CN114301352A

CN114301352A - Motor speed measuring method, speed measuring device and speed measuring system

Info

Publication number: CN114301352A
Application number: CN202111416724.0A
Authority: CN
Inventors: 郜潇宁; 郭喜华
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-04-08
Anticipated expiration: 2041-11-25
Also published as: CN114301352B

Abstract

The application provides a speed measuring method of a motor, a speed measuring device and a speed measuring system thereof. The speed measuring method of the motor comprises the following steps: acquiring a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor₁The estimated electric angle of the position of the motor at the previous moment of the first moment; according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁‑U₂sinθ₁(ii) a Using a feedback regulator₁Output after adjusting to 0First angular velocity w₁(ii) a Will w₁The speed measurement result of the motor at the first moment is determined. The method and the device can quickly and accurately measure the speed measurement result of the motor at the first moment as the first angular speed w₁And the accuracy of the speed measurement result is improved.

Description

Motor speed measuring method, speed measuring device and speed measuring system

Technical Field

The application relates to the technical field of motor speed measurement, in particular to a speed measurement method of a motor, a speed measurement device and a speed measurement system of the motor.

Background

The motor is used as traction power supply equipment and can provide kinetic energy for systems such as electric vehicles, unmanned aerial vehicles and the like loaded with the motor. Generally, it is necessary to measure the real-time rotation speed or angular velocity of the motor so as to monitor whether the motor is operating normally in real time.

However, when the angular velocity or the rotational speed of the motor is high, the conventional motor speed measurement method causes a low accuracy of the speed measurement result due to a short measurement period.

Disclosure of Invention

In view of this, the present application provides a speed measuring method of a motor, a speed measuring device and a speed measuring system thereof, which can improve the precision of the speed measuring result.

The first aspect of the application provides a speed measuring method of a motor. The speed measuring method of the motor comprises the following steps: acquiring a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor₁The estimated electric angle of the position of the motor at the previous moment of the first moment; according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁(ii) a Using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁(ii) a Will w₁The speed measurement result of the motor at the first moment is determined.

In an embodiment of the present application, the above-mentioned term U₁、U₂And theta₁Calculating to obtain a first error value E₁Before, the speed measuring method of the motor further comprises the following steps: will U₁And U₂Respectively carrying out normalization processing to obtain U₁' and U₂'; wherein, the above-mentioned is according to U₁、U₂And theta₁Calculating to obtain a first error value E₁The method comprises the following steps: according to U₁’、U₂' and theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁’cosθ₁-U₂’sinθ₁。

In an embodiment of the present application,

in an embodiment of the present application, the speed measuring method of the motor further includes: acquiring a second angular velocity w measured by the timer at the first moment₂(ii) a Wherein E is adjusted by the feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁Then, the speed measuring method of the motor further comprises the following steps: will w₁And w₂Calculating to obtain a third angular velocity w after weighted fusion₃(ii) a Wherein, the above-mentioned₁The method for determining the speed measurement result of the motor at the first moment comprises the following steps: will w₃The speed measurement result of the motor at the first moment is determined.

In an embodiment of the present application, w is defined as₁And w₂Calculating to obtain a third angular velocity w after weighted fusion₃The method comprises the following steps: according to w₁And w₂Determination of w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂(ii) a According to w₁、w₂、a₁And a₂Calculating to obtain a third angular velocity w₃Wherein w is₃＝a₁×w₁+a₂×w₂。

In an embodiment of the present application, w is defined as above₁After the speed measurement result of the motor at the first moment is determined, the speed measurement method of the motor further comprises the following steps: will w₁Calculating to obtain a second electrical angle theta after integral processing₂(ii) a Acquiring a third voltage signal U output by the first Hall sensor at a second moment₃And a fourth voltage signal U output by the second Hall sensor₄The second moment is the next moment of the first moment; according to U₃、U₄And theta₂Calculating to obtain a second error value E₂Wherein E is₂＝U₃cosθ₂-U₄sinθ₂(ii) a Will E₂Fourth angular velocity w is output after input to the feedback regulator₄(ii) a Will w₄The speed measurement result of the motor at the second moment is determined.

In an embodiment of the application, the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.

A second aspect of the present application provides a speed measuring device of a motor. This speed sensor of motor includes: an obtaining module for obtaining a first voltage signal U output by the first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein the angle between the first Hall sensor and the axis connecting line of the second Hall sensor and the motor is 90 DEG theta₁The estimated electric angle of the position of the motor at the previous moment of the first moment; a computing module for computing according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁(ii) a An output module for converting E with a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁(ii) a A determination module for determining w₁The speed measurement result of the motor at the first moment is determined.

A third aspect of the present application provides a speed measurement system of a motor. The speed measuring system of the motor comprises a first Hall sensor, a first counter electromotive force and a second Hall sensor, wherein the first Hall sensor is used for detecting the first counter electromotive force of the motor at a first moment to output a first voltage signal U₁The first electrical angle of the motor is theta₁，θ₁The estimated electric angle of the position of the motor at the previous moment of the first moment; a second Hall sensor for detecting a second back electromotive force of the motor at the first moment to output a second voltage signal U₂The included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees; a feedback regulator for regulating the current according to U₁、U₂And theta₁Calculating to obtain a first error value E₁After adjusting to 0, outputting a first angular velocity w₁(ii) a A controller electrically connected with the first Hall sensor, the second Hall sensor and the feedback regulator for realizing the first Hall sensorThe aspect provides a speed measuring method of any motor.

A fourth aspect of the present application provides an electronic device. The electronic device comprises a memory and a processor, wherein the memory stores executable instructions of a computer, and the processor executes the executable instructions to implement any one of the motor speed measuring methods provided by the first aspect of the present application.

A fifth aspect of the present application provides a computer-readable storage medium. The computer-readable storage medium has stored thereon executable instructions of a computer, which when executed by a processor, implement any one of the methods for measuring speed of a motor as provided in the first aspect of the present application.

According to the technical scheme provided by the embodiment of the application, the error value is obtained by setting the two Hall sensors with the included angle of 90 degrees with the axis connecting line of the motor according to the voltage signals output by the two Hall sensors at the first moment and the estimated electric angle of the motor at the last moment, and the feedback regulator is utilized to regulate the error value to be 0 and then output the angular speed of the motor, so that the speed of the motor at the first moment can be quickly and accurately measured, and the defect that the measurement precision is low due to the fact that the measurement period is short in the traditional speed measurement method is overcome.

Drawings

Fig. 1 is a schematic flow chart of a speed measuring method of a motor according to an embodiment of the present application.

Fig. 2A is a schematic flow chart of a speed measuring method of a motor according to another embodiment of the present application.

Fig. 2B is a schematic diagram illustrating normalized output voltages of a first hall sensor and a second hall sensor according to an embodiment of the present application.

Fig. 3A is a schematic flow chart of a speed measuring method of a motor according to another embodiment of the present application.

Fig. 3B is a schematic diagram illustrating a comparison between a speed measurement result of a speed measurement method of a motor and a measurement result measured by using a timer according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a speed measuring device of a motor according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a speed measurement system of a motor according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

A servo system is an automatic control system that can accurately follow any change in input amount (or given value) to output the position, orientation, state, and the like of an object such as a motor, and may also be called a follow-up system. In the process of measuring the rotating speed of the motor by using the servo system, one mode is to measure the speed by using a hall sensor to measure the electrical angle variation or the signal variation, and the other mode is to measure the speed by using the time required by a timer to measure a certain fixed electrical angle variation or a fixed signal variation, however, the precision of the speed measurement result of the two modes is low when the rotating speed of the motor is high.

Fig. 1 is a schematic flow chart of a speed measuring method of a motor according to an embodiment of the present application. The speed measuring method of the motor can be executed by a controller or a processor on the electronic equipment. Take the controller as an example. As shown in fig. 1, the method for measuring the speed of the motor may include the following steps.

S110: acquiring a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor₁To position the motor at a time immediately before the first timeThe estimated electrical angle is estimated.

The motor may be a motor having a sinusoidal waveform back electromotive force, such as a permanent magnet synchronous motor or the like. When the time before the first time is the time of starting the motor, the first electrical angle theta of the motor₁The estimated electrical angle of the preset position of the motor may be, for example, 0 ° or 30 °, and the specific value of the estimated electrical angle may be determined according to experience or the type of the motor. When the previous moment of the first moment is any moment in the rotation process of the motor, the first electrical angle theta of the motor₁The estimated electrical angle may be obtained by integrating the angular velocity measured at the time immediately preceding the first time.

The first and second hall sensors may be hall effect based sensors, for example, linear hall sensors. First voltage signal U output by first Hall sensor₁And a second voltage signal U output by the second Hall sensor₂Proportional to the magnetic field strength of the motor air gap, i.e. varying with the magnetic field strength, so that U₁And U₂The magnitude of the magnetic field strength can be reflected.

The first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor. For example, a first hall sensor may be mounted on a stator of the motor along an α axis, and a second hall sensor may be mounted along a β axis, where the α axis and the β axis are perpendicular to each other, that is, an included angle between the α axis and the β axis is 90 °, and in this case, an intersection point of the α axis and the β axis is an axis of the motor.

S120: according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁。

At theta₁When the value of (A) is the true electrical angle of the motor at the first moment, E₁Is 0. Due to the application setting theta₁Is an estimated electrical angle of the position of the motor at a time immediately preceding the first time, thus, E₁May not be equal to 0.

S130: using a feedback regulator₁RegulatingIs 0 and then outputs the first angular velocity w₁。

In some embodiments, the controller may compare E₁Inputting the target error value to a feedback regulator, setting the target error value to be 0, and continuously adjusting the angular velocity by adopting a method such as a proportional method, a proportional integral method or a proportional integral derivative method and the like by the feedback regulator, and replacing the electrical angle corresponding to the angular velocity with the first electrical angle theta₁Substitution into E₁Until E is calculated₁Adjust to target error value 0, after which the feedback adjuster adjusts E₁An angular velocity output corresponding to the electrical angle input when adjusted to the target error value of 0 (corresponding to the first angular velocity w)₁). It will be appreciated that the purpose of the feedback regulator to continuously adjust the angular velocity is to adjust E₁The adjustment is 0 but the motor is not controlled to operate at the adjusted angular velocity.

Because the included angle between the first Hall sensor and the axis connecting line of the motor and the included angle between the second Hall sensor and the axis connecting line of the motor are 90 degrees, a phase difference is inevitably generated between the voltage signal output by the first Hall sensor and the voltage signal output by the second Hall sensor at the same moment, and the angular speed can be calculated and adjusted by utilizing the phase difference and combining the phase-locked loop idea.

The phase-locked loop has the working principle that the phase difference between an input signal and an output signal is detected, the detected phase difference signal is converted into a voltage signal through a phase discriminator to be output, the voltage signal is filtered by a low-pass filter to form control voltage of a voltage-controlled oscillator, the frequency of the output signal of an oscillator is controlled, and the frequency and the phase of the output signal of the oscillator are fed back to the phase discriminator through a feedback path. The phase-locked loop is based on the working principle of the phase-locked loop, the phase difference between the voltage signal output by the first Hall sensor and the voltage signal output by the second Hall sensor is utilized, the estimated electrical angle of the motor is combined to calculate the error value of the phase-locked loop, the error value is sent to the feedback regulator through the forward path, the feedback regulator continuously adjusts the angular speed of the motor, and the angular speed of the motor is output after the error value is locked to be 0.

S140: will w₁Is determined asAnd measuring the speed result of the motor at the first moment.

Specifically, w may be output in a table or graphic form or the like₁Corresponding to the first moment. I e.g. can combine w₁Directly outputting the speed measurement result of the motor at the first moment, and also outputting w₁And substituting the formula w-2 pi n to obtain the rotating speed of the motor at the first moment, and outputting the rotating speed of the motor at the first moment as a speed measurement result of the motor.

In addition, compared with the conventional motor speed measurement method, in the embodiment of the application, the angular speed or the rotating speed of the motor can be measured without calculating the electrical angle of the motor in real time by using two voltage signals output by the first hall sensor and the second hall sensor, so that the calculation process can be reduced, and the defect that the calculated electrical angle variation error of the motor is large due to the surrounding magnetic field environment, the installation position deviation and the like of the first hall sensor and the second hall sensor can be avoided.

The feedback regulator may be a proportional-integral regulator (pi) regulator, or another feedback regulator (pid) regulator.

The PI regulator is a linear controller, which forms a control deviation according to a given value and an actual output value, and linearly combines the proportion and the integral of the deviation to form a control quantity, and the control quantity is adjusted according to the control quantityAnd controlling the controlled object. The proportional part and the integral part in the PI regulator can be simultaneously acted or can be separately acted. Wherein the proportional part can quickly reduce E₁Adjusting to near 0, the integrating part may act to cancel steady state deviations, thereby adjusting E₁Precisely adjusted to 0.

In contrast to a PI regulator, a PID regulator also comprises a differentiating section which, when active, can be dependent on E₁The change trend of the control system gives a larger adjustment amplitude in advance, so that the adjustment time can be shortened, and the defect that the recovery is delayed because the integration time is too long is overcome.

In the embodiment of the application, the proportional integral PI regulator or the proportional integral derivative PID regulator is adopted as the feedback regulator, so that the E can be accurately and quickly adjusted compared with the method only adopting the proportional P regulator₁Adjustment to 0 improves the accuracy of the measured angular velocity.

Fig. 2A is a schematic flow chart of a speed measuring method of a motor according to another embodiment of the present application. Fig. 2B is a schematic diagram illustrating normalized output voltages of a first hall sensor and a second hall sensor according to an embodiment of the present application. The embodiment shown in fig. 2A is a variation of the embodiment shown in fig. 1. As shown in fig. 2A, the difference from the embodiment shown in fig. 1 is that the method for measuring speed of a motor may further include step S115 before step S120.

S110: acquiring a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor₁Is an estimated electrical angle of the position of the motor at a time prior to the first time.

S115: will U₁And U₂Respectively carrying out normalization processing to obtain U₁' and U₂’。

In step S115, U is added₁And U₂Respectively carrying out normalization processing to obtain U₁' and U₂' may be to convert the absolute value of U₁And U₂Converted to a relative numerical value. Normalized U₁' and U₂' the numerical range can be [0, 1 ]]May also be [ -1, 1 [ ]]And other values can be used as long as U can be reflected₁And U₂The normalized numerical range and the normalization method are not particularly limited in the present application.

S120': according to U₁’、U₂' and theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁’cosθ₁-U₂’sinθ₁。

According to the technical scheme provided by the embodiment of the application, U is used₁And U₂Respectively performing normalization processing, thereby obtaining U in different ranges from motors running at different angular speeds or rotating speeds or motors of different types₁And U₂The motor speed measurement method has the advantages that the motor speed measurement method is normalized to be within the same numerical range, so that motors running at different angular speeds or rotating speeds or motors of different types can use the motor speed measurement method to measure the speed, and the application range of the motor speed measurement method is expanded.

In an embodiment of the present application,

(refer to FIG. 2B)

In the embodiment of the application, through

Will U₁And U₂Respectively carrying out normalization processing, thereby enabling the normalized U₁' and U₂' is located at [ -1, 1 [ ]]The waveform of the voltage signal output by the first Hall sensor and the waveform of the voltage signal output by the second Hall sensor changing along with the time are better met, so that the U can be ensured to be utilized₁' and U₂' calculation E₁Accuracy in time.

In an embodiment of the present application, the method for measuring speed of a motor may further include step S132, where after step S130, step S134 may also be included.

S130: using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁。

The first angular velocity w outputted after being adjusted by the feedback adjuster in step S130₁When the motor is operated at a low speed, the second angular velocity w measured by the timer in step S132 is set to be higher than the first angular velocity w₂Low accuracy and a high speed operation with respect to the second angular velocity w₂The precision is higher. The low speed operation may be a speed less than 1000 revolutions per minute (rpm), and the high speed operation may be a speed greater than 3000rpm, it being understood that the specific ranges of the low speed operation and the high speed operation may be adjusted according to actual conditions.

S132: acquiring a second angular velocity w measured by the timer at the first moment₂。

Suppose that the electrical angle of the motor at a time immediately before the first time is r₁At the first moment, the electrical angle of the motor is r₂Measuring motor slave r by timer₁Is operated to r₂The time delta T required between the first and second angular velocities can be measured

Step S132 may be after, before, or at the same time as any step before step S134 as long as it is before step S134.

S134: will w₁And w₂Calculating to obtain a third angular velocity w after weighted fusion₃。

In an embodiment of the present application, step S134 may include calculating w₁And w₂Determination of w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂(ii) a According to w₁、w₂、a₁And a₂Calculating to obtain a third angular velocity w₃Wherein w is₃＝a₁×w₁+a₂×w₂。

In some embodiments, at w₁And w₂When in different value ranges, w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂Set to different weighting values. For example, when w₁And w₂When the corresponding rotating speeds are all lower than 1000rpm, a can be preset₁＝0，a₂1. When w is₁And w₂When the corresponding rotating speed is higher than 3000rpm, a can be preset₁＝1，a₂0. When w is₁And w₂When the corresponding rotating speed is between 1000rpm and 3000rpm, the rotating speed between 1000rpm and 3000rpm can be divided into more specific numerical ranges, and a in different numerical ranges₁And a₂Set to different values.

In other embodiments, a velocimeter may be used to measure the fourth angular velocity w of the motor at any one time in real time₄Let w₄＝a₁×w₁+a₂×w₂Thereby setting w in advance₁The corresponding first weighted value a₁And w₂Corresponding second weighted value a₂. When according to w₁And w₂Determination of w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂In time, the motor can be directly operated according to the time or w of the motor₁And w₂In the numerical range fetch w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂。

In the embodiment of the application, by₁And w₂Determination of w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂So that the formula w can be utilized₃＝a₁×w₁+a₂×w₂Calculate the third angular velocity w₃So that the third angular velocity w₃Closer to the true angular velocity of the motor at the first moment in time.

S140': will w₃Is determined to be in the firstAnd measuring the speed result of the motor at the moment.

According to the technical scheme provided by the embodiment of the application, w is₁And w₂Calculating to obtain a third angular velocity w after weighted fusion₃W is to be₃The speed measurement result of the motor is determined at the first moment, so that the speed measurement method of the motor is not only suitable for the situation that the motor runs at a high speed, but also suitable for the situation that the motor runs at a low speed, the application range of the speed measurement method of the motor is expanded, and the accuracy of the speed measurement result can be guaranteed no matter whether the motor runs at a low speed or at a high speed.

Fig. 3A is a schematic flow chart of a speed measuring method of a motor according to another embodiment of the present application. Fig. 3B is a schematic diagram illustrating a comparison between a speed measurement result of a speed measurement method of a motor and a measurement result measured by using a timer according to an embodiment of the present application. The embodiment shown in fig. 3A is a variation of the embodiment shown in fig. 1. As shown in fig. 3A, the difference from the embodiment shown in fig. 1 is that after step S140, the method for measuring speed of a motor further includes steps S310 to S350.

S310: will w₁Calculating to obtain a second electrical angle theta after integral processing₂。

In step S310, a formula can be utilized

Calculating to obtain a second electrical angle theta₂. Wherein, t₀Last time, t, representing the first time₁Representing a first time instant.

S320: acquiring a third voltage signal U output by the first Hall sensor at a second moment₃And a fourth voltage signal U output by the second Hall sensor at a second moment₄And the second time is the next time of the first time.

Any two adjacent time instants of the first time instant and the second time instant may have the same time interval therebetween.

S330: according to U₃、U₄And theta₂Calculating to obtain a second error value E₂Wherein E is₂＝U₃cosθ₂-U₄sinθ₂。

S340: will E₂Fourth angular velocity w is output after input to the feedback regulator₄。

S350: will w₄The speed measurement result of the motor at the second moment is determined.

Steps S320 to S350 are similar to steps S110 to S140, and are not described herein again.

Referring to fig. 3B, in the case that the motor is operated at a high speed (3000rpm), when the steps S310 to S350 are performed to continuously and cyclically measure the speed, a comparison graph of the speed measurement result adjusted by the feedback regulator and the measurement result measured by the timer according to the embodiment of the present application is shown in fig. 3B, wherein the abscissa is time (unit: ms) and the ordinate is the rotational speed (unit: rpm). As can be seen from fig. 3B, under the condition that the motor is operated at a high speed, the fluctuation of the measurement result measured by the timer along with the change of time is strong, the accuracy of the measurement result is low, the speed measurement result obtained by using the speed measurement method for the motor provided by the application is relatively stable, and the accuracy of the measurement result is high.

According to the technical scheme provided by the embodiment of the application, w is₁Calculating to obtain a second electrical angle theta after integral processing₂And according to U₃、U₄And theta₂Calculating to obtain a second error value E₂So that at the second moment in time, by theta₂Instead of theta₁The error value is calculated because of the comparison with theta₁，θ₂The actual electrical angle of the motor is closer to the second moment, so that the second error value can be reduced rapidly, and the feedback regulator E can be further improved₂Adjust to a speed of 0.

Fig. 4 is a schematic structural diagram of a speed measuring device of a motor according to an embodiment of the present application. As shown in fig. 4, the speed measuring device 400 of the motor includes an obtaining module 410, a calculating module 420, an outputting module 430, and a determining module 440. The obtaining module 410 is configured to obtain a first voltage signal U output by the first hall sensor at a first time₁The second Hall sensor outputs the second electricity at the first momentPressure signal U₂And a first electrical angle theta of the electric machine₁Wherein the angle between the first Hall sensor and the axis connecting line of the second Hall sensor and the motor is 90 DEG theta₁Is an estimated electrical angle of the position of the motor at a time prior to the first time. The computing module 420 is used for calculating according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁. The output module 430 is used for adjusting E by using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁. The determining module 440 is used for determining w₁The speed measurement result of the motor at the first moment is determined.

The matching device of the image in the embodiment of the present application may implement the speed measurement method of the motor shown in fig. 1, may also implement the speed measurement method of any one of the motors shown in fig. 2A and fig. 3A, and may also implement the speed measurement of the motor that is equivalently replaced or obviously modified based on the speed measurement method of any one of the motors shown in fig. 1 to fig. 3A, which is not specifically limited in this application.

In some embodiments, the calculation module 420 is further configured to calculate the difference between the values according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Before, U is₁And U₂Respectively carrying out normalization processing to obtain U₁' and U₂', and the calculation module 420 is based on U₁’、U₂' and theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁’cosθ₁-U₂’sinθ₁。

In some embodiments, the obtaining module 410 is further configured to obtain a second angular velocity w measured by the timer at the first time₂(ii) a The calculation module 420 is also used for calculating w₁And w₂Calculating to obtain a third angular velocity w after weighted fusion₃(ii) a The determining module 440 is further configured to determine w₃The speed measurement result of the motor at the first moment is determined.

In some embodiments, the calculation module 420 is further configured to calculate a value according to w₁And w₂Determination of w₁Corresponding first weighted value a₁And w₂Corresponding second weighted value a₂(ii) a According to w₁、w₂、a₁And a₂Calculating to obtain a third angular velocity w₃Wherein w is₃＝a₁×w₁+a₂×w₂。

In some embodiments, the determination module 440 is further configured to determine w₁After determining the speed measurement result of the motor at the first moment, determining w₁Calculating to obtain a second electrical angle theta after integral processing₂(ii) a Acquiring a third voltage signal U output by the first Hall sensor at a second moment₃And a fourth voltage signal U output by the second Hall sensor₄The second moment is the next moment of the first moment; according to U₃、U₄And theta₂Calculating to obtain a second error value E₂Wherein E is₂＝U₃cosθ₂-U₄sinθ₂(ii) a Will E₂Fourth angular velocity w is output after input to the feedback regulator₄(ii) a Will w₄The speed measurement result of the motor at the second moment is determined.

In some embodiments, the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.

Fig. 5 is a schematic structural diagram of a speed measurement system of a motor according to an embodiment of the present application. As shown in fig. 5, the speed measuring system 500 of the motor includes a first hall sensor 510, a second hall sensor 520, a feedback regulator 530, and a controller 540. The first hall sensor 510 is used for detecting a first back electromotive force of the motor at a first time toOutput a first voltage signal U₁The first electrical angle of the motor is theta₁，θ₁Is an estimated electrical angle of the position of the motor at a time prior to the first time. A second Hall sensor 520 for detecting a second back electromotive force of the motor at the first moment to output a second voltage signal U₂The first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor. A feedback regulator 530 for regulating the current according to U₁、U₂And theta₁Calculating to obtain a first error value E₁After adjusting to 0, outputting a first angular velocity w₁. The controller 540 is electrically connected to the first hall sensor 510, the second hall sensor 520, and the feedback regulator 530, and is configured to implement any one of the speed measurement methods of the motors shown in fig. 1 to fig. 3A.

The speed measuring method in the embodiment of the present invention may also be a speed measuring method of a motor that is equivalently replaced or obviously modified based on any one of the speed measuring methods of the motors shown in fig. 1 to fig. 3A.

Referring to fig. 6, an electronic device 600 includes a processor 610 that further includes one or more processors, and memory resources, represented by memory 620, for storing instructions, such as applications, that are executable by the processor 610. The application programs stored in memory 620 may include one or more modules that each correspond to a set of instructions. Further, the processor 610 is configured to execute instructions to perform any of the above-described methods of measuring speed of a motor.

Electronic device 600 may also include a power supply component configured for power management of electronic device 600, a wired or wireless network interface configured to connect electronic device 600 to a network, and an input-output (I/O) interface. The electronic device 600 may operate based on an operating system, such as Windows Server, stored in the memory 620^TM，Mac OS X^TM，Unix^TM，Linux^TM，FreeBSD^TMOr the like.

A non-transitory computer readable storage medium, wherein instructions of the storage medium, when executed by a processor of the electronic device 600, enable the electronic device 600 to perform a method for measuring a speed of a motor. The speed measuring method of the motor can be executed by an agent program. The speed measuring method of the motor comprises the steps of obtaining a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor₁The estimated electric angle of the position of the motor at the previous moment of the first moment; according to U₁、U₂And theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁(ii) a Using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁(ii) a Will w₁The speed measurement result of the motor at the first moment is determined.

Those of ordinary skill in the art will appreciate that the various illustrative algorithmic steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program check codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatus and system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

It should be noted that the combination of the features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all the features described in the present application may be freely combined or combined in any manner unless contradictory to each other.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A method for measuring speed of a motor is characterized by comprising the following steps:

acquiring a first voltage signal U output by a first Hall sensor at a first moment₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein, the first Hall sensor and the second Hall sensor respectively form an included angle of 90 degrees with the axis connecting line of the motor, and theta₁The estimated electric angle of the position of the motor at the moment before the first moment is obtained;

according to the U₁The U₂And said theta₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁ cosθ₁-U₂sinθ₁；

Using a feedback regulator to adjust E₁After adjusting to 0, outputting a first angular velocity w₁；

The said w₁And determining the speed measurement result of the motor at the first moment.

2. A method according to claim 1 wherein said U is used as a basis for measuring velocity₁The U₂And said theta₁Calculating to obtain a first error value E₁Before, still include:

will be the U₁And said U₂Respectively carrying out normalization processing to obtain U₁' and U₂’；

Wherein the U is the basis of₁The U₂And said theta₁Calculating to obtain a first error value E₁The method comprises the following steps:

according to the U₁', said U₂' and said theta₁Calculating to obtain the first error value E₁Wherein E is₁＝U₁’cosθ₁-U₂’sinθ₁。

3. A method of measuring speed according to claim 2,

4. a method according to claim 1, further comprising:

acquiring a second angular velocity w measured by the timer at the first moment₂；

Wherein said E is adjusted using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁Then, the method further comprises the following steps:

the said w₁And said w₂Calculating to obtain a third angular velocity w after weighted fusion₃；

Wherein the said w₁Determining a speed measurement result of the motor at the first moment, including:

the said w₃And determining the speed measurement result of the motor at the first moment.

5. A method according to claim 4 wherein said w is measured₁And said w₂Calculating to obtain a third angular velocity w after weighted fusion₃The method comprises the following steps:

according to the w₁And said w₂Determining the w₁Corresponding first weighted value a₁And said w₂Corresponding second weighted value a₂；

According to the w₁W to₂A is described₁And said a₂Calculating to obtain the third angular velocity w₃Wherein w is₃＝a₁×w₁+a₂×w₂。

6. Method according to any of claims 1 to 5, wherein said w is measured₁After the speed measurement result of the motor at the first moment is determined, the method further comprises the following steps:

the said w₁Calculating to obtain a second electrical angle theta after integral processing₂；

Acquiring a third voltage signal U output by the first Hall sensor at a second moment₃And a fourth voltage signal U output by the second Hall sensor₄The second moment is the next moment of the first moment;

according to the U₃The U₄And said theta₂Calculating to obtain a second error value E₂Wherein E is₂＝U₃cosθ₂-U₄sinθ₂；

Subjecting said E to₂After being input into the feedback regulator, the fourth angular velocity w is output₄；

The said w₄And determining the speed measurement result of the motor at the second moment.

7. A method according to any of claims 1 to 5 wherein the feedback regulator comprises a Proportional Integral (PI) regulator or a Proportional Integral Derivative (PID) regulator.

8. A speed measuring device of a motor, comprising:

an obtaining module for obtaining a first voltage signal U outputted by the first Hall sensor at a first time₁A second voltage signal U output by the second Hall sensor at the first moment₂And a first electrical angle theta of the electric machine₁Wherein the included angle between the first Hall sensor and the axis connecting line of the second Hall sensor and the motor is 90 degrees, and theta₁The estimated electric angle of the position of the motor at the moment before the first moment is obtained;

a computing module for computing the U₁The U₂And saidθ₁Calculating to obtain a first error value E₁Wherein E is₁＝U₁cosθ₁-U₂sinθ₁；

An output module for converting E to a voltage level using a feedback regulator₁After adjusting to 0, outputting a first angular velocity w₁；

A determination module for determining the w₁And determining the speed measurement result of the motor at the first moment.

9. A system for measuring speed of an electric motor, comprising:

a first Hall sensor for detecting a first back electromotive force of the motor at a first time to output a first voltage signal U₁The first electrical angle of the motor is theta₁Theta of₁The estimated electric angle of the position of the motor at the moment before the first moment is obtained;

a second Hall sensor for detecting a second back electromotive force of the motor at the first time to output a second voltage signal U₂The included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees;

a feedback regulator for regulating the current according to the U₁The U₂And said theta₁Calculating to obtain a first error value E₁After adjusting to 0, outputting a first angular velocity w₁；

The controller is electrically connected with the first Hall sensor, the second Hall sensor and the feedback regulator and is used for realizing the speed measuring method of the motor according to any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, wherein the memory stores executable instructions of a computer, and the processor executes the executable instructions to implement a method for measuring speed of a motor according to any one of claims 1 to 7.

11. A computer-readable storage medium having stored thereon computer-executable instructions, which when executed by a processor, implement a method of measuring speed of an electric motor according to any one of claims 1 to 7.