CN115060164B - Position and speed detection system and method for high-speed linear motor - Google Patents
Position and speed detection system and method for high-speed linear motor Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention discloses a system and a method for detecting the position and the speed of a high-speed linear motor. The detection method comprises the following steps: the receiving device calculates the position of the sub-element according to the pulse signals input by the sensors. The speed is then calculated from the tracking differentiator corresponding to each sensor output pulse. And (3) independently calculating the input pulse of each sensor, and when the output speed of the tracking differentiator algorithm reaches a stable value, selecting the speed as the final calculated speed of the speed detection system and transmitting the final calculated speed to the controller, wherein the controller selects the speed of the receiving device and the displacement signal to output to the motor control system. The method can effectively reduce the transition process of tracking the speed step signal by the tracking differentiator, reduce the time delay, and the pulse output by each sensor is independently operated, so that the speed fluctuation caused by the error of the absolute position of the sensor is avoided, and the requirement of high-real-time high-precision measurement of the high-speed linear motor is met.
Description
Technical Field
The invention belongs to the field of positioning and speed measurement, and particularly relates to a system and a method for detecting the position and speed of a high-speed linear motor.
Background
The linear motor omits a complex intermediate transmission device due to a simple transmission structure, and is widely applied to many occasions needing linear motion. In the field of high-speed linear electromagnetic propulsion, a high-speed linear motor is utilized to push a rotor (containing a load) to generate high-speed linear motion under the action of stable electromagnetic thrust, and the whole process of acceleration, uniform speed and deceleration of the rotor is completed within a limited distance and a limited time, so that the motor must be subjected to closed-loop control, and the precision of speed detection is a key factor of closed-loop stable operation of a system.
According to the classical vector control theory of the motor, the motor control system realizes double closed-loop control of a speed outer ring and a current inner ring on the motor to drive the linear motor to generate stable electromagnetic thrust, so that the sensor of the positioning and speed measuring system is required to accurately measure the running position and the running speed of the rotor in real time. In particular to a linear induction motor, a speed measurement signal needs to be used as a feedback signal of a speed outer ring, and a slip signal needs to be overlapped to enter a motor control system so as to finish stable control of electromagnetic thrust. If the speed measurement signal is inaccurate, the speed measurement signal will inevitably react in the finally output electromagnetic thrust, so that the thrust is unstable and fluctuates greatly, which is not expected by the high-speed linear electromagnetic propulsion system, especially when the motor running at high speed needs to be braked safely. So that the thrust stability is satisfied for the whole system, it is necessary to control the speed error within a certain range.
The existing positioning and speed measuring scheme is that the Chinese patent invention CN201910210291.X provides an effective position measuring method and utilizes a difference method to obtain speed information, but the difference method is very easy to amplify measuring noise, and the system is not considered. Referring to the mode of using an encoder by a traditional rotating motor, the linear motor mainly uses a detector array to collect pulse signals of each row generated when a rotor passes through a series of detectors, and the pulse signals are respectively used for calculating the running position and the running speed of the motor by a fixed angle time measurement T method suitable for low speed or a fixed angle time measurement M method suitable for high speed, which are shown in Chinese patent No. CN20180464869.X, and pulse processing devices connected with the detectors are respectively used for calculating the running position and the running speed of the motor. Because the running speed of the high-speed linear motor is very high, the speed measurement is difficult to be carried out by using a T method in the whole process, and the speed measurement needs to be carried out by switching to an M method in a high-speed section, but the principle of the M method is that the pulse number is measured in a fixed time section, and in the high-speed movement process, the calculated speed precision is high because the pulse number generated in the time section can be ensured to be enough, but due to the extremely large acceleration, larger speed lag is caused in the time section, and the thrust can not meet the requirement.
Therefore, the field also lacks a whole-course accurate and rapid speed measuring method applied to the high-speed linear motor.
Disclosure of Invention
In order to solve the problems in the prior art, namely that the prior art cannot realize the whole-course accurate and rapid speed measurement of the high-speed linear motor. The invention provides a system and a method for detecting the position and the speed of a high-speed linear motor. The method for detecting the rotor speed by using the tracking differentiator can effectively reduce the delay of the tracking step signal of the tracking differentiator by giving an initial value to the tracking differentiator on the premise of ensuring the speed measurement accuracy, and provides an effective speed measurement scheme for a high-speed linear motor positioning speed measurement system.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
A position and speed detection system of a high-speed linear motor comprises a grating ruler, a plurality of laser generators, a receiving device and a controller; the laser generators are arranged on the high-speed linear motor at fixed intervals and used for emitting laser and keeping a normally-on state; the grating ruler is provided with fixed grating holes with equal width and equal interval and is used for shielding and transmitting laser so as to generate an optical pulse signal; the receiving device comprises a receiving sensor and a signal processor, and is used for receiving and calculating the optical pulse signals of the plurality of laser generators; the signal processor comprises a photoelectric conversion circuit, a filter circuit, a high-speed digital processor and a communication module; the receiving sensor is arranged in parallel with the laser generator and is used for receiving the optical pulse signals; the high-speed digital processor calculates the speed and the position according to the electric pulse signals and the grid hole spacing of the grating ruler, and then transmits the speed and the position signals to the controller through the communication module; and the controller is used for receiving the speed signal calculated by the receiving device.
The invention also provides a detection method of the position and speed detection system of the high-speed linear motor, wherein the detection method of the position comprises the following steps: the receiving device determines the real-time position of the rotor of the high-speed linear motor according to the pulse number of the pulse signals, the grid hole spacing of the grating ruler and the absolute position of the receiving sensor, and the receiving device comprises the following steps:
Real-time position of mover = absolute position of receiving sensor + pulse number of signal x grating rule grating hole spacing;
The speed detection method comprises the following steps:
step S1, determining that the grid hole distance of the grating ruler is w, the distance between two adjacent receiving sensors is l 1, and the plurality of receiving sensors are respectively defined as a first receiving sensor, a second receiving sensor and an mth receiving sensor in sequence;
Step S2, the receiving device receives pulse signals input by each receiving sensor and performs photoelectric conversion; the receiving device firstly carries out speed detection according to the output pulse of the first receiving sensor, and obtains the corresponding speed v 1_1、v1_2…v1_n of each pulse in the continuous n pulses by adopting the grating spacing of the grating ruler and the rising edge time of two adjacent pulses;
Step S3, obtaining an average speed v T_1 corresponding to n pulses continuously output by the first receiving sensor, wherein v T_1＝(v1_1+v1_2+…+v1_n)/n;
Step S4, taking the average speed v T_1 corresponding to the output pulse of the first receiving sensor as an initial value of a tracking differentiator, and carrying out initial value giving operation on the tracking differentiator; after the initial value is given, combining the grating ruler grid spacing w and the output pulse number N 1 of the first receiving sensor, obtaining the relative displacement X 1 of the rotor plate detected by the first receiving sensor as the input of the tracking differentiator according to a relative displacement formula w multiplied by N 1, and starting the tracking differentiator calculation program to obtain the calculated speed v G_1 of the tracking differentiator corresponding to the output pulse of the first receiving sensor;
Step S5, after the second receiving sensor continuously outputs n pulses, obtaining an average speed v T_2 corresponding to the n pulses continuously output by the second receiving sensor according to the methods of the steps S3-S4; after the third receiving sensor outputs the pulse, according to the method of the steps S3 to S4, obtaining an average speed v T_3 corresponding to the n pulses output by the third receiving sensor; similarly, when the mth receiving sensor outputs n pulses, obtaining an average speed v T_m corresponding to the n pulses continuously output by the mth sensor;
Step S6, after the second receiving sensor continuously outputs n pulses, obtaining the speed v G_2 calculated by the second sensor output pulse by adopting a tracking differentiator according to the method of the step S4; when the third receiving sensor outputs n pulses, according to the method of the step S4, obtaining the speed v G_3 calculated by the tracking differentiator of the output pulse of the third receiving sensor, and so on, when the mth sensor outputs n pulses, according to the method of the step S4, obtaining the speed v G_m calculated by the tracking differentiator of the output pulse of the mth receiving sensor;
Step S7, when v G_1 tracks the actual speed and is stable in the moving process of the mover, v G_1 is selected as a detection result v f; when v G_2 is stable, selecting v G_2 as a detection result v f in a region where v G_1 and v G_2 overlap; when v G_3 is stable, selecting v G_3 as a detection result v f in a region where v G_2 and v G_3 overlap; similarly, the receiving device communicates v f to the controller;
and S8, the controller selects v f uploaded by different receiving devices, and finally speed detection in the whole range is realized.
Further, the discrete form of the tracking differentiator is expressed as:
wherein: fhan (x 1,x2, u, r, h) is a discrete fastest control synthesis function, and its algorithm formula is as follows:
For simplicity of representation fhan (x 1,x2, u, r, h), d 0、y、a0, a are introduced as intermediate variables; Is a sign function, where x is y or a; u is a position input signal, x 1 is a position tracking signal, belongs to an intermediate variable, x 2 is a speed output signal, r is a speed factor, h is a filtering factor, both are adaptive functions of the speed output signal x 2 and a parameter gamma 1、γ2, r is rapidly increased along with the increase of x 2, and h is rapidly decreased along with the increase of x 2; wherein gamma 1 and gamma 2 are adjustable parameters, the change rates of r and h can be respectively changed by adjusting the sizes of the gamma 1 and the gamma 2, and meanwhile, gamma 1 and gamma 2 control the range of the passband of the tracking differentiator, so that the adjustment is required according to the frequency spectrum of the input signal u, the differentiator has good differentiation effect on the input signal u, and high-frequency noise of the input signal u can be filtered; a is the variation range of r, T is the discretization step length, and k is the discretization time (k=0, 1,2, 3); the tracking differentiator adopts a parameter self-adaptive form and can output a full-range accurate speed signal.
Further, the operation of initializing the tracking differentiator in step S4 includes:
Step S40: the average speed v T_1 corresponding to n pulses continuously output by the first receiving sensor calculated by the receiving device is taken as an initial value v 0 of a tracking differentiator speed signal, namely the initial value of the tracking differentiator speed signal x 2 (k) is x 2(0)＝vT_1;
step S41: the receiving device gives an initial value to the position input initial value of the tracking differentiator, namely, the initial value u (0) of u is 0;
Step S42: the receiving device gives an initial value to the position tracking signal of the tracking differentiator, namely, an initial value of the intermediate variable position tracking signal x 1 (k) is:
Wherein y=x 1(0)-u(0)+hx2 (0); the values of x 1 (0) in the above three cases are calculated, and values satisfying the constraints are selected in accordance with the respective conditional constraints.
Further, the pulse signals output by the receiving sensors are independently processed and operated so as to avoid speed fluctuation caused by errors of the absolute positions of the receiving sensors.
Further, the length of the grating ruler is larger than the distance between adjacent receiving sensors so as to ensure that the detection result is continuous. The invention has the following beneficial effects:
The invention can ensure the quality of the speed detection result of the high-speed linear motor position and speed detection system, so that the motor control system can obtain accurate and rapid speed measurement feedback information in the whole range of the rotor movement, and the high-speed linear motor can generate stable electromagnetic thrust; speed fluctuation caused by absolute position errors of the sensor is avoided, and tracking delay of the tracking differentiator on speed is reduced.
Drawings
Fig. 1 is a schematic diagram of a position and speed detecting system of a high-speed linear motor according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a grating ruler structure of a position and speed detecting system of a high-speed linear motor according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for detecting a speed of a high-speed linear motor according to an embodiment of the present invention.
Fig. 4 is a comparison of measurement results of a position signal and an intermediate variable position tracking signal x 1 (k) before and after an initial value in the speed detection method of a high-speed linear motor according to an embodiment of the present invention.
Fig. 5 is a comparison of the measured speed results of the reference speed and the speed signals x 2 (k) before and after the initial value in the position and speed detection method of the high-speed linear motor according to the embodiment of the present invention.
Fig. 6 is a comparison of measurement results of a tracking differentiator of the present invention and a conventional tracking differentiator method for a plurality of receiving sensor output pulses in the process of an embodiment of a method for detecting a position and a speed of a high-speed linear motor according to an embodiment of the present invention.
Detailed Description
Specific examples of the present invention will be described in detail below with reference to the accompanying drawings, in order to provide a thorough explanation of the present invention.
As shown in fig. 1, the present invention provides a position and speed detecting system of a high-speed linear motor, which includes a grating scale 0, a plurality of laser generators 1, a receiving device 2, a receiving sensor 21, a signal processor 22 and a controller 3.
The grating ruler 0 is a device with fixed equal-width and equal-spacing grating holes and is used for shielding and transmitting laser so as to generate an optical pulse signal;
a plurality of laser generators 1 arranged at fixed intervals on the high-speed linear motor for emitting laser light and maintaining a normally-on state;
The receiving device 2 includes a receiving sensor 21 and a signal processor 22 for receiving the optical pulse signal and performing calculation. The receiving device 2 may receive the pulse signals of the receiving sensors 21 in multiple paths, and in this embodiment, the receiving device 2 may receive the pulse signals of the receiving sensors 21 in 16 paths. The signal processor 22 includes a photoelectric conversion module, a filter circuit, a high-speed digital processor, and a communication module. The receiving sensor 21 is arranged in parallel with the laser generator 1 and is used for receiving the optical pulse signals, the high-speed digital processor calculates the speed and the position according to the electric pulse signals and the grating hole spacing of the grating ruler 0, and then the speed and the position signals are transmitted to the controller 3 through the communication module.
And a controller 3 for receiving the velocity signals calculated by the respective receiving devices 2.
The invention provides a method for detecting the position and the speed of a high-speed linear motor, which comprises the following steps:
The determining, by the receiving device 2, the real-time position of the mover of the high-speed linear motor according to the pulse number of the pulse signal, the grid hole pitch of the grating scale 0, and the absolute position of the receiving sensor 21 includes:
Real-time position of mover = absolute position of receiving sensor + number of signal pulses x grating ruler grid hole pitch.
As shown in fig. 2, the present invention provides a schematic diagram of a grating scale structure of a position and speed detecting system of a high-speed linear motor, a grating hole spacing w=10mm of the grating scale 0, a total length of the grating scale is l=2.2m, and a mover moves to drive the grating scale 0 to move in an array of the plurality of laser generators 1, so as to drive a receiving sensor 21 to sequentially receive pulse signals in a moving direction.
It should be noted that the length of the grating ruler needs to be a certain length, in this embodiment, the grating ruler length is l=2.2m, which is slightly longer than the interval of the laser generator 1 of 2 times, that is, at least two pairs of receiving sensors 21 generate pulse signals at any moment, the high-speed digital processing device processes the pulse signals of the receiving sensors 21 which generate the pulse at the latest when the system is in normal operation, and when the receiving sensors 21 fail, the signal processor 22 can use the signal of the receiving sensor 21 which is the previous one, so that the present invention will not be explained in detail about the failure detection and processing.
As shown in fig. 3, the present invention provides a method for detecting a speed of a high-speed linear motor, the method comprising:
Step S1, determining that the grating hole spacing of the grating ruler is 20mm, the spacing between two adjacent receiving sensors is 1000mm, defining the plurality of receiving sensors as a first receiving sensor and a second receiving sensor respectively according to the sequence, and the like, wherein the m-th receiving sensor is formed;
Step S2, the receiving device receives pulse signals input by each receiving sensor and performs photoelectric conversion; the receiving device firstly carries out speed detection according to the output pulse of a first receiving sensor, and obtains 6 continuous pulses by adopting a grating rule grid spacing/two adjacent pulse rising edge time method, wherein the speed v 1_1、v1_2…v1_6 corresponding to each pulse;
Step S3, obtaining an average speed v T_1, namely v T_1＝(v1_1+v1_2+…+v1_6)/6 corresponding to 6 pulses continuously output by the first receiving sensor;
Step S4, taking the average speed v T_1 corresponding to the output pulse of the first receiving sensor as an initial value of a tracking differentiator, and carrying out initial value giving operation on the tracking differentiator; after the initial value is given, combining the grating ruler grid spacing of 20mm and the output pulse number N 1 of the first receiving sensor, obtaining the relative displacement X 1 of the rotor plate detected by the first receiving sensor as the input of the tracking differentiator according to a relative displacement formula X 1＝20mm×N1, and starting the tracking differentiator calculation program to obtain the calculated speed v G_1 of the tracking differentiator corresponding to the output pulse of the first receiving sensor;
Step S5, after the second receiving sensor continuously outputs 6 pulses, obtaining an average speed v T_2 corresponding to the 6 pulses continuously output by the second receiving sensor according to the methods of the steps S3-S4; after the third receiving sensor outputs the pulse, according to the method of the steps S3 to S4, an average speed v T_3 corresponding to 6 pulses output by the third receiving sensor is obtained; similarly, after the mth receiving sensor outputs 6 pulses, obtaining an average speed v T_m corresponding to the continuous output 6 pulses of the mth sensor;
Step S6, after the second receiving sensor continuously outputs 6 pulses, obtaining the speed v G_2 calculated by the second sensor output pulse by adopting a tracking differentiator according to the method of the step S4; when the third receiving sensor outputs 6 pulses, according to the method of the step S4, obtaining the speed v G_3 calculated by the tracking differentiator of the output pulse of the third receiving sensor, and so on, when the mth sensor outputs 6 pulses, according to the method of the step S4, obtaining the speed v G_m calculated by the tracking differentiator of the output pulse of the mth receiving sensor;
in step S7, in the moving process of the mover, after v G_1 tracks the actual speed and stabilizes, v G_1 is selected as a detection result v f, after v G_2 stabilizes, v G_2 is selected as a detection result v f in the overlapping region of v G_1 and v G_2, after v G_3 stabilizes, v G_3 is selected as a detection result v f in the overlapping region of v G_2 and v G_3, and the like, the receiving device transmits v f to the controller, and the controller selects v f uploaded by different receiving devices, thereby finally realizing speed detection in the whole range.
Further, the discrete form of the tracking differentiator is expressed as:
wherein: fhan (x 1,x2, u, r, h) is a discrete fastest control synthesis function, and its algorithm formula is as follows:
For simplicity of representation fhan (x 1,x2, u, r, h), d 0、y、a0, a are incorporated herein as intermediate variables; Is a sign function, where x is y or a; u is a position input signal, x 1 is a position tracking signal, belongs to an intermediate variable, x 2 is a speed output signal, r is a speed factor, h is a filtering factor, both are adaptive functions of the speed output signal x 2 and a parameter gamma 1、γ2, r is rapidly increased along with the increase of x 2, and h is rapidly decreased along with the increase of x 2; wherein gamma 1 and gamma 2 are adjustable parameters, the change rates of r and h can be respectively changed by adjusting the sizes of the gamma 1 and the gamma 2, and meanwhile, gamma 1 and gamma 2 control the range of the passband of the tracking differentiator, so that the adjustment is required according to the frequency spectrum of the input signal u, the differentiator has good differentiation effect on the input signal u, and high-frequency noise of the input signal u can be filtered; a is the variation range of r, T is the discretization step length, and k is the discretization time (k=0, 1,2, 3); the tracking differentiator adopts a parameter self-adaptive mode, and can output a speed signal with full accuracy, in this embodiment, t=0.0001 s, and γ 1＝10,γ2 =40 and a=2500 are taken according to the spectrum analysis of the input signal u.
Based on the initial value v T_1 of the speed to be assigned, the receiving device performs the initial value assignment operation on the tracking differentiator, and the specific implementation is as follows:
Step S40: the receiving device gives an initial value to the speed signal of the tracking differentiator, namely an initial value of the speed signal x 2 (k), in this embodiment, when the speed after the first sensor outputs 6 pulses is 100m/s, x 2(0)＝vT_1 =100 m/s;
step S41: the receiving device gives an initial value to the position input initial value of the tracking differentiator, namely, the initial value u (0) =0 of u;
Step S42: the initial value of the intermediate variable position tracking signal x 1 (k) by the receiving device is:
Where y=x 1(0)-u(0)+hx2 (0), in the present embodiment, x 1 (0) = -0.2 satisfying the constraint condition is calculated.
And step S43, starting the tracking differentiator calculation program after the initial value is given, tracking the actual speed of the rotor, and selecting the calculation result of the tracking differentiator as the speed detection result to output after the tracking differentiator tracks the actual speed.
As shown in fig. 4, according to the process of the speed detection method of the present invention, the calculated relative position curve of the mover detected by the 1 st receiving sensor is calculated. In fig. 4, the stepwise line segment is a curve of the relative displacement signal X 1, which increases with a period of 0.0001 s; x 1 (k) and x 1 (k)' are curves of tracking differentiator intermediate variable position tracking signals with and without an initial value, respectively. It can be seen that the intermediate variable position tracking signal needs to be initialized at the same time as the velocity is initialized, so that tracking starts from x 1 (0) in advance, rather than from zero.
As shown in fig. 5, according to the process of the speed detection method of the present invention, a velocity profile of the mover is calculated according to the 1 st receiving sensor output pulse. In fig. 5, v ref is a reference speed curve, whose values are equal to the initial speed values v ref＝100m/s,x2 (k) and x 2 (k)' respectively, which are the curves of the output speed signal of the tracking differentiator with the initial value and the conventional non-initial value by the method of the invention. The speed of x 2 (k)' can be used for rapidly tracking the actual speed, so that the tracking time of the step signal by adopting a traditional tracking differentiator without an initial value is effectively reduced.
As shown in fig. 6, when the mover moves, the first receiving sensor, the second receiving sensor and the third receiving sensor sequentially output pulses, and in fig. 6, the speed measurement results corresponding to the pulses output by the sensors are obtained by using the conventional tracking differentiator without initial value and the calculation result of the tracking differentiator respectively. The v p_1、vp_2、vp_3 is the calculation result of the traditional tracking differentiator without the initial value, the v G_1、vG_2、vG_3 is the calculation result of the tracking differentiator without the initial value, and it can be seen from the figure that the calculation result of the tracking differentiator without the initial value has great tracking delay, and in order to output the whole-course smooth speed, the overlapping area of the output speeds of two adjacent sensors is required to switch the speed, and the switching area is very small in the v p_1、vp_2, and the speed fluctuation may be caused by the untimely switching. The tracking differentiator algorithm with the initial value can effectively reduce the tracking time of the tracking differentiator on the step speed signal and reduce the tracking delay, thereby expanding the switching area and improving the reliability of the system.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the above-described system may refer to the corresponding process in the foregoing method real-time example, which is not described in detail herein.
Thus far, the invention has been described in connection with the preferred embodiments shown in the drawings, but it is readily understood by those skilled in the art that the scope of protection of the invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
Claims (5)
1. A detection method of a position and speed detection system of a high-speed linear motor is characterized by comprising the following steps of:
the position and speed detection system comprises a grating ruler, a plurality of laser generators, a receiving device and a controller;
the laser generators are arranged on the high-speed linear motor at fixed intervals and used for emitting laser and keeping a normally-on state;
the grating ruler is provided with fixed grating holes with equal width and equal interval and is used for shielding and transmitting laser so as to generate an optical pulse signal;
the receiving device comprises a receiving sensor and a signal processor, and is used for receiving and calculating the optical pulse signals of the plurality of laser generators; the signal processor comprises a photoelectric conversion circuit, a filter circuit, a high-speed digital processor and a communication module; the receiving sensor is arranged in parallel with the laser generator and is used for receiving the optical pulse signals; the high-speed digital processor calculates the speed and the position according to the electric pulse signals and the grid hole spacing of the grating ruler, and then transmits the speed and the position signals to the controller through the communication module;
a controller for receiving the calculated speed and position signals from the receiving device;
The detection method of the position comprises the following steps: the receiving device determines the real-time position of the rotor of the high-speed linear motor according to the pulse number of the optical pulse signals, the grid hole spacing of the grating ruler and the absolute position of the receiving sensor, and the receiving device comprises the following steps:
real-time position of mover = absolute position of receiving sensor + pulse number of signal x grating rule grating hole spacing;
The speed detection method comprises the following steps:
step S1, determining that the grid hole distance of the grating ruler is w, the distance between two adjacent receiving sensors is l 1, and the plurality of receiving sensors are respectively defined as a first receiving sensor, a second receiving sensor and an mth receiving sensor in sequence;
Step S2, the receiving device receives pulse signals input by each receiving sensor and performs photoelectric conversion; the receiving device firstly carries out speed detection according to the output pulse of the first receiving sensor, and obtains the corresponding speed v 1_1、v1_2 … v1_n of each pulse in the continuous n pulses by adopting the grating spacing of the grating ruler and the rising edge time of two adjacent pulses;
step S3, obtaining an average speed v T_1 corresponding to n pulses continuously output by the first receiving sensor, wherein v T_1=(v1_1+v1_2+… +v1_n)/n;
Step S4, taking the average speed v T_1 corresponding to the output pulse of the first receiving sensor as an initial value of a tracking differentiator, and carrying out initial value giving operation on the tracking differentiator; after the initial value is given, combining the grating ruler grid spacing w and the output pulse number N 1 of the first receiving sensor, obtaining the relative displacement X 1 of the rotor plate detected by the first receiving sensor as the input of the tracking differentiator according to a relative displacement formula w multiplied by N 1, and starting the tracking differentiator calculation program to obtain the calculated speed v G_1 of the tracking differentiator corresponding to the output pulse of the first receiving sensor;
Step S5, after the second receiving sensor continuously outputs n pulses, obtaining an average speed v T_2 corresponding to the n pulses continuously output by the second receiving sensor according to the method of the step S3; after the third receiving sensor outputs the pulse, according to the method of the step S3, an average speed v T_3 corresponding to the n pulses output by the third receiving sensor is obtained; similarly, when the mth receiving sensor outputs n pulses, obtaining an average speed v T_m corresponding to the n pulses continuously output by the mth sensor;
Step S6, after the second receiving sensor continuously outputs n pulses, obtaining the speed v G_2 calculated by the second sensor output pulse by adopting a tracking differentiator according to the method of the step S4; when the third receiving sensor outputs n pulses, according to the method of the step S4, obtaining the speed v G_3 calculated by the tracking differentiator of the output pulse of the third receiving sensor, and so on, when the mth sensor outputs n pulses, according to the method of the step S4, obtaining the speed v G_m calculated by the tracking differentiator of the output pulse of the mth receiving sensor;
Step S7, when v G_1 tracks the actual speed and is stable in the moving process of the mover, v G_1 is selected as a detection result v f; when v G_2 is stable, selecting v G_2 as a detection result v f in a region where v G_1 and v G_2 overlap; when v G_3 is stable, selecting v G_3 as a detection result v f in a region where v G_2 and v G_3 overlap; similarly, the receiving device communicates v f to the controller;
and S8, the controller selects v f uploaded by different receiving devices, and finally speed detection in the whole range is realized.
2. The method of claim 1, wherein the discrete form of the tracking differentiator is represented as:
，
wherein: ; fhan (x 1,x2, u, r, h) is a discrete fastest control synthesis function, and its algorithm formula is as follows:
，
For simplicity of representation fhan (x 1,x2, u, r, h), d 0、y、a0, a are incorporated herein as intermediate variables; Is a sign function, where x is y or a; u is a position input signal, x 1 is a position tracking signal, belongs to an intermediate variable, x 2 is a speed output signal, r is a speed factor, h is a filtering factor, both are adaptive functions of the speed output signal x 2 and a parameter gamma 1、γ2, r is rapidly increased along with the increase of x 2, and h is rapidly decreased along with the increase of x 2; wherein gamma 1 and gamma 2 are adjustable parameters, the change rates of r and h can be respectively changed by adjusting the sizes of the gamma 1 and the gamma 2, and meanwhile, gamma 1 and gamma 2 control the range of the passband of the tracking differentiator, so that the adjustment is required according to the frequency spectrum of the input signal u, the differentiator has good differentiation effect on the input signal u, and high-frequency noise of the input signal u can be filtered; a is the variation range of r, T is the discretization step length, and k is the discretization time, wherein k=0, 1,2, 3; the tracking differentiator adopts a parameter self-adaptive form and can output a full-range accurate speed signal.
3. The method according to claim 2, wherein the operation of tracking the differentiator initialization value in step S4 comprises:
Step S40: the average speed v T_1 corresponding to n pulses continuously output by the first receiving sensor calculated by the receiving device is taken as an initial value v 0 of a tracking differentiator speed signal, namely the initial value of the tracking differentiator speed signal x 2 (k) is x 2(0)=vT_1;
step S41: the receiving device gives an initial value to the position input initial value of the tracking differentiator, namely, the initial value u (0) of u is 0;
Step S42: the receiving device gives an initial value to the position tracking signal of the tracking differentiator, namely, an initial value of the intermediate variable position tracking signal x 1 (k) is:
；
Wherein, ; The values of x 1 (0) in the above three cases are calculated, and values satisfying the constraints are selected in accordance with the respective conditional constraints.
4. The method of claim 1, wherein: the pulse signals output by the receiving sensors are independently processed and operated so as to avoid speed fluctuation caused by the error of the absolute position of the receiving sensor.
5. The method of claim 1, wherein: the length of the grating ruler is larger than the distance between adjacent receiving sensors so as to ensure that the detection result is continuous.
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