CN114928297A - Motor speed detection method, device and medium based on multiple motors - Google Patents

Motor speed detection method, device and medium based on multiple motors Download PDF

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Publication number
CN114928297A
CN114928297A CN202210709692.1A CN202210709692A CN114928297A CN 114928297 A CN114928297 A CN 114928297A CN 202210709692 A CN202210709692 A CN 202210709692A CN 114928297 A CN114928297 A CN 114928297A
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Prior art keywords
motor
speed
detection
timer
rotor position
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Inventor
娄本山
王怀震
孙志正
张学恒
高明
李洪生
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The embodiment of the specification discloses a motor speed detection method, device and medium based on multiple motors, and relates to the technical field of motors, wherein the method comprises the following steps: acquiring the current motor control frequency of each motor, and generating a speed detection period of the timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of a speed detection period, and acquiring a terminal motor rotor position and timing data of a timer in the speed detection period; generating an actual operation period of each motor through timing data of the timer and a preset clock frequency of the timer; the detected speed for each motor is generated based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle. The accuracy of the operation period of the motor is ensured, and the condition of calculation deviation when a plurality of motors use the same control period is also avoided.

Description

Motor speed detection method, device and medium based on multiple motors
Technical Field
The present disclosure relates to the field of motor technologies, and in particular, to a method, a device, and a medium for detecting motor speed based on multiple motors.
Background
Often use DC brushless motor as the driving source of mechanism in the engineering, DC brushless motor has quick response, and the precision is high, advantage such as efficient, and wherein, traditional method of testing the speed has: m velocity measurement method, T velocity measurement method and M/T velocity measurement method. The M-mode velocity measurement method calculates the number of pulses output from the sensor at equal time intervals and at the same time T intervals to calculate the rotational speed, and performs velocity calculation by calculating a velocity detection at a fixed control period.
In this way, in the process of running the motor control algorithm, besides the motor control function, there are also functions such as a communication process and a reporting process, and the time of each control period is different, so that the calculated speed values are also slightly different, and especially in multi-motor control, a certain difference in rotation speed occurs between the speeds of the two motors. Therefore, for the speed detection of multiple motors, the detected motor speed is inaccurate due to the control cycle and the difference of each motor.
Disclosure of Invention
One or more embodiments of the present disclosure provide a method, an apparatus, and a medium for detecting motor speed based on multiple motors, which are used to solve the following technical problems: for the speed detection of multiple motors, the detected motor speed is inaccurate due to the control period and the difference of each motor.
One or more embodiments of the present disclosure adopt the following technical solutions:
one or more embodiments of the present specification provide a multi-motor based motor speed detection method, the method including: acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position in the speed detection period and timing data of the timer; generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer; generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
Preferably, in one or more embodiments of the present specification, the generating an actual operation cycle of each motor by using timing data of the timer and a preset clock frequency of the timer specifically includes: acquiring the clock frequency of the timer; and calculating the ratio of the timing data of the timer to the clock frequency of the timer to obtain the actual operation period of each motor.
Preferably, in one or more embodiments of the present specification, the generating the detected speed of each motor based on the initial motor rotor position, the end motor rotor position and the actual operation cycle specifically includes: determining a motor rotor position change based on the initial motor rotor position and the terminal motor rotor position; and generating the detection speed of each motor according to the position variation of the motor rotor and the actual operation period according to the following formula: (Δ θ/360)/T ═ V 1 ) 60, wherein Δ θ is the variation of the rotor position of the motor, T 1 Is the actual operating cycle.
Preferably, in one or more embodiments of the present specification, after generating the detected speed of each motor, the method further comprises: calculating a pulse count value output by the grating disk according to the detection speed of each motor and the speed detection period of the timer; and determining the detection error of the detection speed according to the pulse count value.
Preferably, in one or more embodiments of the present specification, each according to the descriptionThe detection speed of each motor and the speed detection period of the timer are used for calculating the pulse count value output by the grating disk, and the method specifically comprises the following steps: acquiring the detection speed of each motor, taking the detection speed as the rotating speed of the photoelectric encoder corresponding to the grating disk, and acquiring the number of pulses generated by one rotation of the grating disk; based on the speed detection period of the timer, the rotating speed of the photoelectric encoder corresponding to the grating disk and the number of pulses generated by one rotation of the grating disk, calculating a pulse count value output by the grating disk according to the following formula: m- ω NT 1 Where M is the pulse count value output by the grating disk, omega is the rotation speed of the photoelectric encoder corresponding to the grating disk, N is the number of pulses generated by one rotation of the grating disk, and T is the number of pulses generated by one rotation of the grating disk 1 A speed detection period of the timer.
Preferably, in one or more embodiments of the present specification, determining a detection error of the detection speed according to the pulse count value specifically includes: the detection error of the detection speed is calculated according to the following formula:
Figure BDA0003707283160000031
where Vm is the detection error and M is the pulse count value output by the grating disk.
Preferably, in one or more embodiments of the present specification, after determining a detection error of the detection speed according to the pulse count value, the method further includes: judging whether the detection error is lower than a preset error threshold value or not; and if the detection error is lower than a preset error threshold value, taking the detection speed of the motor as the detection speed meeting the requirement.
Preferably, in one or more embodiments of the present specification, after determining whether the detected error is lower than a preset error threshold, the method further includes: if the specified detection errors higher than a preset error threshold exist in the plurality of detection errors, determining the corresponding specified motor based on the specified detection errors; determining a speed interval to which the detection speed of the designated motor belongs according to the detection speed of the designated motor, wherein the speed interval comprises a primary speed interval and a secondary speed interval, and the primary speed interval is higher than the secondary speed interval; and when the speed interval to which the detection speed of the designated motor belongs is a secondary speed interval, carrying out secondary detection on the designated motor in a designated speed detection mode to obtain the detection speed corresponding to the designated motor.
One or more embodiments of the present specification provide a multi-motor based motor speed detecting apparatus including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to: acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position and timing data of the timer in the speed detection period; generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer; generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
One or more embodiments of the present specification provide a non-transitory computer storage medium storing computer-executable instructions configured to: acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position in the speed detection period and timing data of the timer; generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer; generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects: through the technical scheme, in order to solve the technical problem of time difference of the control period, the actual operation period of each motor is calculated through timing data and clock frequency, the accuracy of the operation period of the motors is ensured, and the condition of calculation deviation when a plurality of motors use the same control period is avoided. The motor speed is calculated through the actual operation period of each motor, and the accuracy of the detection speed is guaranteed.
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In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort. In the drawings:
fig. 1 is a schematic flowchart of a method for detecting a speed of a multi-motor based motor according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a multi-motor based motor speed detection device provided in an embodiment of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present specification without any creative effort shall fall within the protection scope of the present specification.
Often use DC brushless motor as the driving source of mechanism in the engineering, DC brushless motor has quick response, and the precision is high, advantage such as efficient, and wherein, traditional method of testing the speed has: m velocity measurement method, T velocity measurement method and M/T velocity measurement method. The M-velocity measurement method calculates the number of pulses output from the sensor at equal time intervals and at the same time T intervals to calculate the rotational speed, and calculates the velocity once by using a constant control period.
In this way, in the process of running the motor control algorithm, besides the motor control function, there are also functions such as a communication process and a reporting process, and the time of each control period is different, so that the calculated speed values are also slightly different, and especially in multi-motor control, a certain difference in rotation speed occurs between the speeds of the two motors. Therefore, for the speed detection of multiple motors, the detected motor speed is inaccurate due to the control cycle and the difference of each motor.
The embodiment of the present specification provides a method for detecting motor speed based on multiple motors, where an execution subject in the embodiment of the present specification may be a server, or may be any device with data processing capability. Fig. 1 is a schematic flow chart of a method for detecting a speed of a motor based on multiple motors according to an embodiment of the present disclosure, as shown in fig. 1, the method mainly includes the following steps:
step S101, acquiring the current motor control frequency of each motor, and generating a speed detection period of the timer based on the current motor control frequency.
And the speed detection period is greater than the current motor control frequency.
In one embodiment of the present description, a motor control frequency is determined, a motor speed detection approximate period T is determined based on the motor control frequency, and then a timer time T is determined based on the period T, where T is generally greater than the period T, and the timer time is the speed detection period of the timer.
Step S102, acquiring an initial motor rotor position corresponding to the initial time of the speed detection period, and acquiring a terminal motor rotor position and timing data of a timer in the speed detection period.
In one embodiment of the present description, a timer is started first through a speed acquisition algorithm, and a current motor rotor position θ 1, that is, an initial motor rotor position corresponding to an initial time of a speed detection period, is recorded; and starting timing by the timer, starting running according to the speed detection period, and when the running reaches the period T, closing the timer by the algorithm, and reading timing data n of the current timer and the current position theta 2 of the rotor, wherein the current position of the rotor at the moment is the position of the rotor of the end motor corresponding to the end of the speed detection period.
And step S103, generating an actual running period of each motor through timing data of the timer and a preset clock frequency of the timer.
Generating an actual operation cycle of each motor through timing data of the timer and a preset clock frequency of the timer, specifically comprising: acquiring the clock frequency of the timer; and calculating the ratio of the timing data of the timer to the clock frequency of the timer to obtain the actual running period of each motor.
In one embodiment of the present specification, the actual operation period of each motor is generated by the timing data of the timer and the clock frequency of the timer set in advance. The clock frequency of the timer is an attribute value of the timer, and the clock frequency of the timer can be obtained when the timer is set.
In one embodiment of the present specification, the actual operation period of each motor can be obtained by calculating the ratio of the timing data of the timer and the clock frequency according to the clock frequency of the timer.
Through the technical scheme, in order to solve the technical problem of time difference of the control period, the actual operation period of each motor is calculated through timing data and clock frequency, the accuracy of the operation period of the motors is ensured, and the condition of calculation deviation when a plurality of motors use the same control period is avoided.
And step S104, generating the detection speed of each motor based on the initial motor rotor position, the terminal motor rotor position and the actual operation period.
Generating a detection speed of each motor based on the initial motor rotor position, the terminal motor rotor position and the actual operation period, specifically comprising: determining a motor rotor position variation based on the initial motor rotor position and the terminal motor rotor position; and generating the detection speed of each motor according to the position variation of the motor rotor and the actual operation period according to the following formula: (Δ θ/360)/T 1 ) 60, wherein delta theta is the position variation of the motor rotor, T 1 Is the actual operating cycle.
In one embodiment of the present description, the difference between the end motor rotor position and the initial motor rotor position is calculated to obtain the motor rotor position change Δ θ, that is, Δ θ — θ 1. By the formula V ═ ((Delta theta/360)/T) 1 ) 60, changing the position change delta theta of the motor rotor and the actual operation period T 1 Substituting into a formula, and obtaining the detection speed of each motor.
It should be noted that, the current rotor speed is calculated according to T1 and Δ θ, the time for T1 in each control period changes slightly, the current rotor speed can be obtained more accurately than according to the fixed period T, and when the rotor speed is too fast or too slow, the control frequency of the speed loop can be changed by changing the speed control period T, and the time T1 after the frequency change can be automatically calculated without manually updating the speed detection algorithm.
In the application scenario of an actual motor system, speed feedback of the system is usually realized by an incremental photoelectric encoder, the number of generated signal pulses is detected within a specified time, although the detection time is determined by a high-frequency clock in advance, and the required detection time can be fixed, the start time and the end time of the detection pulse cannot be strictly aligned with the high-frequency clock pulse, and the detection pulse has strong randomness and introduces detection noise, so that the precision of speed detection is influenced and has errors.
After generating the detected speed for each motor, the method further comprises: calculating the pulse count value output by the grating disk according to the detection speed of each motor and the speed detection period of the timer; a detection error of the detection speed is determined based on the pulse count value.
In one embodiment of the present specification, the pulse count value output from the grating disk is calculated based on the detection speed of each motor and the speed detection period of the timer, and it should be noted here that the grating disk is a grating disk in a photoelectric encoder for detecting the speed of the motor. A detection error of the detection speed is determined based on the pulse count value.
Calculating the pulse count value output by the grating disk according to the detection speed of each motor and the speed detection period of the timer, and specifically comprises the following steps: acquiring the detection speed of each motor, taking the detection speed as the rotating speed of the photoelectric encoder corresponding to the grating disk, and acquiring the number of pulses generated by one circle of the rotating speed of the grating disk; based on the speed detection period of the timer, the rotating speed of the photoelectric encoder corresponding to the grating disk and the number of pulses generated by one rotation of the grating disk, calculating the pulse count value output by the grating disk according to the following formula: m- ω NT 1 Where M is the pulse count value output by the grating disk, omega is the rotation speed of the photoelectric encoder corresponding to the grating disk, N is the number of pulses generated by one rotation of the grating disk, and T is the number of pulses generated by one rotation of the grating disk 1 The speed detection period of the timer.
In an embodiment of the present specification, the detection speed of each motor is verified, the obtained detection speed of each motor is used as the rotation speed of the photoelectric encoder corresponding to the grating disk, and the number of pulses generated during one rotation of the grating disk is obtained. The pulse count value M output by the grating disk, the rotating speed omega of the photoelectric encoder corresponding to the grating disk, the number N of pulses generated by one circle of the rotating speed of the grating disk, and the speed detection period T of the timer 1 Substituting formula M ═ ω NT 1 And/2 pi, obtaining a pulse count value output by the grating disk.
Determining the detection error of the detection speed according to the pulse count value, specifically comprising: the detection error of the detection speed is calculated according to the following formula:
Figure BDA0003707283160000081
where Vm is the detection error and M is the pulse count value output by the raster disk.
After determining a detection error of the detection speed based on the pulse count value, the method further includes: judging whether the detection error is lower than a preset error threshold value or not; and if the detection error is lower than a preset error threshold value, taking the detection speed of the motor as the detection speed meeting the requirement.
In one embodiment of the present specification, an error threshold value for detecting an allowable speed is preset, and whether the detected speed of each motor is an accurate speed within an error allowable range is determined based on a relationship between the detected error of each motor and the error threshold value. And if the detection error is lower than a preset error threshold value, taking the detection speed of the motor as the detection speed meeting the requirement.
After judging whether the detection error is lower than a preset error threshold value, the method further comprises the following steps: if the specified detection errors higher than a preset error threshold exist in the plurality of detection errors, determining the corresponding specified motor based on the specified detection errors; determining a speed interval to which the detection speed of the designated motor belongs according to the detection speed of the designated motor, wherein the speed interval comprises a primary speed interval and a secondary speed interval, and the primary speed interval is higher than the secondary speed interval; and when the speed interval to which the detection speed of the designated motor belongs is a two-stage speed interval, carrying out secondary detection on the designated motor in a designated speed detection mode to obtain the detection speed corresponding to the designated motor.
In one embodiment of the present specification, if the detection speed of a specific motor is higher than a preset error threshold value, the problem that the detection speed may have an excessive error is described, and therefore, the re-detection mode needs to be determined according to the detection speed of the motor. It should be noted that, at this time, although the error is higher than the preset threshold, the detected speed and the real speed are close to each other, the detected speed may represent a speed range in which the current motor is located, and a speed section to which the detected speed of the specified motor belongs is determined according to the detected speed of the specified motor, where the speed section includes a medium-high speed section and a low-speed section, and different speed sections require different speed detection manners. When the detection speed of the designated motor belongs to a secondary speed interval, namely a low-speed interval, a fixed angle time measurement method is selected to carry out secondary detection on the motor speed of the designated motor, so that accurate detection speed is obtained. It should be noted that the fixed angle test method is a method for detecting and testing by recording the number of pulses generated by a high frequency clock within one complete pulse period of the grating disc, and the method is more suitable for speed detection in a low speed region.
Through the technical scheme, in order to solve the technical problem of time difference of the control period, the actual operation period of each motor is calculated through timing data and clock frequency, the accuracy of the operation period of the motors is ensured, and the condition of calculation deviation when a plurality of motors use the same control period is avoided. The motor speed is calculated through the actual operation period of each motor, and the accuracy of the detection speed is ensured.
The embodiment of the present specification further provides a motor speed detection device based on multiple motors, as shown in fig. 2, the device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to:
acquiring the current motor control frequency of each motor, and generating a speed detection period of the timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position in the speed detection period and timing data of the timer; generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer; based on the initial motor rotor position, the end motor rotor position, and the actual operating period, a detected speed for each motor is generated.
Embodiments of the present specification also provide a non-volatile computer storage medium storing computer-executable instructions configured to:
acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency; acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position in the speed detection period and timing data of the timer; generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer; based on the initial motor rotor position, the end motor rotor position, and the actual operating period, a detected speed for each motor is generated.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the apparatus, the device, and the nonvolatile computer storage medium, since they are substantially similar to the embodiments of the method, the description is simple, and for the relevant points, reference may be made to the partial description of the embodiments of the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The above description is intended to represent one or more embodiments of the present disclosure, and should not be taken to be limiting of the present disclosure. Various modifications and alterations to one or more embodiments of the present description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of one or more embodiments of the present specification should be included in the scope of the claims of the present specification.

Claims (10)

1. A multi-motor based motor speed detection method is characterized by comprising the following steps:
acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency;
acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position and timing data of the timer in the speed detection period;
generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer;
generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
2. The method for detecting the speed of the motors based on multiple motors as claimed in claim 1, wherein the step of generating the actual operation cycle of each motor by the timing data of the timer and the preset clock frequency of the timer specifically comprises the steps of:
acquiring the clock frequency of the timer;
and calculating the ratio of the timing data of the timer to the clock frequency of the timer to obtain the actual operation period of each motor.
3. The multi-motor based motor speed detection method according to claim 1, wherein generating the detected speed of each motor based on the initial motor rotor position, the terminal motor rotor position and the actual operation cycle comprises:
determining a motor rotor position change based on the initial motor rotor position and the terminal motor rotor position;
and generating the detection speed of each motor according to the position variation of the motor rotor and the actual operation period according to the following formula:
V＝((Δθ/360)/T 1 ) 60, wherein delta theta is the position variation of the motor rotor, T 1 Is the actual operating cycle.
4. The multi-motor based motor speed detection method of claim 1, wherein after generating the detected speed of each motor, the method further comprises:
calculating a pulse count value output by the grating disk according to the detection speed of each motor and the speed detection period of the timer;
and determining the detection error of the detection speed according to the pulse count value.
5. The method for detecting the speed of the motors based on multiple motors as claimed in claim 4, wherein the step of calculating the pulse count value output by the grating disk according to the detection speed of each motor and the speed detection period of the timer specifically comprises the following steps:
acquiring the detection speed of each motor, taking the detection speed as the rotating speed of the photoelectric encoder corresponding to the grating disk, and acquiring the number of pulses generated by one rotation of the grating disk;
based on the speed detection period of the timer, the rotating speed of the photoelectric encoder corresponding to the grating disk and the number of pulses generated by one rotation of the grating disk, calculating a pulse count value output by the grating disk according to the following formula:
M＝ωNT 1 /2π
wherein M is the pulse count value output by the grating disk, omega is the rotating speed of the photoelectric encoder corresponding to the grating disk, N is the number of pulses generated by one rotation of the grating disk, and T is the number of pulses generated by one rotation of the grating disk 1 A speed detection period of the timer.
6. The method for detecting the speed of the motor based on multiple motors according to claim 5, wherein the step of determining the detection error of the detected speed according to the pulse count value specifically comprises the following steps:
the detection error of the detection speed is calculated according to the following formula:
Figure FDA0003707283150000021
where Vm is the detection error and M is the pulse count value output by the raster disk.
7. The multi-motor based motor speed detection method according to claim 4, after determining a detection error of the detected speed based on the pulse count value, further comprising:
judging whether the detection error is lower than a preset error threshold value or not;
and if the detection error is lower than a preset error threshold value, taking the detection speed of the motor as the detection speed meeting the requirement.
8. The multi-motor based motor speed detecting method according to claim 7, wherein after determining whether the detection error is lower than a preset error threshold, the method further comprises:
if the specified detection errors higher than a preset error threshold exist in the plurality of detection errors, determining the corresponding specified motor based on the specified detection errors;
determining a speed interval to which the detection speed of the designated motor belongs according to the detection speed of the designated motor, wherein the speed interval comprises a primary speed interval and a secondary speed interval, and the primary speed interval is higher than the secondary speed interval;
and when the speed interval to which the detection speed of the designated motor belongs is a secondary speed interval, carrying out secondary detection on the designated motor in a designated speed detection mode to obtain the detection speed corresponding to the designated motor.
9. A multi-motor based motor speed detection apparatus, the apparatus comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency;
acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position in the speed detection period and timing data of the timer;
generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer;
generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
10. A non-transitory computer storage medium storing computer-executable instructions configured to:
acquiring the current motor control frequency of each motor, and generating a speed detection period of a timer based on the current motor control frequency, wherein the speed detection period is greater than the current motor control frequency;
acquiring an initial motor rotor position corresponding to the initial moment of the speed detection period, and acquiring a terminal motor rotor position and timing data of the timer in the speed detection period;
generating an actual operation period of each motor according to timing data of the timer and a preset clock frequency of the timer;
generating a detected speed for each motor based on the initial motor rotor position, the terminal motor rotor position, and the actual operating cycle.
CN202210709692.1A 2022-06-22 2022-06-22 Motor speed detection method, device and medium based on multiple motors Pending CN114928297A (en)

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Application Number Priority Date Filing Date Title
CN202210709692.1A CN114928297A (en) 2022-06-22 2022-06-22 Motor speed detection method, device and medium based on multiple motors

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210709692.1A CN114928297A (en) 2022-06-22 2022-06-22 Motor speed detection method, device and medium based on multiple motors

Publications (1)

Publication Number Publication Date
CN114928297A true CN114928297A (en) 2022-08-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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