CN110412363B - Software polarity judgment direct current electric field measurement system based on speed closed-loop control - Google Patents
Software polarity judgment direct current electric field measurement system based on speed closed-loop control Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/12—Measuring electrostatic fields or voltage-potential
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/12—Measuring electrostatic fields or voltage-potential
- G01R29/14—Measuring field distribution
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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Abstract
The invention discloses a software polarity judgment direct current electric field measurement system based on speed closed-loop control, which comprises a signal processing module, a signal offset module, a voltage comparison module, a motor speed control module, a speed measurement module, a speed regulation module and a controller, wherein the signal processing module is used for processing a signal; the electric field signal processing module collects and amplifies the signals of the measured electric field in an opposite phase mode, one path of the signals is compared with voltage and then outputs square signals of the electric field to be input to an I/O port of the controller, and the other path of the signals is biased and then input to an A/D channel of the controller; the motor speed control module outputs a grating signal, the grating signal is obtained through the speed measuring module and transmitted to an external interrupt port of the controller, and when the controller causes external interrupt due to the speed signal, the controller outputs a PWM (pulse width modulation) signal through the speed adjusting module to control the change of the rotating speed of the motor to be consistent with a preset value, so that closed-loop control is realized; and the controller judges the polarity of the electric field according to the level state of the square wave signal of the electric field and the times of the electric field signal passing through the amplifier in the time period when the grating signal causes external interruption.
Description
Technical Field
The invention relates to the technical field of electric field measurement, in particular to a software polarity judgment direct current electric field measurement system based on speed closed-loop control.
Background
At present, a synthetic electric field tester mostly adopts a voltage-stabilizing open-loop control motor speed and a hardware phase discrimination circuit to realize a processing mode of synthetic electric field signals. The rotation speed of the motor determines the frequency of an electric field signal output by the sensor and the frequency of a signal output by the grating, the frequency of the grating signal is the same as that of the electric field signal, and the phases of the grating signal and the electric field signal are the same or opposite according to different polarities of the electric field. By utilizing the characteristic, the electric field signal processing can be realized by using the hardware phase discrimination circuit, and a positive polarity signal or a negative polarity signal is obtained. The negative polarity signal is changed into a positive polarity signal through the primary inverting amplifier for a/D processing. However, the hardware phase discrimination circuit needs more hardware components and is difficult to adjust.
In addition, although the voltage stabilizing circuit can stably output a certain voltage value in a larger range, the motor speed is affected when the load changes (such as motor jamming and bearing friction increase) due to different motor performances, and the change of the motor rotating speed inevitably affects the frequency change of the measuring signal, so that the accuracy of the result is affected.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art or the related art, and provides a software polarity judgment direct current electric field measuring system based on speed closed-loop control.
The embodiment of the invention provides the following specific technical scheme:
the system comprises a signal processing module, a signal offset module, a voltage comparison module, a motor speed control module, a speed measurement module, a speed regulation module and a controller;
the signal processing module acquires and amplifies the electric field signal to be detected in an opposite phase mode, one path of the amplified electric field signal outputs an electric field square wave signal through the voltage comparison module to be input to an I/O port of the controller, and the other path of the amplified electric field signal is processed by the signal bias module and then input to an A/D channel of the controller;
the grating signal output by the motor speed control module is processed by the speed measuring module to obtain a speed signal, and the speed signal is transmitted to an external interrupt port of the controller;
when the speed signal causes external interruption, the controller calculates a PWM signal of the motor through the speed adjusting module so as to control the change of the rotating speed of the motor to be consistent with a preset value;
and the controller acquires the level state of the electric field square wave signal in a time period when the speed signal causes external interruption, and judges the polarity of the electric field signal according to the level state of the electric field square wave signal and the frequency of the electric field signal passing through the inverting amplifier.
Further, the controller is specifically configured to:
and when the speed signal causes external interruption every N times, calling a PID interruption program in the speed regulation module to perform PID operation once, calculating the duty ratio of the motor driving pulse, and outputting a PWM signal for driving the motor to the motor speed control module according to the duty ratio of the motor driving pulse, wherein N is a positive integer.
Further, an external interrupt port of the controller is set to a falling edge trigger mode.
Further, the controller is specifically further configured to:
and calling a PID interruption program in the speed regulation module according to a preset control period, wherein the output PWM signal is at a high level within the time less than the duty ratio of the motor driving pulse according to the size of the duty ratio of the motor driving pulse, and the output PWM signal is at a low level within the time greater than the duty ratio of the motor driving pulse.
Further, when the speed signal causes external interruption, the controller calculates the PWM signal of the motor through the speed adjusting module to control the change of the rotating speed of the motor to be consistent with a preset value, so that the closed-loop control of the motor speed is realized, and the speed adjusting error of the motor is ensured not to exceed 0.5%.
Further, the voltage comparison module comprises a zero-crossing comparison circuit, and the electric field signal forms an electric field square wave signal with a low level of 0V and a high level of 5V through the zero-crossing comparison circuit.
Further, the signal biasing module is specifically configured to:
processing the electric field signal amplified by the signal processing module into a positive bias electric field signal, and transmitting the positive bias electric field signal to the controller;
the controller is further specifically configured to:
and carrying out A/D conversion according to the positive bias electric field signal, and calculating to obtain the magnitude of the electric field signal.
Further, the signal bias module biases the electric field signal after the inverse amplification to 2.5V, so as to obtain the positive bias electric field signal.
Further, the controller is specifically further configured to:
in the time period when the speed signal causes external interruption, the grating signal keeps a low level state, a PID interruption program in the speed regulation module is called, the level state of the received electric field square wave signal is read, and the times of high level and low level are respectively recorded;
and if the recorded high level times are greater than the low level, recording the electric field square wave signal of the time period as a high level state, otherwise, recording the electric field square wave signal of the time period as a low level state.
Further, the controller is further configured to:
when the speed signal keeps a low level state and the frequency of the electric field signal passing through an inverting amplifier in the signal processing module is an odd number, if the electric field square wave signal is in the low level state, determining that the electric field signal is in a positive polarity, and if the electric field square wave signal is in the high level state, determining that the electric field signal is in a negative polarity;
when the speed signal keeps a low level state and the frequency of the electric field signal passing through an inverting amplifier in the signal processing module is an even number, if the electric field square wave signal is in the low level state, the electric field signal is determined to be negative polarity, and if the electric field square wave signal is in the high level state, the electric field signal is determined to be positive polarity.
The embodiment of the invention provides a software polarity judgment direct current electric field measuring system based on speed closed-loop control, which realizes the measurement of the motor speed of a synthetic field tester by adopting a grating, and obtains a PWM signal for driving a motor by calling a PID interruption program in a speed regulation module by a controller to carry out PID operation, thereby realizing the real-time closed-loop control regulation of the motor speed, ensuring the stable operation of the motor under different load conditions, ensuring the stability of a measured electric field signal output by a sensor and avoiding the measurement error caused by the change of the motor rotating speed from the source; and the polarity of the electric field signal is judged by using the speed signal obtained by processing the grating signal as an external interrupt signal by a controller according to the relation between the output level state of the electric field signal and the stage number of the inverting amplifier, so that the accurate measurement of the synthesized electric field is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a software polarity determination DC electric field measurement system based on closed-loop control of speed according to an embodiment of the present invention;
FIG. 2 is a flow chart of a PID interrupt routine provided by an embodiment of the invention;
FIG. 3 illustrates a schematic diagram of a zero-crossing comparison circuit provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a voltage bias circuit provided by an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a polarity determination process provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a block diagram of a system for determining a dc electric field based on software polarity of speed closed-loop control according to an embodiment of the present invention, as shown in fig. 1, the system includes a signal processing module 10, a controller 20, a voltage comparing module 30, a signal offset module 40, a motor speed control module 50, a speed measuring module 60, and a speed adjusting module 70, the signal processing module 10 is respectively connected to the voltage comparing module 30 and the signal offset module 40, the motor speed control module 50 is respectively connected to the speed measuring module 60 and the speed adjusting module 70, and the voltage comparing module 30, the signal offset module 40, the speed measuring module 60, and the speed adjusting module 70 are respectively connected to the controller 20.
The signal processing module 10 collects and amplifies the electric field signal to be detected in reverse phase, one path of the amplified electric field signal outputs an electric field square wave signal through the voltage comparison module 30 to be input to an I/O port of the controller 20, and the other path of the amplified electric field signal is input to an A/D channel of the controller 20 after being processed by the signal bias module 40.
The grating signal output by the motor speed control module 50 is processed by the speed measurement module 60 to obtain a speed signal, and the speed signal is transmitted to the external interrupt port of the controller 20, and the grating signal output by the speed measurement module 60 is used as an external interrupt signal.
When the speed signal causes external interruption, the controller 20 calculates a PWM signal of the motor through the speed adjusting module 70 to control the rotating speed of the motor to be consistent with a preset value, wherein the controller 20 can perform PID operation by calling a PID interruption program in the speed adjusting module 70 to obtain the PWM signal for driving the motor to control the rotating speed of the motor to be consistent with the preset value;
the controller 20 obtains the level state of the electric field square wave signal in the time period when the speed signal causes the external interruption, and determines the polarity of the electric field signal according to the level state of the electric field square wave signal and the number of times that the electric field signal passes through the inverting amplifier.
Specifically, the signal processing module 10 includes a sensor and a multi-stage inverting amplifier, the sensor collects the synthesized electric field signal, and the multi-stage inverting amplifier is configured to perform inverting amplification on the collected electric field signal. The grating signal output by the motor speed control module can be used as a measurement signal for the rotating speed of the synthetic field probe motor, the grating signal output by the motor speed control module 50 is input to the speed measurement module 60, and the amplitude and the phase of the input grating signal are adjusted by the speed measurement module 60, so that the speed signal with the required waveform is output. The controller 20 may be a single chip microcomputer, the speed signal obtained by processing the grating signal by the speed measurement module may be transmitted to an external interrupt INT0 port of the single chip microcomputer as an external interrupt signal, and in the process of external interrupt caused by the speed signal, the single chip microcomputer calls a PID interrupt program in the speed adjustment module 70 to perform PID operation, so as to obtain a PWM signal for driving the motor, so as to control the change of the motor rotation speed within a preset threshold in a closed-loop manner. Preferably, when the speed signal causes an external interrupt, the controller 20 calculates a PWM signal of the motor through the speed adjusting module 70 to control the change of the rotating speed of the motor to be consistent with a preset value, thereby implementing the closed-loop control of the motor speed and ensuring that the error of the rotating speed adjustment does not exceed 0.5%, wherein the parameters required by the PID closed-loop operation are calculated through a rotating model established by physical structures such as the motor and the blades. Because the rotating speed of the synthetic field probe motor determines the frequency of the electric field signal output by the sensor and the signal output by the grating, the stability of the measured electric field signal can be ensured by controlling the speed regulation error of the motor within 0.5% based on the grating signal which is the measuring signal of the rotating speed of the synthetic field probe motor and the PID closed loop.
Because the rotating speed of the motor of the synthetic field probe determines the frequency of the electric field signal to be detected and the signal output by the grating, the frequency of the grating signal is the same as that of the electric field signal, and the phases of the grating signal and the electric field signal are the same or opposite according to the different polarities of the electric field. With this characteristic, the electric field signal processing is realized using the software polarity determination program in the controller 20, and it is determined whether the electric field signal is a positive polarity signal or a negative polarity signal.
The amplified electric field signal output by the signal processing module 10 is transmitted to the voltage comparison module 30 to obtain an electric field square wave signal, the electric field square wave signal is input to an I/O port of the controller 20, and the controller 20 can read the electric field square wave signal at any time to determine whether the electric field square wave signal is in a high level state or a low level state. In this way, the controller 20 can determine whether the electric field signal is a positive polarity signal or a negative polarity signal according to the level state of the electric field square wave signal and the number of times that the electric field signal passes through the inverting amplifier in the signal processing module in the time period when the grating signal causes the external interruption.
Further, the controller 20 is specifically configured to:
when the speed signal causes external interruption every N times, a PID interruption program in the speed adjustment module 70 is called to perform a PID operation once, a motor driving pulse duty ratio is calculated, and a PWM signal for driving the motor is output to the motor speed control module 50 according to the motor driving pulse duty ratio, where N is a positive integer.
Fig. 2 shows a schematic flow diagram of a PID interrupt program provided in an embodiment of the present invention, and as shown in fig. 4, a motor speed control module acquires a motor speed to obtain a grating signal, the grating signal is processed by a speed measurement module and then output to an external interrupt port of a controller, when the controller causes an external interrupt to the speed signal, the PID controller determines whether a speed adjustment error meets a requirement to regulate and control the motor speed, if so, a PWM signal for controlling the motor is output to the motor speed control module, otherwise, the step of acquiring the motor speed by the motor speed control module is returned to.
When the speed signal causes external interruption, the controller calculates the PWM signal of the motor through the speed adjusting module to control the change of the rotating speed of the motor and the preset value
Preferably, N is 6, when the speed signal is used as the external interrupt signal and external interrupt is generated for 6 times, the PID interrupt program performs a PID operation once, calculates a duty ratio of the motor driving pulse, and outputs a PWM signal for driving the motor to the motor speed control module according to the duty ratio of the motor driving pulse, so as to realize the closed-loop control of the change of the motor speed not more than 0.5%. The speed regulation module can set a working mode with timing of 1ms, and the PID interruption program outputs PWM signals to the motor speed control module.
Further, the external interrupt port of the controller 20 is set to a falling edge triggered mode. When the speed signal potential input into the external interrupt port is from high to low, an interrupt is generated, namely, a falling edge is generated once.
Further, the controller 20 is specifically configured to:
the PID interrupt program in the speed adjustment module 70 is called to output the PWM signal at a high level within a time period smaller than the duty cycle of the motor driving pulse and at a low level within a time period larger than the duty cycle of the motor driving pulse according to the preset control period and according to the magnitude of the duty cycle of the motor driving pulse. Preferably every 100ms as a control period.
Further, the voltage comparing module 30 includes a zero-crossing comparing circuit, and the electric field signal passes through the zero-crossing comparing circuit to form an electric field square wave signal with a low level of 0V and a high level of 5V.
As shown in fig. 3, fig. 3 shows a schematic diagram of a zero-crossing comparison circuit provided in an embodiment of the present invention, the zero-crossing comparison circuit uses IC LMV33 as a voltage comparator, an electric field signal amplified by the signal processing module 10 is input to an input terminal of the voltage comparator, and the electric field signal is compared with a voltage reference signal V-0V by the voltage comparator, so that an electric field square wave signal with a low level of 0V and a high level of 5V can be output.
Further, the signal bias module 40 is configured to process the amplified electric field signal output by the signal processing module 10 into a positive bias electric field signal, and transmit the positive bias electric field signal to the controller 20; and the controller 20 is further configured to perform a/D conversion according to the positive bias electric field signal, and calculate the magnitude of the electric field signal.
Further, the signal bias module 40 biases the electric field signal after the inverse amplification to 2.5V, so as to obtain a positive bias electric field signal. The positive bias electric field signal generated by the bias circuit is output to an A/D channel of the controller 20 for the controller 20 to perform A/D sampling processing, and the magnitude of the electric field is obtained through software processing and calibration.
As shown in fig. 4, fig. 4 shows a schematic diagram of a voltage bias circuit provided in an embodiment of the present invention, the voltage bias circuit employs an IC LF353 to perform voltage bias processing on an electric field signal to bias the electric field signal to 2.5V, so as to obtain a positive bias electric field signal, and the input bandwidth operational amplifier is a dual operational amplifier and is characterized by high input impedance, low noise, and high bandwidth and output slew rate.
Further, the controller 20 is specifically configured to:
in the time period that the speed signal causes the external interrupt, the speed signal keeps a low level state, a PID interrupt program in the speed adjusting module 70 is called, the level state of the received electric field square wave signal is read, and the times of high level and low level are respectively recorded; and if the recorded high level times are greater than the low level, recording the electric field square wave signal of the time period as a high level state, otherwise, recording the electric field square wave signal of the time period as a low level state.
Specifically, the controller 20 calls the PID interrupt program in the speed adjustment module 70 to read the state of the controller I/O port, determine whether the level state of the electric field square wave signal is high level or low level, and record the times of high level and low level respectively, if the times of high level is greater than low level, the electric field square wave signal in the period is recorded as high level state H2, otherwise, the electric field square wave signal in the period is recorded as low level state.
Further, the controller 20 is specifically configured to:
when the speed signal maintains a low level state and the number of times that the electric field signal passes through the inverting amplifier in the signal processing module 10 is an odd number, if the electric field square wave signal is in the low level state, the electric field signal is determined to be a positive polarity, and if the electric field square wave signal is in the high level state, the electric field signal is determined to be a negative polarity;
when the speed signal is kept in the low level state and the number of times that the electric field signal passes through the inverting amplifier in the signal processing module 10 is an even number, if the electric field square wave signal is in the low level state, the electric field signal is determined to be in the negative polarity, and if the electric field square wave signal is in the high level state, the electric field signal is determined to be in the positive polarity.
Specifically, the controller 20 is provided with a software polarity determination program, which can implement electric field signal processing and determine whether the electric field signal is a positive polarity signal or a negative polarity signal using a software polarity determination module.
Fig. 5 is a schematic diagram illustrating a polarity determination process according to an embodiment of the present invention, and referring to fig. 5, an electric field signal and a speed signal are input to a polarity determination program, and the polarity of the electric field is determined according to the polarity determination program, where the polarity determination program may specifically determine the polarity of the electric field signal according to an electric field signal polarity determination table shown in the following table, where: l1 represents that the speed signal is maintained in a low level state, L2 represents a low level state of the electric field square wave signal, H2 represents a high level state of the electric field square wave signal:
in summary, in the embodiments of the present invention, the electric field signal output by the sensor and the frequency signal output by the grating are determined by combining the rotating speed of the field probe motor, the frequency of the grating signal is the same as that of the electric field signal, and the phases of the two signals are the same or opposite according to the difference in polarity of the electric field. In the aspect of motor speed control, a speed signal obtained by processing a grating signal through a speed measuring module is used as an external interrupt signal and is interrupted into an INT0 external interrupt of a single chip microcomputer, PID operation is performed once every 6 times of interrupt programs, the motor driving pulse duty ratio ZKB is calculated, the PID interrupt programs output PWM signals driven by a motor, parameters required by PID closed-loop operation are calculated through a rotation model established by physical structures such as the motor and blades, and the rotation speed of the motor is calculated and controlled through PID closed-loop operation, so that the motor speed is controlled within 0.5%. Therefore, real-time closed-loop regulation control of the motor speed is realized through measurement of the motor speed by the grating signals and PID closed-loop control, so that the motor can stably run under different load conditions, the stability of the measured electric field signals output by the sensor is ensured, and the measurement error caused by the change of the rotating speed of the motor is avoided from the source. In the aspect of polarity judgment, after an electric field signal output by the sensor is amplified, an electric field square wave signal is obtained through the voltage comparator and is connected to an I/O port of the single chip microcomputer, the single chip microcomputer reads the signal at any moment to obtain a high level or a low level, and the polarity of the electric field signal is judged by utilizing the relation between the level state and the amplifier stage number. In the aspect of electric field measurement, a synthesized electric field signal output by the sensor is amplified and then biased to 2.5V, a positive bias electric field signal is obtained and is used for single chip microcomputer A/D sampling processing, the size of an electric field can be obtained through software processing and calibration, and accurate measurement of the electric field signal is achieved.
In summary, the embodiment of the invention realizes the measurement and polarity judgment of the electric field, and completes the measurement of the synthetic electric field; and the precision control of the rotating speed of the measuring instrument is realized, and the control precision is within 0.5 percent.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A software polarity judgment direct current electric field measurement system based on speed closed-loop control is characterized by comprising a signal processing module, a signal offset module, a voltage comparison module, a motor speed control module, a speed measurement module, a speed regulation module and a controller;
the signal processing module acquires and amplifies the electric field signal to be detected in an opposite phase mode, one path of the amplified electric field signal outputs an electric field square wave signal through the voltage comparison module to be input to an I/O port of the controller, and the other path of the amplified electric field signal is processed by the signal bias module and then input to an A/D channel of the controller;
the grating signal output by the motor speed control module is processed by the speed measuring module to obtain a speed signal, and the speed signal is transmitted to an external interrupt port of the controller;
when the speed signal causes external interruption, the controller calculates a PWM signal of the motor through the speed adjusting module so as to control the change of the rotating speed of the motor to be consistent with a preset value;
and the controller acquires the level state of the electric field square wave signal in a time period when the speed signal causes external interruption, and judges the polarity of the electric field signal according to the level state of the electric field square wave signal and the frequency of the electric field signal passing through the inverting amplifier.
2. The system of claim 1, wherein the controller is specifically configured to:
and when the grating signal causes external interruption every N times, calling a PID interruption program in the speed regulation module to perform PID operation once, calculating the duty ratio of the motor driving pulse, and outputting a PWM signal for driving the motor to the motor speed control module according to the duty ratio of the motor driving pulse, wherein N is a positive integer.
3. The system of claim 2, wherein the external interrupt port of the controller is configured in a falling edge triggered manner.
4. The system of claim 2, wherein the controller is further configured to:
and calling a PID interruption program in the speed regulation module according to a preset control period, wherein the output PWM signal is at a high level within the time less than the duty ratio of the motor driving pulse according to the size of the duty ratio of the motor driving pulse, and the output PWM signal is at a low level within the time greater than the duty ratio of the motor driving pulse.
5. The system of claim 1, wherein the controller calculates a PWM signal of the motor through the speed adjustment module to control the rotation speed variation of the motor to be consistent with a preset value when the speed signal causes an external interruption, so as to realize the closed-loop control of the motor speed and ensure that the rotation speed adjustment error does not exceed 0.5%.
6. The system of claim 1, wherein the voltage comparison module comprises a zero-crossing comparison circuit, and the electric field signal passes through the zero-crossing comparison circuit to form an electric field square wave signal with a low level of 0V and a high level of 5V.
7. The system of claim 1, wherein the signal biasing module is specifically configured to:
processing the electric field signal amplified by the signal processing module into a positive bias electric field signal, and transmitting the positive bias electric field signal to the controller;
the controller is further specifically configured to:
and carrying out A/D conversion according to the positive bias electric field signal, and calculating to obtain the magnitude of the electric field signal.
8. The system of claim 7, wherein the signal bias module biases the electric field signal amplified by the signal processing module to 2.5V, resulting in the positive bias electric field signal.
9. The system of any one of claims 1 to 8, wherein the controller is further configured to:
in the time period when the speed signal causes external interruption, the speed signal keeps a low level state, a PID interruption program in the speed regulation module is called, the level state of the received electric field square wave signal is read, and the times of high level and low level are respectively recorded;
and if the recorded high level times are greater than the low level times, recording the electric field square wave signal of the time period as a high level state, otherwise, recording the electric field square wave signal of the time period as a low level state.
10. The system of claim 9, wherein the controller is further configured to:
when the speed signal keeps a low level state and the frequency of the electric field signal passing through an inverting amplifier in the signal processing module is an odd number, if the electric field square wave signal is in the low level state, determining that the electric field signal is in a positive polarity, and if the electric field square wave signal is in the high level state, determining that the electric field signal is in a negative polarity;
when the speed signal keeps a low level state and the frequency of the electric field signal passing through an inverting amplifier in the signal processing module is an even number, if the electric field square wave signal is in the low level state, the electric field signal is determined to be negative polarity, and if the electric field square wave signal is in the high level state, the electric field signal is determined to be positive polarity.
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