured by shooting low speed shaft.
Further, the rotor is converted according to miniature rotating speed case low speed shaft and the angular speed ratio of rotor
Into the rotation angle of rotor, the position detection to motor high speed rotor is realized.
Further, the digital camera in the step 2 uses high speed camera.
Further, the digital camera carries out racemization to the image collected.
Further, the racemization uses filtering algorithm.
Further, the optical signal that the digital camera takes is sent to high-speed CCD chip, and high-speed CCD chip is by light
Signal is converted into electric signal, and electric signal is transmitted in image capture module and obtains image, and image is cached by memory.
Further, the image information value in the memory is passed to the parallel related operation arrays of FPGA and carries out phase correlation
Operation, the data obtained by operation are sent into DSP peak value searchings and speed calculation module carries out last angle and speed calculates, and lead to
It crosses communication interface and shows output outward.
Further, the step 3 specifically includes：
Informative image is chosen, polar coordinate transform is carried out to image, using phase related algorithm, is found out after converting
The crosspower spectrum peak value of adjacent two width end face figure like to obtain the integer displacement vector sum differential seat angle between adjacent image, calculates
Rotation angle.
Further, the rotation angle obtained by the calculating is shown by display screen.
The advantageous effects of the present invention：
A kind of motor rotor position detection method based on image phase correlation algorithm of the present invention, mainly includes：Step 1：
When motor is in rotation, by the front of digital camera alignment rotor；Step 2：Digital camera is continuously shot rotor
Direct picture；Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, in conjunction with
The interval time for shooting the adjacent two width end face figure like determines the position of rotor, can realize easy and safe to operate, detection
The advantages of precision is high and highly reliable.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing the present invention.
Specific embodiment
The preferred embodiment of the present invention is illustrated below, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
A kind of motor rotor position detection method based on image phase correlation algorithm, mainly includes：
Step 1：When motor is in rotation, by the front of digital camera alignment rotor；
Step 2：Digital camera is continuously shot the direct picture of rotor；
Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, in conjunction with bat
The interval time for taking the photograph the adjacent two width end face figure like determines the position of rotor.
Rotor in the step 1 uses Miniature precision deceleration device, draws a low speed shaft, low by shooting
Fast shaft measures the corner of low speed shaft.
The rotor is converted to motor according to the angular speed ratio of miniature rotating speed case low speed shaft and rotor and turns
The rotation angle of son, realizes the position detection to motor high speed rotor.
Digital camera in the step 2 uses high speed camera.
The digital camera carries out racemization to the image collected.
The racemization uses filtering algorithm.
The optical signal that the digital camera takes is sent to high-speed CCD chip, and high-speed CCD chip converts optical signal into
Electric signal, and electric signal is transmitted in image capture module and obtains image, image is cached by memory.
Image information value in the memory is passed to the parallel related operation arrays of FPGA and carries out phase related operation, operation
The data of gained are sent into DSP peak value searchings and speed calculation module carries out last angle and speed calculates, and pass through communication and connect
Mouth display output outward.
FPGA is the circuit design completed with hardware description language (Verilog or VHDL), can be passed through simple comprehensive
It closes and is laid out, be quickly burned onto on FPGA and tested, be the technology mainstream of modern IC designs verification.These editable elements
It can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complicated combination work(
It can such as decoder or mathematical equation.Inside most of FPGA, memory cell is also included in these editable elements
Such as trigger (Flip-flop) or other more complete block of memory.
FPGA employs logical cell array LCA (Logic Cell Array) such a concept, and inside includes to match
Put logic module CLB (Configurable Logic Block), input/output module IOB (Input Output Block) and
Three parts of interconnector (Interconnect).Field programmable gate array (FPGA) is programming device, with traditional logic
Circuit and gate array (such as PAL, GAL and CPLD device) are compared, and FPGA has different structures.FPGA utilizes small-sized look-up table
(16 × 1RAM) realize combination logic, and each look-up table is connected to the input terminal of a d type flip flop, trigger drives it again
His logic circuit or driving I/O, can not only combination logic function be realized but also can realize the basic of sequential logic function by thus constituting
Logic unit module, these intermodules are interconnected or are connected to I/O modules using metal connecting line.The logic of FPGA be pass through to
Internal stationary storage unit loads programming data come what is realized, and the value stored in a memory cell determines patrolling for logic unit
The connecting mode between function and each module or between module and I/O is collected, and finally determines the function achieved by FPGA,
FPGA allows unlimited number of programming.
System designer can connect the logical block inside FPGA as desired by editable connection, all right
As a breadboard has been placed in a chip.The logical block of finished product FPGA after one manufacture and connection can be according to
Designer and change, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (application-specific integrated circuit), realizes same function than ASIC circuit face
Product is big.But they also have the advantages of many such as can quick finished product, can be modified to correction program in mistake and
Less expensive cost.Manufacturer may also can provide the FPGA of cheap still edit capability difference.Because these chips have poor
Editable ability, so these design exploitations be to be completed on common FPGA, design is then transferred to a class
It is similar on the chip of ASIC.Another method is with CPLD (Complex Programmable Logic Device, complexity
Programmable logic device).
The step 3 specifically includes：
Informative image is chosen, polar coordinate transform is carried out to image, using phase related algorithm, is found out after converting
The crosspower spectrum peak value of adjacent two width end face figure like to obtain the integer displacement vector sum differential seat angle between adjacent image, calculates
Rotation angle.
Rotation angle obtained by the calculating is shown by display screen.
Following advantageous effect can at least be reached：
A kind of motor rotor position detection method based on image phase correlation algorithm of the present invention, mainly includes：Step 1：
When motor is in rotation, by the front of digital camera alignment rotor；Step 2：Digital camera is continuously shot rotor
Direct picture；Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, in conjunction with
The interval time for shooting the adjacent two width end face figure like determines the position of rotor, can realize easy and safe to operate, detection
The advantages of precision is high and highly reliable.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent replacement to which part technical characteristic.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (10)
1. a kind of motor rotor position detection method based on image phase correlation algorithm, which is characterized in that mainly include：
Step 1：When motor is in rotation, by the front of digital camera alignment rotor；
Step 2：Digital camera is continuously shot the direct picture of rotor；
Step 3：The angle that rotor turns over is calculated according to the information of captured adjacent two width end face figure like, it should in conjunction with shooting
The interval time of adjacent two width end face figure like determines the position of rotor.
2. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 1, special
Sign is that the rotor in the step 1 uses Miniature precision deceleration device, draws a low speed shaft, low by shooting
Fast shaft measures the corner of low speed shaft.
3. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 2, special
Sign is that the rotor is converted to rotor according to the angular speed ratio of miniature rotating speed case low speed shaft and rotor
Rotation angle, realize the position detection to motor high speed rotor.
4. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 1, special
Sign is that the digital camera in the step 2 uses high speed camera.
5. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 4, special
Sign is that the digital camera carries out racemization to the image collected.
6. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 5, special
Sign is that the racemization uses filtering algorithm.
7. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 4, special
Sign is that the optical signal that the digital camera takes is sent to high-speed CCD chip, and high-speed CCD chip converts optical signal into
Electric signal, and electric signal is transmitted in image capture module and obtains image, image is cached by memory.
8. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 7, special
Sign is that the image information value in the memory is passed to the parallel related operation arrays of FPGA and carries out phase related operation, operation
The data of gained are sent into DSP peak value searchings and speed calculation module carries out last angle and speed calculates, and pass through communication and connect
Mouth display output outward.
9. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 1, special
Sign is that the step 3 specifically includes：
Informative image is chosen, polar coordinate transform is carried out to image, using phase related algorithm, is found out adjacent after transformation
The crosspower spectrum peak value of two width end face figure likes to obtain the integer displacement vector sum differential seat angle between adjacent image, calculates rotation
Angle.
10. a kind of motor rotor position detection method based on image phase correlation algorithm according to claim 1, special
Sign is that the rotation angle obtained by the calculating is shown by display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711140132.4A CN108151675A (en) | 2017-11-16 | 2017-11-16 | A kind of motor rotor position detection based on image phase correlation algorithm |
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| CN201711140132.4A CN108151675A (en) | 2017-11-16 | 2017-11-16 | A kind of motor rotor position detection based on image phase correlation algorithm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361560A (en) * | 2019-06-25 | 2019-10-22 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of shipping sail speed measurement method, device, terminal device and computer readable storage medium |
Citations (5)
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|---|---|---|---|---|
| US5349293A (en) * | 1991-08-27 | 1994-09-20 | Kabushiki Kaisha Sg | Conductive rotational position detection device having stator and rotor |
| CN1347493A (en) * | 1999-04-19 | 2002-05-01 | 内茨精密运动传感器有限公司 | Capacitive displacement encoder |
| CN1624418A (en) * | 2003-12-04 | 2005-06-08 | 多摩川精机株式会社 | Rotation angle detector |
| DE102006026543B4 (en) * | 2006-06-07 | 2010-02-04 | Vogt Electronic Components Gmbh | Position encoder and associated method for detecting a position of a rotor of a machine |
| CN102645161A (en) * | 2012-03-31 | 2012-08-22 | 安徽大学 | Motor rotor position detection method based on image phase correlation algorithm |
-
2017
- 2017-11-16 CN CN201711140132.4A patent/CN108151675A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5349293A (en) * | 1991-08-27 | 1994-09-20 | Kabushiki Kaisha Sg | Conductive rotational position detection device having stator and rotor |
| CN1347493A (en) * | 1999-04-19 | 2002-05-01 | 内茨精密运动传感器有限公司 | Capacitive displacement encoder |
| CN1624418A (en) * | 2003-12-04 | 2005-06-08 | 多摩川精机株式会社 | Rotation angle detector |
| DE102006026543B4 (en) * | 2006-06-07 | 2010-02-04 | Vogt Electronic Components Gmbh | Position encoder and associated method for detecting a position of a rotor of a machine |
| CN102645161A (en) * | 2012-03-31 | 2012-08-22 | 安徽大学 | Motor rotor position detection method based on image phase correlation algorithm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361560A (en) * | 2019-06-25 | 2019-10-22 | 中电科技（合肥）博微信息发展有限责任公司 | A kind of shipping sail speed measurement method, device, terminal device and computer readable storage medium |
| CN110361560B (en) * | 2019-06-25 | 2021-10-26 | 中电科技（合肥）博微信息发展有限责任公司 | Ship navigation speed measuring method and device, terminal equipment and computer readable storage medium |
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Application publication date: 20180612 |
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