CN110013920B - Precision centrifuge rotating speed control method for eliminating rotating speed indication error - Google Patents
Precision centrifuge rotating speed control method for eliminating rotating speed indication error Download PDFInfo
- Publication number
- CN110013920B CN110013920B CN201910430478.0A CN201910430478A CN110013920B CN 110013920 B CN110013920 B CN 110013920B CN 201910430478 A CN201910430478 A CN 201910430478A CN 110013920 B CN110013920 B CN 110013920B
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- precision
- centrifuge
- error
- precision centrifuge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B13/00—Control arrangements specially designed for centrifuges; Programme control of centrifuges
Landscapes
- Centrifugal Separators (AREA)
Abstract
The invention discloses a method for controlling the rotating speed of a precision centrifuge, which is used for eliminating the error of the indicating value of the rotating speed, in particular to a method for controlling the rotating speed of the precision centrifuge, which eliminates the error of the indicating value of the rotating speed by accurately and regularly adjusting the numerical value of a rotating speed instruction. The method is based on the accurate measurement of the actual rotating speed of the precision centrifuge, the rotating speed instruction sent to the servo driver is converted into pulse signals with different duty ratios from a single fixed point signal, and the approximation of the actual rotating speed of the centrifuge to the expected rotating speed is realized by accurately adjusting the duty ratios of high and low numerical values in the instruction signal. The invention is equivalent to improving the speed instruction identification resolution of the servo driver, and can reduce the speed indication error of the precision centrifuge by 2 orders of magnitude, thereby achieving the technical index required by the highest accuracy grade, namely 0.0001 grade precision centrifuge, specified in JJG 1066-.
Description
Technical Field
The invention relates to the technical field of application of precision centrifuges, in particular to a method for controlling the rotating speed of a precision centrifuge, which is used for eliminating rotating speed indicating errors.
Background
The precise centrifugal machine is an inertial navigation device calibration device which generates a high-precision, high-stability and high-gravity centrifugal field environment through high-precision centrifugal rotation. The rotation speed output precision is a core index of a precision centrifuge for realizing a high-precision centrifugal field environment, and the index is embodied as a rotation speed indication error in a national metrological verification regulation JJJG 1066-2011 'verification regulation of the precision centrifuge)' -namely, a relative standard deviation between an actual output value and a target value of the rotation speed of the centrifuge. The rotation speed indication error of the precision centrifuge needs to be lower than the acceleration precision level by one order of magnitude.
The rotation speed servo control of the precision centrifuge mostly adopts a direct control mode of a servo driver, namely the servo driver receives a target rotation speed instruction and realizes the servo control of the rotation speed of the centrifuge by an internal rotation speed-torque double-layer closed-loop control structure. In order to improve the transmission accuracy and stability of the target rotating speed command, the servo driver generally adopts a digital signal interface to receive the rotating speed command, and is limited by the transmission bit number of the digital signal, and the servo driver inevitably has a resolution limit on the identification of the rotating speed command. In the precision centrifugal experiment, the rotating speed of the centrifugal machine corresponding to the target acceleration generally cannot be exactly located at the discrete points of the rotating speeds, so that inevitable rotating speed indication errors are generated, and then the indication errors of the output acceleration of the precision centrifugal machine are caused, and the accuracy grade of the precision centrifugal machine cannot be further improved.
For example, when the S700 series servo drivers with the resolution of 0.001rpm are identified by the speed command, the actual working speed of the centrifuge generates a maximum speed deviation of 0.0005rpm relative to the target speed without considering other interference factors, and if the speed indication error is reduced to 1 × 10-5In order to meet the technical index requirements of a 0.01-grade precision centrifuge, the working rotating speed of the centrifuge must be larger than 50rpm, and because the lower limit of the working g value of the precision centrifuge cannot be larger than 1g generally, the acceleration calculation formula a of the centrifuge is omega2R (a is the output acceleration of the centrifuge, omega is the working rotating speed of the centrifuge, and R is the working radius of the centrifuge), it can be known that the working radius of the precision centrifuge cannot be larger than 357mm at the moment, which will seriously limit the scale size and application effect of the precision centrifuge.
With the further improvement of the accuracy grade of the precision centrifuge, the working rotating speed of the centrifuge must be increased on the same scale, and the working radius of the centrifuge is reduced in an inverse square relation. Obviously, for a precision centrifuge with an accuracy level of more than 0.01, a technical route for directly controlling a single rotating speed instruction by using a servo driver cannot obtain a rotating speed indication error meeting the technical index requirement.
Disclosure of Invention
The present invention is directed to a method for controlling the rotation speed of a precision centrifuge, which is used to solve the above problems.
In order to achieve the above object, the present disclosure provides a method for controlling a rotation speed of a precision centrifuge, which is implemented based on a servo driving system of the precision centrifuge, and comprises the following steps:
s1: calculating a target rotating speed value omega according to the target g value of the precision centrifugal experiment, wherein the target rotating speed value omega is issued to a servo driver as a rotating speed instruction to drive the precision centrifugal machine to operate at the target rotating speed omega, and skipping S2;
s2: the whole period fixed point pulse signal of the incremental circular grating is accessed into a high-precision frequency meter, and the high-precision frequency meter obtains the pulse frequency f, unit: hz, according to the formulaiObtaining the average rotating speed omega of the whole period of the centrifuge at 60 × fiThe unit: rpm, jump S3;
s3: omega for continuously obtaining precision centrifuge from high-precision frequency meter by measuring and controlling computeriAnd continuously recording and storing 10 omega in a queue modeiCalculating the continuous 10 ω according to the following formulaiThe corresponding error of the rotating speed of the precision centrifuge relative to the standard uncertainty and the indicating value of the rotating speed is as follows:
the calculation formula of the rotating speed of the precision centrifuge relative to the standard uncertainty lambda is as follows:
(1) in the formula (I), the compound is shown in the specification,
is the average value of average rotating speeds of 10 continuous whole periods,
the calculation formula of the indication error of the rotating speed of the precision centrifuge is as follows:
(2) in the formula, the absolute value of the indicating error of the rotating speed of the precision centrifuge is shown, (3) in the formula, the relative value of the indicating error of the rotating speed of the precision centrifuge is shown, and S4 is skipped;
s4: judging whether the lambda is smaller than the accuracy grade of the precision centrifuge by an order of magnitude, judging whether the lambda is smaller than the rotating speed instruction identification resolution res of the servo driver, if the lambda is smaller than the accuracy grade of the precision centrifuge by the order of magnitude, skipping to S5, and if the lambda is not smaller than the rotating speed instruction identification resolution res of the servo driver, skipping to S3;
s5: judging whether the accuracy grade of the precision centrifuge is smaller than one order of magnitude, if so, skipping to S12, otherwise, skipping to S6;
s6: establishing a timing cycle program in the measurement and control computer, wherein the timing cycle of the program is set as the rotation cycle T of the centrifuge as 60/omega, and the unit: s, each timing cycle of the program is further divided into two sequential execution parts with precise timings, the timing intervals are respectively T1 and T2, T1 is set to T2 and T/2 is set to be the initial values of T1 and T2, and the sequentially executed T1 parts are used to send the rotating speed correction command omega + delta1The rotation speed correction command ω + Δ is sent using the sequentially executed portion T22Jump to S7;
s7: calculating the ratio X to res, jumping to S8 if X is more than 0 and less than or equal to 1/3, jumping to S9 if X is more than 1/3 and less than or equal to 2/3, and jumping to S10 if X is more than 2/3 and less than 1;
s8: when T1 is equal to 0.5(1-X) T and T2 is equal to 0.5(1+ X) T, the method is used
When, set delta1＝res，Δ2When is-res
When, set delta1＝-res，Δ2Jump to S11;
s9: when T1 is set to XT and T2 is set to (1-X) T
When, set delta1＝-res，Δ2When is equal to 0
When, set delta1＝res，Δ2Jumping to S11, 0;
s10: when T1 is set to 0.5XT and T2 is set to (1-0.5X) T
When, set delta1＝-2res，Δ2When is equal to 0
When, set delta1＝2res，Δ2Jumping to S11, 0;
s11: emptying the storage result of the average rotating speed of the precision centrifuge in the whole period by the measuring and controlling computer, storing the storage result in a queue mode again, and calculating a relative value delta of the rotating speed indication error of the precision centrifuge corresponding to the average rotating speed of the 10 whole periods after the storage quantity of the newly obtained average rotating speed of the whole period reaches 10; judging whether the delta is smaller than the accuracy grade of the precision centrifuge by an order of magnitude, if so, skipping to S12, otherwise, skipping to S3;
s12: and finishing the flow of correcting the rotation speed indication error of the precision centrifuge and outputting an experimental result.
The invention has the beneficial effects that:
1. the invention relates to a method for controlling the rotating speed of a precision centrifuge, which is used for eliminating the error of the indicating value of the rotating speed, and the method is based on the accurate measurement of the actual rotating speed of the precision centrifuge, converts a rotating speed instruction sent to a servo driver from a single fixed point signal into pulse signals with different duty ratios, and realizes the approximation of the actual rotating speed of the centrifuge to the expected rotating speed by accurately adjusting the duty ratios of high and low numerical values in the instruction signal;
2. the method for controlling the rotating speed of the precision centrifuge for eliminating the rotating speed indication error is equivalent to improving the rotating speed instruction identification resolution of a servo driver, and can reduce the rotating speed indication error of the precision centrifuge by 2 orders of magnitude, thereby achieving the technical index required by the highest accuracy level, namely 0.0001 level precision centrifuge, specified in JJG1066-2011 precision centrifuge verification regulations.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method for controlling the rotational speed of a precision centrifuge for eliminating rotational speed indication errors according to the present invention;
FIG. 2 is a block diagram of the structure related to the method for controlling the rotating speed of the precision centrifuge for eliminating the error of the indicating value of the rotating speed.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
As shown in FIG. 1, the invention relates to a method for controlling the rotation speed of a precision centrifuge, which is implemented based on a servo drive system of the precision centrifuge and comprises the following steps:
s1: and calculating a target rotating speed value omega according to the target g value of the precision centrifugal experiment, wherein the target rotating speed value omega is issued to the servo driver as a rotating speed instruction, and the precision centrifugal machine is driven to operate at the target rotating speed omega, so that S2 is skipped.
The conversion formula between the target g value and the target rotating speed value omega is as follows:
g＝r×11.18×10-6×ω2
in the formula, the unit of omega is rpm, the unit of g is g, and r is the effective centrifugation radius, namely the length from the axle center of the centrifuge to the barrel bottom of the centrifuge tube, and the unit is cm.
The rotating speed instruction of the target rotating speed value omega is directly sent to the servo driver by the measuring and controlling computer in a digital instruction mode.
S2: the whole period fixed point pulse signal of the incremental circular grating is connected into a high-precision frequency meter, the high-precision frequency meter obtains the pulse frequency f (unit: Hz), and the pulse frequency f (unit: Hz) is calculated according to a calculation formula omegaiObtaining the average rotating speed omega of the whole period of the centrifuge at 60 × fi(unit: rpm), jump S3.
The incremental circular grating is capable of outputting a fixed-point pulse signal with a whole period, so that the incremental circular grating is directly embedded on a main shaft of the centrifuge, namely the output period of the fixed-point pulse signal is the same as the rotation period of the centrifuge system.
And selecting a high-precision frequency meter with corresponding measurement resolution according to the accuracy grade of the precision centrifuge system, wherein the measurement resolution of the high-precision frequency meter is two orders of magnitude higher than that of the precision centrifuge. For example, for a 0.001 class precision centrifuge system, a high precision frequency meter with a resolution of at least 7 bits and a half should be selected for the average rotational speed measurement of the centrifuge system over the entire period.
S3: omega for continuously obtaining precision centrifuge from high-precision frequency meter by measuring and controlling computeriAnd continuously recording and storing 10 omega in a queue modeiCalculating the continuous 10 ω according to the following formulaiThe corresponding error of the rotating speed of the precision centrifuge relative to the standard uncertainty and the indicating value of the rotating speed is as follows:
the calculation formula of the rotating speed of the precision centrifuge relative to the standard uncertainty lambda is as follows:
(1) in the formula (I), the compound is shown in the specification,
is the average value of average rotating speeds of 10 continuous whole periods,
the calculation formula of the indication error of the rotating speed of the precision centrifuge is as follows:
(2) in the formula, the absolute value of the indicating error of the rotating speed of the precision centrifuge is shown, and in the formula (3), the relative value of the indicating error of the rotating speed of the precision centrifuge is shown, and S4 is skipped.
The high-precision frequency meter is provided with a communication interface matched with the measurement and control computer, is in signal connection with the measurement and control computer and can automatically upload the measurement result of each rotation period of the centrifuge system to the measurement and control computer.
And the measurement and control computer calculates the error between the rotating speed and the rotating speed indication value of the centrifuge based on the measuring result of the rotating period of the centrifuge system obtained by the high-precision frequency meter according to the rotating speed indication value error detecting method specified in JJG1066-2011 precision centrifuge detecting regulation.
And the measuring and controlling computer continuously and accurately adjusts the rotating speed instruction according to the error calculation result of the rotating speed and the rotating speed indication value of the centrifuge, namely the rotating speed instruction sent by the measuring and controlling computer to the servo driver is converted into a pulse form with accurate timing of high and low numerical values from a single numerical value form.
S4: and judging whether the lambda is smaller than the accuracy grade of the precision centrifuge by an order of magnitude, judging whether the lambda is smaller than the rotating speed instruction identification resolution res of the servo driver, if so, skipping to S5, and otherwise, skipping to S3.
S5: and judging whether the accuracy grade of the precision centrifuge is smaller than one order of magnitude, if so, skipping to S12, and otherwise, skipping to S6.
S6: establishing a timing cycle program in the measurement and control computer, and setting the timing period of the programThe rotation period T of the centrifuge is 60/omega (unit: s), each timing period of the program is further divided into two sequential execution parts with precise timing, the timing intervals are respectively T1 and T2, T1 is set to T2, T/2 is set to be the initial values of T1 and T2, and a rotation speed correction command omega + delta is sent by using the sequentially executed T1 parts1The rotation speed correction command ω + Δ is sent using the sequentially executed portion T22Jump to S7.
The timing accuracy of the measurement and control computer should be at least 1 ms.
S7: calculating the ratio X to res, jumping to S8 if X is more than 0 and less than or equal to 1/3, jumping to S9 if X is more than 1/3 and less than or equal to 2/3, and jumping to S10 if X is more than 2/3 and less than 1.
S8: when T1 is equal to 0.5(1-X) T and T2 is equal to 0.5(1+ X) T, the method is used
When, set delta1＝res，Δ2-res; when in use
When, set delta1＝-res，Δ2Jump S11.
S9: when T1 is set to XT and T2 is set to (1-X) T
When, set delta1＝-res，Δ20; when in use
When, set delta1＝res，Δ2Go to S11, 0.
S10: when T1 is set to 0.5XT and T2 is set to (1-0.5X) T
When, set delta1＝-2res，Δ20; when in use
When, set delta1＝2res，Δ2Go to S11, 0.
S11: emptying the storage result of the average rotating speed of the precision centrifuge in the whole period by the measuring and controlling computer, storing the storage result in a queue mode again, and calculating the relative value of the rotating speed indication error of the precision centrifuge corresponding to the average rotating speed of the 10 whole periods after the storage quantity of the newly obtained average rotating speed of the whole period reaches 10Δ(ii) a Judgment ofΔAnd (4) whether the accuracy grade of the precision centrifuge is smaller than one order of magnitude, if so, jumping to S12, otherwise, jumping to S3.
S12: and finishing the flow of correcting the rotation speed indication error of the precision centrifuge and outputting an experimental result.
If it is necessary to continue the precision centrifugation experiment for other target g values, the test is started directly from S2.
As shown in fig. 2, inputting the target rotation speed of the centrifuge obtained according to the experimental target g value into the measurement and control computer; the measurement and control computer sends a rotating speed instruction to the servo driver; the servo driver transmits a driving current to the servo motor to enable the servo motor to work; the servo motor works to enable the main shaft of the centrifuge to rotate, an incremental circular grating photoelectric encoder arranged on the main shaft of the centrifuge feeds back an implementation rotating speed to a servo driver, and sends a fixed-point pulse signal of a whole period to the high-precision frequency meter; the high-precision frequency meter feeds back the average rotating speed indication value of the whole period to the measuring and controlling computer.
The measuring and controlling computer, the servo driver, the servo motor, the incremental circular grating photoelectric encoder, the high-precision frequency meter and other equipment are standard instrument equipment in the related field. Aiming at the precise centrifuge systems with different scales and accuracy levels, the selected instrument and equipment meet the requirements of corresponding accuracy levels and technical indexes.
Further, the main factors affecting the system performance are as follows: minimum working speed omega of precision centrifugemin(unit: rpm) and maximum working speed omega of precision centrifugemax(unit: rpm), target rotation speed omega (unit: rpm) of precision centrifuge, timing precision t (unit: s) of measuring and controlling computer and rotation of servo driverThe speed instruction identifies a resolution res.
Specifically, ωmin≤ω≤ωmax。
The corresponding main performance indexes of the system are as follows:
the shortest time for finishing the correction process of the rotation speed indicating value error is as follows:
(unit: s);
and (3) after the correction process is finished, indicating the theoretical absolute value of the error of the rotating speed:
(unit: rpm);
and (3) after the correction process is finished, indicating the theoretical relative value of the error of the rotating speed:
the method carries out precise numerical adjustment on the target rotating speed instruction of the precise centrifugal machine in a precise timing mode so as to eliminate the rotating speed indication error of the precise centrifugal machine; accurately and quantitatively calculating the timing period of the adjustment target rotating speed instruction according to the target rotating speed of the centrifuge, the average rotating speed of the actual adjustment period of the centrifuge measured by the high-precision frequency meter and the rotating speed instruction identification resolution of the servo driver; and carrying out accurate quantitative calculation on the numerical adjustment of the target rotating speed instruction according to the target rotating speed of the centrifuge, the actual whole-period average rotating speed of the centrifuge measured by the high-precision frequency meter and the rotating speed instruction identification resolution of the servo driver.
The method for controlling the rotating speed of the precision centrifuge for eliminating the rotating speed indicating value error in the traditional precision centrifuge system can ensure that 10 is adopted-8The magnitude of the relative error of the rotation speed indication value (the measurement and control computer adopts a Windows system with the timing precision of 1 ms) meets the index requirement of the precision centrifuge with the accuracy grade of 0.0001 level.
The method for controlling the rotating speed of the precision centrifuge, which is used for eliminating the rotating speed indicating value error and is adopted in the traditional precision centrifuge system, has the advantages of few hardware structures needing to be added and low implementation difficulty. The high-precision frequency meter and the incremental circular grating are common precision rotating speed measuring parts of a precision centrifuge system and can be generally used.
The method for controlling the rotating speed of the precision centrifuge for eliminating the rotating speed indication error is adopted in the traditional precision centrifuge system, and the relative error of the rotating speed indication of the precision centrifuge system can be further eliminated by selecting a measuring and controlling computer with higher timing precision (for example, a Windows system computer is replaced by an RT real-time system computer).
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (8)
1. A precision centrifuge rotational speed control method for reducing rotational speed indicating value error is realized based on a servo drive system of a precision centrifuge, and is characterized in that: the method comprises the following steps:
s1: calculating a target rotating speed value omega according to the target g value of the precision centrifugal experiment, wherein the target rotating speed value omega is issued to a servo driver as a rotating speed instruction to drive the precision centrifugal machine to operate at the target rotating speed omega, and skipping S2;
s2: will be incrementalThe whole period fixed point pulse signal of the circular grating is connected into a high-precision frequency meter, and the high-precision frequency meter obtains the pulse frequency f, unit: hz, according to the formulaiObtaining the average rotating speed omega of the whole period of the centrifuge at 60 × fiThe unit: rpm, jump S3;
s3: omega for continuously obtaining precision centrifuge from high-precision frequency meter by measuring and controlling computeriAnd continuously recording and storing 10 omega in a queue modeiCalculating the continuous 10 ω according to the following formulaiThe corresponding error of the rotating speed of the precision centrifuge relative to the standard uncertainty and the indicating value of the rotating speed is as follows:
the calculation formula of the rotating speed of the precision centrifuge relative to the standard uncertainty lambda is as follows:
(1) in the formula (I), the compound is shown in the specification,
is the average value of average rotating speeds of 10 continuous whole periods,
the calculation formula of the indication error of the rotating speed of the precision centrifuge is as follows:
(2) in the formula, the absolute value of the indicating error of the rotating speed of the precision centrifuge is shown, (3) in the formula, the relative value of the indicating error of the rotating speed of the precision centrifuge is shown, and S4 is skipped;
s4: judging whether the lambda is smaller than the accuracy grade of the precision centrifuge by an order of magnitude, judging whether the lambda is smaller than the rotating speed instruction identification resolution res of the servo driver, if the lambda is smaller than the accuracy grade of the precision centrifuge by the order of magnitude, skipping to S5, and if the lambda is not smaller than the rotating speed instruction identification resolution res of the servo driver, skipping to S3;
s5: judging whether the accuracy grade of the precision centrifuge is smaller than one order of magnitude, if so, skipping to S12, otherwise, skipping to S6;
s6: establishing a timing cycle program in the measurement and control computer, wherein the timing cycle of the program is set as the rotation cycle T of the centrifuge as 60/omega, and the unit: s, each timing cycle of the program is further divided into two sequential execution parts with precise timings, the timing intervals are respectively T1 and T2, T1 is set to T2 and T/2 is set to be the initial values of T1 and T2, and the sequentially executed T1 parts are used to send the rotating speed correction command omega + delta1The rotation speed correction command ω + Δ is sent using the sequentially executed portion T22Jump to S7;
s7: calculating the ratio X to res, jumping to S8 if X is more than 0 and less than or equal to 1/3, jumping to S9 if X is more than 1/3 and less than or equal to 2/3, and jumping to S10 if X is more than 2/3 and less than 1;
s8: when T1 is equal to 0.5(1-X) T and T2 is equal to 0.5(1+ X) T, the method is used
When, set delta1＝res，Δ2When is-res
When, set delta1＝-res，Δ2Jump to S11;
s9: when T1 is set to XT and T2 is set to (1-X) T
When, set delta1＝-res，Δ2When is equal to 0
When, set delta1＝res，Δ2Jumping to S11, 0;
s10: when T1 is set to 0.5XT and T2 is set to (1-0.5X) T
When, set delta1＝-2res，Δ2When is equal to 0
When, set delta1＝2res，Δ2Jumping to S11, 0;
s11: emptying the storage result of the average rotating speed of the precision centrifuge in the whole period by the measuring and controlling computer, storing the storage result in a queue mode again, and calculating a relative value delta of the rotating speed indication error of the precision centrifuge corresponding to the average rotating speed of the 10 whole periods after the storage quantity of the newly obtained average rotating speed of the whole period reaches 10; judging whether the delta is smaller than the accuracy grade of the precision centrifuge by an order of magnitude, if so, skipping to S12, otherwise, skipping to S3;
s12: and finishing the flow of correcting the rotation speed indication error of the precision centrifuge and outputting an experimental result.
2. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: the measuring resolution of the selected high-precision frequency meter is two orders of magnitude higher than the accuracy grade of a precision centrifuge.
3. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: the incremental circular grating capable of outputting the whole-period fixed-point pulse signal is nested on the main shaft of the centrifuge, namely the output period of the fixed-point pulse signal is the same as the rotation period of the centrifuge system.
4. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: the high-precision frequency meter is in signal connection with the measurement and control computer.
5. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: the timing precision of the measurement and control computer is at least 1 ms.
6. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: and the measuring and controlling computer calculates the error between the rotating speed and the indicating value of the rotating speed of the centrifuge based on the measuring result of the rotating period of the centrifuge system obtained by the high-precision frequency meter.
7. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 1, wherein: in S1, the rotational speed command is sent to the servo driver by the measurement and control computer in the form of a digital command.
8. The method for controlling the rotation speed of a precision centrifuge for reducing the indication error of the rotation speed according to claim 7, wherein: and the measuring and controlling computer continuously and accurately adjusts the rotating speed instruction according to the error calculation result of the rotating speed and the rotating speed indication value of the centrifugal machine, namely the rotating speed instruction sent to the servo driver by the measuring and controlling computer is converted into a pulse form with high and low numerical values and accurate timing from a single numerical value form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430478.0A CN110013920B (en) | 2019-05-22 | 2019-05-22 | Precision centrifuge rotating speed control method for eliminating rotating speed indication error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430478.0A CN110013920B (en) | 2019-05-22 | 2019-05-22 | Precision centrifuge rotating speed control method for eliminating rotating speed indication error |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110013920A CN110013920A (en) | 2019-07-16 |
| CN110013920B true CN110013920B (en) | 2020-09-01 |
Family
ID=67194277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910430478.0A Active CN110013920B (en) | 2019-05-22 | 2019-05-22 | Precision centrifuge rotating speed control method for eliminating rotating speed indication error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110013920B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113702705B (en) * | 2021-08-17 | 2024-04-09 | 中国工程物理研究院总体工程研究所 | Synchronous measurement system and method for phase of double-shaft precise centrifugal machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5978752A (en) * | 1997-08-07 | 1999-11-02 | Seagate Technology, Inc. | Model validation algorithm for characterizing parameters and uncertainty in a disc drive |
| CN1851469A (en) * | 2006-06-12 | 2006-10-25 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low speed measuring-correcting instrument and ocrrecting method |
| CN102360027A (en) * | 2011-08-02 | 2012-02-22 | 中国科学院自动化研究所 | Differential pressure type airspeed sensor testing system |
| CN102735874A (en) * | 2012-04-18 | 2012-10-17 | 中国工程物理研究院总体工程研究所 | Method for eliminating influence of dynamic and static misalignment angle of precise centrifugal machine on calibration of accelerometer |
| CN104776862A (en) * | 2015-04-21 | 2015-07-15 | 中国工程物理研究院总体工程研究所 | Dynamic precision centrifuge system and testing method thereof |
-
2019
- 2019-05-22 CN CN201910430478.0A patent/CN110013920B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5978752A (en) * | 1997-08-07 | 1999-11-02 | Seagate Technology, Inc. | Model validation algorithm for characterizing parameters and uncertainty in a disc drive |
| CN1851469A (en) * | 2006-06-12 | 2006-10-25 | 中国航空工业第一集团公司北京长城计量测试技术研究所 | Low speed measuring-correcting instrument and ocrrecting method |
| CN102360027A (en) * | 2011-08-02 | 2012-02-22 | 中国科学院自动化研究所 | Differential pressure type airspeed sensor testing system |
| CN102735874A (en) * | 2012-04-18 | 2012-10-17 | 中国工程物理研究院总体工程研究所 | Method for eliminating influence of dynamic and static misalignment angle of precise centrifugal machine on calibration of accelerometer |
| CN104776862A (en) * | 2015-04-21 | 2015-07-15 | 中国工程物理研究院总体工程研究所 | Dynamic precision centrifuge system and testing method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 10-6量级精密离心机输出加速度;凌明祥等;《光学精密工程》;20150815;第23卷(第8期);第100-105页 * |
| 一种精密离心机误差分析与精度评定方法;王胜利等;《导航与控制》;20180803;第17卷(第4期);第2306-2317页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110013920A (en) | 2019-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7310575B2 (en) | Apparatus for processing sensor signal from knock sensor of internal combustion engine | |
| CN110013920B (en) | Precision centrifuge rotating speed control method for eliminating rotating speed indication error | |
| CN1955639A (en) | Calibration method for vehicle speed measuring instrument | |
| CN108762117A (en) | A kind of servo-driver control method and device | |
| CN107834934A (en) | Electric automobile and its rotary transformer initial position auto-correction method and system | |
| CN112731483A (en) | Method for judging RTK abnormal value in automatic driving integrated navigation system | |
| CN112304210A (en) | Hall angle sensor angle calibration method | |
| CN2911606Y (en) | Bounded detection fast measurer for tunnel | |
| CN110530618B (en) | Torque measuring device and method for power system | |
| CN111156893B (en) | Motor operation angle measuring method and system and joint angle measuring system | |
| CN112504211A (en) | Angular position feedback system and method for automatically testing step angle precision | |
| CN102735874B (en) | Method for eliminating influence of dynamic and static misalignment angle of precise centrifugal machine on calibration of accelerometer | |
| KR20030033263A (en) | velocity signal shifting device and method | |
| US6145369A (en) | Gauge assembly | |
| CN111038514B (en) | Vehicle speed control method and related device | |
| CN110617785A (en) | Turntable eccentricity error measuring method based on modulation period photoelectric detection | |
| CN102865807B (en) | Quick measurement method of gear pitch error | |
| CN109936317B (en) | Control method and device for torque compensator | |
| CN113452294A (en) | Speed indication control method and system of mechanical speedometer and automobile | |
| CN108549406B (en) | Helicopter course control method and device and readable storage medium | |
| CN107425759B (en) | Method and device for eliminating MT method speed measurement error of incremental photoelectric encoder | |
| CN108508926A (en) | The control method and frequency converter of frequency converter | |
| CN109653885A (en) | A kind of actual engine speed mean value Calculate Ways and its control system | |
| CN110567435A (en) | Automatic high-precision leveling robot system controlled by stepping motor | |
| CN110926697B (en) | Dynamic balance correction apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |