CN110879298A - Speed acquisition method based on communication type encoder - Google Patents

Speed acquisition method based on communication type encoder Download PDF

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CN110879298A
CN110879298A CN201911083876.6A CN201911083876A CN110879298A CN 110879298 A CN110879298 A CN 110879298A CN 201911083876 A CN201911083876 A CN 201911083876A CN 110879298 A CN110879298 A CN 110879298A
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speed measuring
measuring period
period
speed
pulse number
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CN110879298B (en
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丁信忠
李虎修
刘虎
姜荣辉
周美娟
董平
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Shanghai Step Electric Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals

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Abstract

The invention discloses a speed acquisition method based on a communication type encoder, which comprises the following steps: a. judging whether the pulse number of the angular displacement in the speed measuring period is smaller than a preset pulse number threshold value or not; b. if the pulse number of the angular displacement in the last speed measuring period of the current speed measuring period is smaller than the preset pulse number threshold, predicting the pulse number of the angular displacement in the current speed measuring period according to the rotating speed and the acceleration of the last speed measuring period N.M; c. calculating the period duration T of a pulse numbercnt(ii) a d. Starting to time at the initial moment of the current speed measuring period, wherein the timing duration is TcntxN, counting by using a counting pulse when the timing is finished, and recording a counting value of the starting moment of the next speed measuring period of the current speed measuring period; e. and calculating the rotating speed Vel of the rotating object detected in the current speed measuring period. The invention can improve the speed measurement precision.

Description

Speed acquisition method based on communication type encoder
Technical Field
The present invention relates to a speed acquisition technique.
Background
Communication encoders have been widely used in motion control systems due to their simple wiring and high resolution. Because the communication type encoder lacks the pulse edge of a pulse type (ABZ type) encoder and is difficult to measure the speed by using a T method, the speed is generally detected by using an M method, and according to the method, the average rotating speed of the motor is obtained by carrying out differential calculation on the angular displacement of a motor rotor in a speed measuring period. Generally, the angular displacement of the motor rotor in the speed measurement period is obtained by the difference value read by the encoder twice, and the speed measurement period is obtained by using the speed loop period or the time difference value read by the encoder twice.
Fig. 1 shows the principle of a conventional speed acquisition method based on a communication type encoder, which uses the following formula to calculate the average rotating speed Vel of a measured rotating object (e.g. a motor):
Figure BDA0002264778300000011
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of rotating object detected for the current speed-measuring period1The starting time of the speed measuring period is the time when the CPU reads the program instruction from the memory.
The speed acquisition method based on the communication type encoder influences the speed measurement precision due to the following three reasons:
1. delay t between the time when the CPU reads the program instruction and the start time of the request frame sent by the CPU to the communication type encoderoffset1There is time jitter;
2. delay t between the start of a request frame sent by the CPU to the communication encoder and the start of a return frame received by the CPU from the communication encoderoffset2There is time jitter;
3. when the motor runs at a low speed, the speed measurement period is short or the resolution of the communication type encoder is low, the influence of +/-1 pulse on the average speed is large, or the value of the encoder does not change in a sampling period, so that the average speed is 0 and the speed changes suddenly.
Due to toffset1And toffset2Is used to calculate the P of the speed of rotation Vel2-P1And T2-T1Jitter exists, and therefore the speed calculation result is not accurate enough.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a speed acquisition method based on a communication type encoder, and compared with the prior art, the speed measurement precision is improved.
According to an embodiment of the present invention, there is provided a speed obtaining method based on a communication type encoder, including the steps of:
a. judging whether the pulse number of the angular displacement in the speed measuring period is smaller than a preset pulse number threshold value or not;
b. if the pulse number of the angular displacement in the last speed measuring period of the current speed measuring period is smaller than a preset pulse number threshold value, predicting N.M the pulse number of the angular displacement in the current speed measuring period according to the rotating speed and the acceleration of the last speed measuring period, wherein N is an integer number of the pulse number, and M is a decimal number of the pulse number;
c. calculating the period duration T of a pulse numbercnt，Tcnt＝Ts/N.M，TsThe time length of the last speed measuring period;
d. starting to time at the initial moment of the current speed measuring period, wherein the timing duration is TcntxN, counting with a counting pulse having a period of T at the end of timingpRecording a count value CNT of the starting moment of the next speed measuring period of the current speed measuring period;
e. if it is not
Figure BDA0002264778300000021
Calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 1:
Figure BDA0002264778300000022
otherwise, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 2:
Figure BDA0002264778300000023
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of rotating object detected for the current speed-measuring period1The starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder.
According to another embodiment of the present invention, there is also provided a speed obtaining method based on a communication type encoder, including the steps of:
s1, capturing the starting time of each speed measuring period, wherein the starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder;
s2, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period:
Figure BDA0002264778300000031
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of rotating object detected for the current speed-measuring period1The angular displacement value of the rotating object detected for the last tachometer period.
The invention has at least the following advantages:
1. in the first embodiment, when the motor runs at a low speed or the speed measurement period is short, the pulse number of the angular displacement in the speed measurement period is accurate to a decimal place and then calculated, and meanwhile, the starting time of the speed measurement period is set to be the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder, so that the influence of time delay jitter on the time length error of the test period is reduced, and the speed measurement accuracy is improved;
2. in the second embodiment, the start time of the speed measurement period is set to the start time of the request frame sent to the communication encoder or the start time of the return frame received from the communication encoder, so that the influence of time delay jitter on the time length error of the test period is reduced, and the speed measurement precision is improved.
Drawings
Fig. 1 is a schematic diagram illustrating a conventional speed acquisition method based on a communication encoder.
Fig. 2 and 3 are schematic diagrams respectively illustrating two different implementations of a speed acquisition method based on a communication-type encoder according to an embodiment of the present invention.
Fig. 4 shows a connection block diagram of hardware components that perform the speed acquisition method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
According to an embodiment of the present invention, a method for obtaining a speed based on a communication type encoder includes the following steps:
a. judging whether the pulse number of the angular displacement in the speed measuring period is smaller than a preset pulse number threshold value or not in real time; in the embodiment, the value range of the pulse number threshold is 1-10 pulses;
b. if the pulse number of the angular displacement in the last speed measuring period of the current speed measuring period is smaller than a preset pulse number threshold value, predicting N.M the pulse number of the angular displacement in the current speed measuring period according to the rotating speed and the acceleration of the last speed measuring period, wherein N is an integer number of the pulse number, and M is a decimal number of the pulse number; the formula for the angular displacement prediction is:
Figure BDA0002264778300000041
wherein Vn-1And an-1Respectively the rotational speed and acceleration of the previous tachometer period, TsThe duration of the speed measuring period;
c. calculating the period duration T of a pulse numbercnt，Tcnt＝Ts/N.M；
d. Starting to time at the initial moment of the current speed measuring period, wherein the timing duration is TcntxN, counting with a counting pulse having a period of T at the end of timingpRecording a count value CNT of the starting moment of the next speed measuring period of the current speed measuring period;
e. if it is not
Figure BDA0002264778300000042
Calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 1:
Figure BDA0002264778300000043
otherwise, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 2:
Figure BDA0002264778300000044
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of rotating object detected for the current speed-measuring period1The starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder. Fig. 2 shows an operation schematic diagram in which the start time of the tachometer period is the start time of the request frame sent to the communication encoder, and fig. 3 shows an operation schematic diagram in which the start time of the tachometer period is the start time of the return frame received from the communication encoder. The start time of the request frame refers to the edge transition time (from low level to high level or from high level to low level) of the start bit of the request frame, and the start time of the request frame refers to the edge transition time of the start bit of the request frame (from low level to high level or from high level to low level)The start time of the return frame refers to an edge transition time (from low level to high level or from high level to low level) of the start bit of the return frame, and the end time of the current tachometer period is also the start time of the next tachometer period.
In this embodiment, the above steps a to e are executed by a programmable logic device, which may be an FPGA or a CPLD. The hardware logic of the FPGA or the CPLD is used for realizing a data link layer protocol of the communication type encoder, and a high-speed clock of the FPGA or the CPLD is used for capturing a jump edge of a start bit of a data frame. As shown in fig. 4, the programmable logic device 1 is electrically connected to the communication encoder 2, and the communication encoder 2 is coaxially connected to the motor 3. The programmable logic device 1 sends a request frame to the communication type encoder in each speed measuring period to request the communication type encoder to return a measuring result, the communication type encoder feeds back a feedback frame containing the measuring result to the programmable logic device 1 after receiving the request frame, and the programmable logic device 1 can analyze the pulse number of the angular displacement in each speed measuring period and calculate the time length T of each speed measuring period according to the content of the feedback framesRotational and acceleration, Ts＝T2－T1。
In step d, the timer of the FPGA or CPLD is used for timing, and the high-frequency pulse is used as the count pulse for counting when the timing overflows (that is, the timing ends).
In other embodiments, the above steps a to d are performed by a programmable logic device, and the step e can be performed by a CPU, and the programmable logic device provides parameters required for calculation to the CPU.
The following describes the working principle and process of the first embodiment of the present invention with reference to a specific application example.
And when the FPGA judges that the pulse number of the angular displacement in a certain speed measuring period is less than 10 pulses, starting to detect the decimal pulse. In this application example, the resolution of the communication encoder is 17 bits, and the number of pulses per one turn is 131072. Taking the speed measuring period with the pulse number of the angular displacement less than 10 pulses as the last speed measuring period of the current speed measuring periodThe value of the angular displacement detected periodically is 1000 pulses, i.e. P11000,; the duration of the last tachometric period being 99us, Ts＝99us。
Then, the FPGA predicts the speed of the current tachometer period according to the rotation speed and the acceleration of the last tachometer period, and the pulse number converted into the angular displacement of the current tachometer period is 7.8, that is, N is 7, and M is 8. The period for which one pulse number is calculated is 12.69us, i.e. Tcnt12.69 us. The FPGA starts timing by using a timer at the starting moment of the current speed measuring period, and the timing length is Tcnt88.83us, and when the timer runs out (at the end of the timing), a high-frequency pulse of 100Mhz is used for counting, and the period duration T of the high-frequency pulse ispWhen the start time of the next tachometer period of the current tachometer period is captured, the high frequency pulse count value is 1000, that is, CNT is 1000, the count period is TpX CNT 10000ns 10 us. The angular displacement value returned by the communication type encoder in the current speed measuring period is 1008 pulses, namely P21008, satisfy the inequality
Figure BDA0002264778300000061
Duration T of current speed measuring periods＝T2-T1When the speed is 98.83us, the rotating speed Vel of the rotating object detected in the current speed measuring period is as follows:
Figure BDA0002264778300000062
if the angular displacement value P returned by the communication type encoder in the previous speed measuring period2If the current speed is 1007 or 1009, it means that the decimal place is not suitable for detection, and the rotating speed Vel of the rotating object detected in the current speed measuring period is calculated according to the formula 2.
In the first embodiment, when the motor runs at a low speed or the speed measuring period is short (whether the pulse number reflected as the angular displacement in the speed measuring period is smaller than the preset pulse number threshold value or not), the pulse number of the angular displacement in the speed measuring period is accurate to a decimal place and then calculated, and meanwhile, the starting time of the speed measuring period is set as the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder, so that the influence of time delay jitter on the time length error of the testing period is reduced, and the speed measuring accuracy is improved.
Another embodiment of the present invention provides a speed obtaining method based on a communication encoder, including the following steps:
s1, capturing the starting time of each speed measuring period, wherein the starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder;
s2, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period:
Figure BDA0002264778300000063
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of rotating object detected for the current speed-measuring period1The angular displacement value of the rotating object detected for the last tachometer period.
Further, the speed obtaining method based on the communication type encoder further comprises the following steps:
s0, detecting the delay t between the request frame and the return frame in the initialization phaseoffset2If delay toffset2If the jitter is greater than or equal to the preset delay jitter threshold, the starting time of the return frame received from the communication type encoder is taken as the starting time of the speed measuring period, and if the delay t is greater than or equal to the preset delay jitter threshold, the starting time of the return frame is taken as the starting time of the speed measuring periodoffset2If the jitter is less than the preset delay jitter threshold, the starting time of the request frame sent to the communication type encoder is used as the starting time of the speed measurement period.
Similar to the first embodiment, in the second embodiment, steps s0 to s2 are performed by a programmable logic device, which may be an FPGA or a CPLD. The rotating object is a motor. Step s0 is to detect the delay t in the initialization phase by the FPGAoffset2If there is a delay toffset2If the jitter range is large, the starting time of the returning frame is used as the starting time of the speed measuring period, and if the time delay t is longoffset1If the jitter range is smaller, the start time of the request frame is used as the start time of the tachometer period.
The second embodiment is mainly different from the first embodiment in that the pulse number of the angular displacement in the tachometer period is not calculated to a decimal place, and the start time of the tachometer period is set to the start time of the request frame sent to the communication encoder or the start time of the return frame received from the communication encoder, so that the influence of time delay jitter on the time length error of the test period is reduced, and the tachometer accuracy is improved.

Claims (8)

1. A speed acquisition method based on a communication type encoder is characterized by comprising the following steps:
a. judging whether the pulse number of the angular displacement in the speed measuring period is smaller than a preset pulse number threshold value or not;
b. if the pulse number of the angular displacement in the last speed measuring period of the current speed measuring period is smaller than a preset pulse number threshold value, predicting N.M the pulse number of the angular displacement in the current speed measuring period according to the rotating speed and the acceleration of the last speed measuring period, wherein N is an integer number of the pulse number, and M is a decimal number of the pulse number;
c. calculating the period duration T of a pulse numbercnt，Tcnt＝Ts/N.M，TsThe time length of the last speed measuring period;
d. starting to time at the starting moment of the current speed measuring period, wherein the timing duration is TcntxN, counting with a counting pulse having a period of T at the end of timingpRecording a count value CNT of the starting moment of the next speed measuring period of the current speed measuring period;
e. if it is not
Figure FDA0002264778290000011
Calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 1:
Figure FDA0002264778290000012
otherwise, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period according to the following formula 2:
Figure FDA0002264778290000013
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of said rotating object detected for the current speed measurement period1And the starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder.
2. The method of claim 1, wherein the steps a to e are performed by a programmable logic device.
3. The method of claim 1, wherein the rotating object is a motor.
4. The method for acquiring the speed based on the communication type encoder according to any one of claims 1 to 3, wherein the value of the pulse number threshold is in a range of 1 to 10 pulses.
5. A speed acquisition method based on a communication type encoder is characterized by comprising the following steps:
s1, capturing the starting time of each speed measuring period, wherein the starting time of the speed measuring period is the starting time of a request frame sent to the communication type encoder or the starting time of a return frame received from the communication type encoder;
s2, calculating the rotating speed Vel of the rotating object detected in the current speed measuring period:
Figure FDA0002264778290000021
wherein, T2For the start time, T, of the current tachometric period1For the start of the last tachometric period, P2Angular displacement value, P, of said rotating object detected for the current speed measurement period1And detecting the angular displacement value of the rotating object for the last speed measuring period.
6. The method of claim 5, further comprising the steps of:
s0, detecting the delay t between the request frame and the return frame in the initialization phaseoffset2If delay toffset2If the jitter is more than or equal to the preset delay jitter threshold, the starting time of the return frame received from the communication type encoder is taken as the starting time of the speed measuring period, and if the delay t is greater than or equal to the preset delay jitter threshold, the starting time of the return frame is taken as the starting time of the speed measuring periodoffset2If the jitter of the communication type encoder is smaller than the preset delay jitter threshold value, the starting time of the request frame sent to the communication type encoder is used as the starting time of the speed measuring period.
7. The method for obtaining the speed of a communication-based encoder according to claim 6, wherein the steps s 0-s 2 are performed by a programmable logic device.
8. The method of claim 5, wherein the rotating object is a motor.
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