CN108181036A - A kind of contactless linear motor pushing force fluctuation measuring method - Google Patents
A kind of contactless linear motor pushing force fluctuation measuring method Download PDFInfo
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- CN108181036A CN108181036A CN201711463766.3A CN201711463766A CN108181036A CN 108181036 A CN108181036 A CN 108181036A CN 201711463766 A CN201711463766 A CN 201711463766A CN 108181036 A CN108181036 A CN 108181036A
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- linear motor
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- electric mover
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/12—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring axial thrust in a rotary shaft, e.g. of propulsion plants
Abstract
The invention discloses a kind of contactless linear motor pushing force fluctuation measuring method, it is characterized in that：A width stripe direction is formed by projection in the perpendicular parallel with the electric mover direction of motion and is used as target image in vertical sine streak image；Camera is fixed on electric mover, is moved with electric mover, and acquisition in real time obtains sequence stripe pattern；It is filtered by ISEF, Canny edge extractings and uniline sampling acquisition sequence uniline complete cycle striped, utilizes the displacement information of time series analysis extract real-time sequence uniline complete cycle striped；Speed, acceleration and the force oscillation of linear motor are acquired using the displacement information.The present invention measures the force oscillation of mover displacement information acquisition linear motor using time series analysis, has anti-interference, accuracy and real-time, available for linear motor pushing force fluctuation and the non-contact testing of motor dynamics performance.
Description
Technical field
The present invention relates to linear motor detection technique field, more particularly to a kind of based on time series analysis
Contactless linear motor pushing force fluctuates measuring method.
Background technology
Linear motor has the characteristics that precision is high, thrust is big, fast response time, extensively should be obtained in high-speed ＆ precise progressive die
With.But due to its primary current there are the factors such as higher hamonic wave, air gap magnetic density waveform non-sine can make motor thrust output generate
Certain fluctuation.Force oscillation is that linear motor generates vibration and the main reason for noise, can deteriorate its servo operation characteristic, make into
Deviate target location to system, reduce machining accuracy；Therefore the force oscillation of linear motor directly affects its movenent performance
Key factor carries out accurate measurement to force oscillation and refers to lead design of electrical motor and the important prerequisite of motion control.
Traditional linear motor pushing force fluctuation measuring method is measured using force snesor mostly, using ball-screw
It connects electric rotating machine or two linear motors is coaxial to being dragged into capable test.But electric rotating machine can bring torque ripple, machinery even in itself
Connection mechanism can reduce transmission efficiency and introduce disturbance, be largely affected by accuracy of detection.Linear motor it is coaxial to drag be
It is loaded each other with model linear motor using two on same guide rail, this connection mode can cause surveyed force oscillation to be two
The coupling of motor force oscillation can not meet the requirement of some high-acruracy surveys.And to measure accurate force oscillation data,
The mover of linear motor, which needs to move back and forth, to be taken multiple measurements, in addition it is also necessary to which otherwise additional accurate positioning device is also easy to produce back
Path difference influences the accuracy of data.
Invention content
The present invention is to avoid the problems of above-mentioned prior art, providing a kind of contactless linear motor pushing force wave
Dynamic measuring method, to realize the real―time precision measurment of linear motor pushing force fluctuation, for instruct linear motor body design and
Motion control.
The present invention is adopted the following technical scheme that solve technical problem：
The present invention is to carry out as follows the characteristics of contactless linear motor pushing force fluctuates measuring method：
Step 1：A width sine streak figure is formed by projection in the perpendicular parallel with the electric mover direction of motion
Picture I (x, y) is as target image, and the stripe direction of the sine streak image is in vertical；
Using the direction of motion of electric mover as X-axis, the plane coordinate system in perpendicular is built using vertical direction as Y-axis,
The sine streak image size is M0×N0, expression such as (1) of the sine streak image I (x, y) in plane coordinate system：
W is fringe period,For striped initial phase, a (x, y) is background light intensity, and b (x, y) is streak amplitude；X, y are
The pixel coordinate of the sine streak image, x=1,2 ... M0；Y=1,2 ... N0；
Step 2：Camera is fixed on electric mover, the optical axis of camera perpendicular to plane where target image, if
Camera amplification factor to be put as k, adopts figure time interval as Δ t, motor is operated in speed ring mode, and camera is moved with electric mover,
It acquires in real time and preserves the sequence stripe pattern ft that size is M × N, wherein, t=0, Δ t, 2 Δ t ..., n Δ t；
Step 3：To the sequence stripe pattern ftIt is pre-processed, obtains sequence uniline complete cycle striped gt, utilize the time
The displacement information of sequence uniline complete cycle striped described in sequence analysis extract real-time, the displacement of uniline striped sequence complete cycle
Information is electric mover displacement s (t)；
Step 4：Electric mover is obtained according to the electric mover displacement s (t) and time interval Δ t, bond quality m
Speed v (t), acceleration a (t) and force oscillation F (t), complete the measurement fluctuated to linear motor pushing force, and the quality m is electricity
Motor-driven son, camera and the quality of load.
The present invention is lain also in the characteristics of contactless linear motor pushing force fluctuates measuring method：To sequence in the step 3
Stripe pattern ftIt is to carry out as follows to carry out pretreatment：
For sequence stripe pattern ftISEF filtering is carried out, image after sequential filtering is obtained, to improve measurement stability；
Using the edge feature of image after Canny operator extraction sequential filterings, the spacing p of two neighboring edge feature is half
A fringe period；
The sampling of jth row uniline is carried out for image after sequential filtering, obtains sequence uniline striped ftj, measured in real time with improving
Property；
In order to inhibit spectral leakage during Fourier transformation, in sequence uniline striped ftjUpper intercepted length is the number of 2p × q
According to obtaining sequence uniline complete cycle striped gt, wherein q is the positive integer less than M/w, is completed to sequence stripe pattern ftPre- place
Reason.
The present invention is lain also in the characteristics of contactless linear motor pushing force fluctuates measuring method：Straight line is obtained as follows
Electric mover displacement s (t)：
In t moment, uniline striped sequence complete cycle g after pretreatmenttIt is defined as the g expressed as shown in formula (2)t(x)：
γ is fringe contrast,It is the time phase related with electric mover displacement to be solved,
Fourier transformation is carried out to formula (2) and obtains gt(x) frequency spectrum Sgt(ξ) such as formula (3)：
ξ is frequency, C (ξ) and C*(ξ)+1 grade and -1 grade of frequency spectrum, * represent complex conjugate respectively, and DC (ξ) is zero level low frequency background
Optical spectrum；
For frequency spectrum Sgt(ξ) chooses suitable bandpass filter and filters out zero level low frequency background optical spectrum therein and -1 grade
Frequency spectrum, then carry out inverse Fourier transform and obtain complex signal Ut(x) such as formula (4)：
Ut(x)=∫ C (ξ) exp (j ξ x) d ξ (4),
Then have：
Wherein, Im Ut(x) imaginary part, Re Ut(x) real part；
Then coordinate value is expressed as the time phase ψ (t) of any point of (i, j) in sine streak image：ψ (t)=φ t
(i), the movement of electric mover is considered as rigid body translation, then time of the coordinate value for any point of (i, j) in sine streak image
Phase ψ (t) is the time phase related with electric mover displacement to be solved
Obtaining linear motor rotor displacement s (t) by formula (6) is：
Wherein Δ u is camera phase elemental size, and unwrap represents to carry out phase unwrapping to envelope phase.
The present invention is lain also in the characteristics of contactless linear motor pushing force fluctuates measuring method：Using formula (7), formula (8) and
Formula (9) calculates speed v (t), acceleration a (t) and the force oscillation F (t) for obtaining linear motor rotor：
F (t)=ma (t) (9).
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention obtains the force oscillation of linear motor using image measurement technology, can obtain accurate straight-line electric simultaneously
Machine location information without additional position detecting device, enormously simplifies measurement process；
2nd, the present invention extracts displacement, force oscillation information using time series analysis from sequence stripe pattern, is a kind of
Contactless measuring technique has many advantages, such as that real-time is good, precision is high, solves existing method measurement accuracy and easily filled by measurement
Put the problem of influence causes measurement error larger；
3rd, the present invention obtains fringe period, interception data complete cycle using ISEF filtering and canny edge extractings, it is suppressed that
Spectral leakage and influence of noise improve the precision and stability of algorithm；
4th, the present invention does not change electric machine structure by generating and project sine streak image, can be according to testing requirement spirit
It is living to change fringe period, it is easy to accomplish automation and intelligence.
Description of the drawings
Fig. 1 fluctuates instrumentation plan for the contactless linear motor pushing force of the present invention；
The camera collected emulation sine streak image containing Gaussian noise when Fig. 2 is t=0.1s；
Fig. 3 a and Fig. 3 b are respectively to emulate force oscillation curve and emulation linear motor rotor displacement curve；
Fig. 4 a and Fig. 4 b are respectively the bar graph and edge spy obtained after the present invention pre-processes Noise sine streak figure
Sign figure；
Fig. 5 a and Fig. 5 b be respectively it is processed by the invention after linear motor rotor displacement curve and error curve；
Fig. 6 a and Fig. 6 b be respectively it is processed by the invention after force oscillation curve and error curve；
Figure label：1 pedestal, 2 winding displacements, 3 controllers, 4 electric movers, 5 cameras, 6 poles, 7 sine streak images.
Specific embodiment
Fig. 1 show contactless linear motor pushing force fluctuation measuring system schematic diagram, figure in the present embodiment and includes：Bottom
Seat 1, winding displacement 2, controller 3, electric mover 4, camera 5, secondary pole 6 and sine streak image 7.
Contactless linear motor pushing force fluctuation measuring method is to carry out as follows in the present embodiment：
Step 1：A width such as Fig. 1 institutes are formed by projection in the perpendicular parallel with the direction of motion of electric mover 4
The sine streak image 7 shown is used as target image, and sine streak image 7 is characterized as：I (x, y), the striped of sine streak image 7
Direction is in vertical.
Using the direction of motion of electric mover as X-axis, the plane coordinate system in perpendicular is built using vertical direction as Y-axis,
Sine streak image size be M0 × N0, sine streak image I (x, y) expression in plane coordinate system such as (1)：
W is fringe period,For striped initial phase, a (x, y) is background light intensity, and b (x, y) is streak amplitude；X, y are
The pixel coordinate of sine streak image, x=1,2 ... M0；Y=1,2 ... N0。
The movement of linear motor rotor is inherently rigid body translation, therefore to simplify measurement process, projects sine streak
The stripe direction of image should be vertical with the mover direction of motion, i.e., stripe direction is in vertical.
It is generated by computer and projects sine streak image, it, can be flexible according to testing requirement without electric machine structure is changed
Change fringe period, it is ensured that the acquisition of subsequent sequence sine streak image meets Nyquist sampling thheorems, otherwise can generate larger
Measurement error.When i.e. electric mover moves the displacement of fringe period, camera will at least acquire four width sine streak images.
Step 2：Camera 5 is fixed on electric mover 4, the optical axis of camera 5 perpendicular to plane where target image,
It is k to set 5 amplification factor of camera, adopts figure time interval as Δ t, motor is operated in speed ring mode, and camera 5 is with electric mover 4
Movement acquires and preserves the sequence stripe pattern ft that size is M × N in real time, wherein, t=0, Δ t, 2 Δ t ..., n Δ t.
Motor operating rate is set as v0, and for Image Acquisition is made to meet Nyquist sampling thheorems, adopting figure time interval should expire
FootIt is simultaneously guarantee motor position and the real-time correspondence of displacement measurement, adopts figure time interval and should also
More than Riming time of algorithm.
Step 3：In the test of linear motor pushing force fluctuation, the speed of service of electric mover is all bigger, and image is adopted
Collection process is easily influenced by factors such as noises, therefore it is required that electric mover displacement measurement algorithm has higher real-time, steady
Qualitative and measurement accuracy is needed to sequence stripe pattern ftIt is pre-processed, obtains sequence uniline complete cycle striped gt, during utilization
Between sequence uniline complete cycle striped described in sequence analysis extract real-time displacement information, sequence uniline complete cycle striped displacement letter
Breath is electric mover displacement s (t).
Step 4：According to electric mover displacement s (t) and time interval Δ t, bond quality m, the speed v of electric mover is obtained
(t), acceleration a (t) and force oscillation F (t), completes the measurement fluctuated to linear motor pushing force, and the quality m is motor
Son, camera and the quality of load.
In specific implementation, to sequence stripe pattern f in step 3tIt is to carry out as follows to carry out pretreatment：
For sequence stripe pattern ftISEF filtering is carried out, image after sequential filtering is obtained, to improve measurement stability；
Using the edge feature of image after Canny operator extraction sequential filterings, the spacing p of two neighboring edge feature is half
A fringe period.
The sampling of jth row uniline is carried out for image after sequential filtering, obtains sequence uniline striped ftj, measured in real time with improving
Property.
In order to inhibit spectral leakage during Fourier transformation, in sequence uniline striped ftjUpper intercepted length is the number of 2p × q
According to obtaining sequence uniline complete cycle striped gt, wherein q is the positive integer less than M/w, is completed to sequence stripe pattern ftPre- place
Reason.
Using the displacement information of sequence uniline complete cycle striped described in time series analysis extract real-time, committed step is
The phase of striped is obtained using discrete Fourier transform, but such as sample frequency and signal frequency difference during sliding-model control
Step, the phase for causing periodic sampling signal is discontinuous at beginning and terminal, may result in spectrum leakage, influences measurement accuracy.This
Invention can effectively inhibit to measure caused by spectrum leakage by measuring fringe period acquisition uniline striped data complete cycle
Error.
Linear motor rotor displacement s (t) is obtained as follows：
In t moment, uniline striped sequence complete cycle g after pretreatmenttIt is defined as the g expressed as shown in formula (2)t(x)：
γ is fringe contrast,It is the time phase related with electric mover displacement to be solved,
Fourier transformation is carried out to formula (2) and obtains gt(x) frequency spectrum Sgt (ξ) such as formula (3)：
ξ is frequency, C (ξ) and C*(ξ)+1 grade and -1 grade of frequency spectrum, * represent complex conjugate respectively, and DC (ξ) is zero level low frequency background
Optical spectrum；For frequency spectrum Sgt (ξ), choose suitable bandpass filter and filter out zero level low frequency background optical spectrum therein and -1 grade
Frequency spectrum, then carry out inverse Fourier transform and obtain complex signal Ut (x) such as formulas (4)：
Ut (x)=∫ C (ξ) exp (j ξ x) d ξ (4),
Then have：
Wherein, Im is the imaginary part of Ut (x), and Re is the real part of Ut (x)；
Then coordinate value is expressed as the time phase ψ (t) of any point of (i, j) in sine streak image：ψ (t)=φ t
(i), the movement of electric mover is considered as rigid body translation, then time of the coordinate value for any point of (i, j) in sine streak image
Phase ψ (t) is the time phase related with electric mover displacement to be solved
Obtaining linear motor rotor displacement s (t) by formula (6) is：
Wherein Δ u is camera phase elemental size, and unwrap represents to carry out phase unwrapping to envelope phase.
Speed v (t), acceleration a (t) and the thrust for obtaining linear motor rotor are calculated using formula (7), formula (8) and formula (9)
Fluctuate F (t)：
F (t)=ma (t) (9).
The present invention obtains motor force oscillation by measuring linear motor rotor displacement, and measuring system is simple, robustness
By force, using time sequence analysis algorithm and it is preprocessed obtain complete cycle single line of data method substantially increase measurement accuracy and
Real-time.
To verify effectiveness of the invention, the i.e. real-time of method, stability and accuracy, linear motor pushing force wave is provided
The emulation experiment of dynamic test.The Gaussian noise that variance is 30 is added in sine streak image is emulated, motor is operated in speed
Ring mode, movement velocity are set as 0.5m/s；Camera amplification factor k=0.1 is adopted and is divided into Δ t=0.003s, pixel dimension Δ between figure
U=10um；Electric mover, camera and the quality of load m=3kg；Collected sequence sine image size for M × N=512 ×
256 pixels, the collected emulation sine streak image containing Gaussian noise of camera, fringe period are when Fig. 2 show t=0.1s
50 pixels；Linear motor pushing force fluctuation is generated by following formula:F=10sin (2 π/0.2 × t), amplitude 10N, frequency are
5Hz, simulation curve is as shown in Figure 3a；Mover displacement s (t) is then emulated, is motor uniform motion displacement and by thrust such as Fig. 3 b
The superposition of displacement fluctuation caused by fluctuation.
Using the method for the present invention, to Fig. 2, noisy figure carries out ISEF filtering and Canny edge extractings, bar graph after being filtered
With edge feature figure difference as shown in figures 4 a and 4b.As can be seen that noise is inhibited and obtains more sharp edge
Characteristic pattern, after measured, the distance between two neighboring feature are 25 pixels, are just the half for emulating fringe period, verify
The correctness of preprocess method of the present invention.Uniline striped complete cycle, then profit are obtained by fringe period and the uniline sampling measured
Mover displacement curve can be obtained with time series analysis.Fig. 5 a and Fig. 5 b be respectively it is processed by the invention after straight-line electric it is motor-driven
Sub- displacement curve and error curve, displacement detecting error are less than 0.0005mm.After Fig. 6 a and Fig. 6 b are respectively processed by the invention
Force oscillation curve and error curve, it can be seen that measurement error force oscillation be less than 0.1N.Meanwhile by emulation experiment also
The run time that can obtain inventive algorithm is less than 0.003s.
The method of the present invention is a kind of reliable and stable, simple in structure, fast response time and the stronger linear motor of practicability pushes away
Fluctuation measuring method, while be also a kind of high-precision linear motor rotor location measurement method.
Claims (4)
1. a kind of contactless linear motor pushing force fluctuation measuring method, it is characterized in that carrying out as follows：
Step 1：A width sine streak image I is formed by projection in the perpendicular parallel with the electric mover direction of motion
(x, y) as target image, the stripe direction of the sine streak image is in vertical；
Using the direction of motion of electric mover as X-axis, the plane coordinate system in perpendicular is built using vertical direction as Y-axis, it is described
Sine streak image size is M0×N0, expression such as (1) of the sine streak image I (x, y) in plane coordinate system：
W is fringe period,For striped initial phase, a (x, y) is background light intensity, and b (x, y) is streak amplitude；X, y are described
The pixel coordinate of sine streak image, x=1,2 ... M0；Y=1,2 ... N0；
Step 2：Camera is fixed on electric mover, the optical axis of camera sets phase perpendicular to plane where target image
Machine amplification factor is k, adopts figure time interval as Δ t, motor is operated in speed ring mode, and camera is moved with electric mover, in real time
It acquires and preserves the sequence stripe pattern f that size is M × Nt, wherein, t=0, Δ t, 2 Δ t ..., n Δ t；
Step 3：To the sequence stripe pattern ftIt is pre-processed, obtains sequence uniline complete cycle striped gt, utilize time series
Analyze the displacement information of sequence uniline complete cycle striped described in extract real-time, the displacement information of uniline striped sequence complete cycle
As electric mover displacement s (t)；
Step 4：According to the electric mover displacement s (t) and time interval Δ t, bond quality m, the speed v of electric mover is obtained
(t), acceleration a (t) and force oscillation F (t), completes the measurement fluctuated to linear motor pushing force, and the quality m is motor
Son, camera and the quality of load.
2. contactless linear motor pushing force fluctuation measuring method according to claim 1, it is characterized in that：The step 3
In to sequence stripe pattern ftIt is to carry out as follows to carry out pretreatment：
For sequence stripe pattern ftISEF filtering is carried out, image after sequential filtering is obtained, to improve measurement stability；
Using the edge feature of image after Canny operator extraction sequential filterings, the spacing p of two neighboring edge feature is half
The line period；
The sampling of jth row uniline is carried out for image after sequential filtering, obtains sequence uniline striped ftj, to improve measurement real-time；
In order to inhibit spectral leakage during Fourier transformation, in sequence uniline striped ftjUpper intercepted length is the data of 2p × q, is obtained
To sequence uniline complete cycle striped gt, wherein q is the positive integer less than M/w, is completed to sequence stripe pattern ftPretreatment.
3. contactless linear motor pushing force fluctuation measuring method according to claim 2, it is characterized in that：As follows
Obtain linear motor rotor displacement s (t)：
In t moment, uniline striped sequence complete cycle g after pretreatmenttIt is defined as the g expressed as shown in formula (2)t(x)：
γ is fringe contrast,It is the time phase related with electric mover displacement to be solved,
Fourier transformation is carried out to formula (2) and obtains gt(x) frequency spectrum Sgt(ξ) such as formula (3)：
ξ is frequency, C (ξ) and C*(ξ)+1 grade and -1 grade of frequency spectrum, * represent complex conjugate respectively, and DC (ξ) is zero level low frequency background optical frequency
Spectrum；
For frequency spectrum Sgt(ξ) chooses suitable bandpass filter and filters out zero level low frequency background optical spectrum therein and -1 grade of frequency spectrum,
Inverse Fourier transform is carried out again obtains complex signal Ut(x) such as formula (4)：
Ut (x)=∫ C (ξ) exp (j ξ x) d ξ (4),
Then have：
Wherein, Im Ut(x) imaginary part, Re Ut(x) real part；
Then coordinate value is expressed as the time phase ψ (t) of any point of (i, j) in sine streak image：ψ (t)=φ t (i), will
The movement of electric mover is considered as rigid body translation, then time phase ψ of the coordinate value for any point of (i, j) in sine streak image
(t) it is the time phase related with electric mover displacement to be solved
Obtaining linear motor rotor displacement s (t) by formula (6) is：
Wherein Δ u is camera phase elemental size, and unwrap represents to carry out phase unwrapping to envelope phase.
4. contactless linear motor pushing force fluctuation measuring method according to claim 3, which is characterized in that utilize formula
(7), formula (8) and formula (9) calculate speed v (t), acceleration a (t) and the force oscillation F (t) for obtaining linear motor rotor：
F (t)=ma (t) (9).
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| WO2023175046A1 (en) * | 2022-03-16 | 2023-09-21 | Eyegauge | Device for measuring the torsion torque and thrust to which a rotating shaft is subjected |
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