EP1210610A1 - Procede et dispositif de detection d'erreurs dans les signaux d'un systeme de surveillance du mouvement rotatif d'un arbre - Google Patents

Procede et dispositif de detection d'erreurs dans les signaux d'un systeme de surveillance du mouvement rotatif d'un arbre

Info

Publication number
EP1210610A1
EP1210610A1 EP00949273A EP00949273A EP1210610A1 EP 1210610 A1 EP1210610 A1 EP 1210610A1 EP 00949273 A EP00949273 A EP 00949273A EP 00949273 A EP00949273 A EP 00949273A EP 1210610 A1 EP1210610 A1 EP 1210610A1
Authority
EP
European Patent Office
Prior art keywords
shaft
signal
signals
instantaneous values
another
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00949273A
Other languages
German (de)
English (en)
Inventor
Jürgen BAUR
Richard Veil
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pilz GmbH and Co KG
Original Assignee
Pilz GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pilz GmbH and Co KG filed Critical Pilz GmbH and Co KG
Publication of EP1210610A1 publication Critical patent/EP1210610A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/64—Analogue/digital converters with intermediate conversion to phase of sinusoidal or similar periodical signals
    • H03M1/645—Analogue/digital converters with intermediate conversion to phase of sinusoidal or similar periodical signals for position encoding, e.g. using resolvers or synchros
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets

Definitions

  • the present invention relates to a device and a method for reliably monitoring the rotational movement of a shaft, with measuring means for recording a first and a second signal, the first signal representing the temporal profile of the rotational angle position of a first reference point of the shaft and the second signal representing the temporal Represented course of the rotational angle position of a second reference point of the shaft, wherein the first and the second reference point are further apart from each other by an angle of rotation of the shaft, further with evaluation means, to which the first and the second signal are supplied.
  • Such a device and a corresponding method are known due to their use in the industrial field, for example in the monitoring and control of rotary movements of the shaft of an eccentric press.
  • a rotary motion sensor which already supplies the two signals mentioned, is in particular a resolver.
  • Solvers have long been known in the prior art for recording rotary movements. It is a rotary transformer, the rotor of which is connected to the shaft to be monitored and the stator of which has two separate windings which are offset from one another by an angle of rotation of 90 ° on the outer circumference of the shaft. The two stator windings receive a signal by means of the transformer coupling, which is fed in via the rotor winding. The signals at the output of the stator windings are then the first and second signals described.
  • the mode of operation of a resolver is explained in more detail below with reference to FIGS. 2 and 3.
  • IC integrated circuits
  • AD2S80A Analog Devices
  • This IC is a so-called resolver-digital converter, which calculates the angle of rotation of the shaft from the resolver signals and provides it as a digital numeric word at its outputs.
  • a signal is provided at a further output which is proportional to the rotational speed of the shaft.
  • Reliable monitoring of rotary movements of a shaft is required, for example, if the rotating shaft poses a danger to people or other machine parts. This is particularly the case when a machine must be operated in the immediate danger zone of a rotating shaft when setting up a machine.
  • the previously known evaluation circuits for resolver signals are not suitable for reliable monitoring of the rotary movement of the shaft.
  • the evaluation means contain a comparator with which instantaneous values of the first and the second signal can be compared with one another on the basis of a predetermined geometric relationship.
  • the object is further achieved by a method of the type mentioned in the introduction, in which instantaneous values of the first and second signals are compared with one another on the basis of a predetermined geometric relationship.
  • the instantaneous values of the first and second signals are therefore compared with one another. Due to the fact that the signals are recorded at different reference points of the same wave, there is a determined relationship between them. If the monitoring device operates correctly, a comparison taking this relationship into account must always lead to a predictable result. As soon as the comparison of the two signals with one another delivers a different result than expected, there is an error in the monitoring device.
  • a geometric relationship is generally understood to mean the determined relationship between the instantaneous values of the two signals, which can be determined from one another on the basis of the spatial position of the reference points. This relationship can be illustrated graphically as the course of a locus curve in a plane, the coordinates of which are the instantaneous values of the two signals. If the actual course of the locus of the recorded instantaneous values deviates from the course of the locus to be expected, there is an error in the monitoring device.
  • the method according to the invention can in principle also be used for safe monitoring if a plurality of sensors which are separate from one another are used to record the first and second signals.
  • the method can instead also be used with only a single resolver for recording the rotary movement, since the resolver already delivers the first and second signals described.
  • Any conceivable error such as a short circuit in one of the stator windings of the resolver or the failure of a component of the
  • the evaluation means described below has the result that the comparison of the instantaneous values leads to a different result than is to be expected on the basis of the determined relationship of the two signals to one another.
  • the method according to the invention can already be used in combination with only one rotary motion sensor, namely a resolver, for reliably monitoring the rotary motion of a shaft.
  • the usual additional use of additional sensors such as incremental encoders is no longer necessary.
  • simultaneous instantaneous values of the first and second signals can be compared with the comparator.
  • This measure has the advantage that the determined relationship between the instantaneous values of the first and the second signal is simpler, so that the instantaneous values can also be compared more easily with one another. As a result, the effort is reduced both in the development and in the manufacture of the device according to the invention. As a result, the corresponding method can be carried out more quickly.
  • first and the second reference point are separated from one another by an angle of rotation of 90 °.
  • This measure also has the advantage that the determined relationship of the instantaneous values of the two signals mentioned is simplified. As a result, the effort and costs of the device are also reduced due to this measure. The corresponding procedure can be carried out more easily and quickly.
  • the signal paths for receiving the first and second signals have the same signal technology.
  • the same in terms of signal technology means that the signal paths mentioned each deliver the same output signal if an identical input signal is fed into them.
  • the signal paths can be implemented with different components, for example from different manufacturers. It is only important that the first and the second signal are influenced in the same way.
  • the measure also contributes to making the comparison of the two signals mentioned easier and faster. In combination with the measure mentioned above, this embodiment of the invention leads to the geometric relationship being a circular function which, as shown below, can be evaluated particularly simply, both analytically and arithmetically.
  • the measuring means include a resolver whose stator signals form the first and the second signal.
  • the comparator has a digital computing unit in which the geometric relationship is stored as a calculation rule using the instantaneous values as input variables.
  • a digital arithmetic unit of this type is in particular a digital signal processor.
  • a digital signal processor is specially optimized for performing arithmetic operations. Since the determined relationship between the instantaneous values of the first and the second signal can in principle be formulated in the form of a mathematical relationship, the comparison of the instantaneous values can be carried out particularly precisely with the aid of such a processor or more generally with the aid of a digital computing unit. In the event that the geometric relationship is a circular function, for example the sum of the squares of the instantaneous values of the first and the second signal must always result in a constant value if there is no error in the monitoring device. With the help of a digital computing unit, in particular in the form of a digital signal processor, a very slight deviation of the instantaneous values of the first and second signals from their target values can also be determined.
  • the comparator has a memory in which possible combinations of instantaneous values are stored in accordance with the geometric relationship in such a way that faulty combinations of instantaneous values recorded can be identified.
  • This measure can be implemented, for example, in that the error-free and thus permissible combinations of instantaneous values of the two signals mentioned are stored in an assignment table. Any combination of recorded instantaneous values that is not included in this table is automatically recognized as being defective, so that a corresponding error signal can be generated.
  • the measure mentioned has the advantage that it can be implemented very simply and particularly cost-effectively. In particular, the costs for a comparatively expensive digital signal processor can be eliminated.
  • the measure has the advantage that the evaluation can be carried out very quickly, at least when the number of stored permissible combinations of instantaneous values is not too large.
  • the stored combinations of instantaneous values define two-dimensional, permissible interval fields, each of which adjoins the permissible neighboring interval fields.
  • interval areas are defined by the stored combinations of permissible instantaneous values, in which the locus of the function formed from the instantaneous values recorded must run if the device is operating correctly. If a location point, which is determined by two recorded instantaneous values, lies outside the permissible interval fields, there is an error in the monitoring device.
  • the bordering can also include an overlap of the adjacent interval fields in the border area.
  • the two-dimensional interval fields are defined in relation to the expected course of the location curve in such a way that a location point of the location curve can at most lie at the interface of two interval fields.
  • a limit point at which three or more interval fields meet is excluded.
  • the device has means with which at least the rotational speed of the shaft can be determined.
  • the means mentioned can also be suitable for determining the respective angular position of the shaft and / or its direction of rotation. The determination can be carried out using methods known per se based on the evaluation of the first and second signals.
  • the measure has the advantage that, on the basis of the specific values, a further error check is possible by comparing it with corresponding values of a speed control device. Alternatively, the use of a further speed control unit can also be avoided on the basis of the measure mentioned.
  • the measuring means for the first and the second signal each have an independent recording channel.
  • This measure has the advantage that the signal paths for the two signals mentioned are completely separated from one another, which further improves the reliability of the device. It is particularly preferred if the two separate recording channels are diverse, i.e. are constructed with different components. In this case, the probability that an error changes the instantaneous values of the first and second signals at one point in time in one and the same way is further reduced.
  • the device has two comparators which are redundant to one another and whose comparison results are fed to a monitoring unit.
  • the monitoring unit is preferably also constructed with two channels, each of the two channels being assigned to one of the two redundant comparators.
  • the device is designed as a modular additional device for a further rotary motion evaluation device.
  • the device according to the invention can be retrofitted in existing systems in a simple and inexpensive manner.
  • the device according to the invention can also be used in the creation of new systems in combination with the same and / or different rotary motion detection devices, in particular standard components. In this way, an overall cost-effective use of the device according to the invention can be achieved.
  • FIG. 3 shows the input and output signals of the resolver according to FIG. 2,
  • FIG. 5 shows the block diagram of the measuring and evaluation means of the embodiment according to FIG. 4,
  • FIG. 6 shows the geometric relationship on the basis of which instantaneous values of the first and second signals in the exemplary embodiment according to FIG. 4 are compared with one another
  • a device for reliably monitoring the rotational movement of a shaft is designated in its entirety by reference number 10.
  • the shaft 12 to be monitored is driven by a motor 14 in the direction of arrow 16.
  • the motor 14 is, for example, a three-phase motor, the stator 18 and rotor 20 of which are shown only schematically here.
  • Reference number 22 denotes a resolver, the function of which is explained in more detail below with reference to FIGS. 2 and 3.
  • the stator signals 24 and 26 of the resolver 22 are fed to a drive control 28.
  • the drive control 28 supplies the rotor of the resolver 22 with the rotor signal 30.
  • the reference number 32 denotes two mutually independent incremental encoders which receive the movement of cams 34 which are arranged on the shaft 12.
  • the output signals of the two incremental encoders 32 are fed to a safe evaluation device 36 which monitors the standstill or a limited rotary movement of the shaft 12 in a manner known per se with the aid of the incremental encoders 32.
  • the evaluation device 36 has a trigger element 38, which in turn acts on switches 40 with which the power supply to the drive control 28 or the motor 14 can be interrupted. As soon as an error or an impermissibly high speed of the shaft 12 is determined by the safe evaluation device 36, the drive of the shaft 12 is switched off.
  • the device 10 is known in the manner described here due to its use in monitoring rotary movements of a shaft 12. However, it has the disadvantages already mentioned at the outset with regard to the outlay and the costs due to the sensors required several times, which are the resolver 22 or the incremental encoder 32.
  • the resolver 22 has a rotor 50 which is arranged on the shaft 12 in a rotationally fixed manner. As a result, the rotor 50 follows the rotary movement of the shaft 12.
  • the rotor 50 has two coil windings which are electrically connected to one another, one of which is transformer-coupled on the output side to two stator windings 52, 54 of a stator arranged concentrically to the rotor. Via the other of the two rotor windings, the rotor is likewise supplied with the rotor signal 30, which is designated U R in FIG. 3.
  • the stator windings 52, 54 of the resolver 22 are generally offset from one another by an angle of rotation ⁇ of the shaft 12 of 90 °.
  • the result of this is that the stator signals 24, 26 of the resolver 22 are amplitude-modulated with respect to one another at different times, as is shown in FIG. 3 on the basis of the two signals U s and U c .
  • the envelopes of the two stator signals U s and U c are sinusoidal or cosine-shaped. From the two stator signals U s and U c , the angle of rotation of the shaft 12 and, with the aid of the rotor signal U R , the direction of rotation of the shaft 12 can be determined in a manner known per se. 4, an exemplary embodiment of the device according to the invention is designated in its entirety by reference number 60.
  • the device 60 differs from the device 10 according to FIG. 1 essentially by the safe evaluation device 62, to which the stator signals 24, 26 of the resolver 22 are fed in parallel to the drive control 28.
  • the evaluation device 62 can also be supplied with the rotor signal 30 of the resolver 22, as a result of which the evaluation device 62 is at least fundamentally able to determine all movement parameters of the rotation movement in addition to monitoring the rotation movement of the shaft 12. To monitor and determine whether there is a safety-critical rotary movement, the comparison of the two stator signals 24, 26 described below is usually sufficient.
  • the evaluation device 62 can also switch off the drive control 28 here via a second switch-off path 63 by blocking the controller enables of the drive control 28 in this way.
  • the essential functional units of the evaluation device 62 from FIG. 4 are shown in the block diagram according to FIG. 5.
  • the evaluation device 62 is constructed in two channels throughout, ie the stator signals 24, 26 of the resolver 22 (U s , U c ) are processed in separate signal channels which are separate from one another.
  • the channels are constructed with diverse components, which is not absolutely necessary to carry out the method according to the invention.
  • the input stage of the evaluation device 62 is formed in each channel by a differential amplifier 64a, 64b, which carries out an impedance conversion and level adjustment of the stator signals 24, 26 supplied by the resolver 22.
  • the stator signals U s , U c in the form shown in FIG. 3 are present at the output of the differential amplifiers 64a, 64b.
  • the rectifier circuits 66a, 66b in conjunction with the subsequent low-pass circuits 68a, 68b, perform amplitude demodulation of the stator signals 24, 26 in a manner known per se.
  • the intermediate signals obtained in this way are indicated schematically for each of the two channels at the output of the respective stage.
  • the rectified sinusoidal or cosine-shaped envelope signals of the stator signals 24, 26 are present at the output of the low-pass filters 68a, 68b. These signals are each fed to a comparator 70, 72 which, according to the invention, compares the instantaneous values of the processed stator signals 24, 26 with one another.
  • one of the two comparators 70, 72 is basically sufficient to carry out the method according to the invention.
  • the use of two separate comparators 70, 72 continues the two-channel processing in the sense that the comparison results of the two comparators 70, 72 can be checked against one another again in a subsequent monitoring unit 74. This also makes it possible to identify errors that occur within the comparator 70, 72.
  • the output signal of the monitoring unit 74 triggers the trigger element 38 to switch off the drive supply for the shaft 12. Additive- The controller enable of the drive control 28 is blocked on the second switch-off path 63.
  • the two comparators 70, 72 are designed differently and each work according to one of the two methods described below. A particularly high level of error security is achieved in this way. Deviating from this, however, it is also possible to implement the two comparators 70, 72 on the basis of only one of the two methods described below or even a modification thereof.
  • the comparator 70 has a digital arithmetic unit in the form of a digital signal processor 76, while the comparator 72 essentially contains a memory 78 in which possible combinations of instantaneous values of the stator signals 24, 26 are stored in such a way that in this way permissible interval fields are defined in which the locus curve from the two stator signals 24, 26 must run if the device is operating correctly.
  • FIG. 6 shows a two-dimensional coordinate system, the axes of which are each assigned to one of the two stator signals U s , U c .
  • the coordinate system thus spans the U s -U c plane in which combinations of instantaneous values of the two stator signals define location points. If the monitoring device 60 operates correctly, all possible location points are due to the arrangement of the resolver 22 described and the channels of the evaluation device 62 which are identical with respect to the signal processing on a quarter-circle location curve 90.
  • the location curve 90 describes the path of the end point of a pointer 92, which is from Origin of the coordinate system and its length and direction are determined by the instantaneous values of the stator signals.
  • the reference number 94 exemplifies the cosine component of the pointer 92 and the reference number 96 the sine component of the pointer 92.
  • the respective current angle of rotation of the shaft 12 can also be determined. If the change in this angle of rotation is subsequently determined over a time interval T, it is also possible to calculate the angular velocity and thus the speed of the shaft 12. All of these operations can be stored in the digital signal processor 76 as a calculation rule with corresponding input variables.
  • the U s -U c plane with the locus 90 is underlaid with a raster 98, which is formed by dividing the U c axis or the U s axis.
  • Permissible interval fields are indicated within the grid 98, which are denoted by the letters a to g.
  • the permissible interval fields define the area in which the locus 90 must run if the device 60 is operating correctly.
  • the size and position of the interval fields a to g is selected such that the points of the locus 90 are at most in the border area. rich of two adjacent interval fields, but never in the border area of three or more adjacent interval fields.
  • interval fields are defined in the comparator 72 in the form of twelve-digit binary code words, the first six digits of which correspond to the grid lines SO to S5 and the second six digits of which correspond to the grid lines CO to C5.
  • the interval field d is determined by the digital word 00x111.00x111.
  • "X" means that either 0 or 1 can be used here ("Don't care")
  • the demodulated stator signals 24, 26 are first digitized in the comparator 72 in a data format which corresponds to the stored code of the permissible interval fields a to g. It is then checked in the memory 78 of the comparator 72 whether the data value obtained in this way corresponds to the code word of a permissible interval field. If this is the case, it follows from this that the corresponding instantaneous values of the stator signals 24, 26 define a location point which lies within the corresponding interval field.
  • the digitization of the recorded instantaneous values does not lead to a data value that is stored in the table of the memory 78, it follows from this that the recorded instantaneous values define a location that lies outside the permissible interval fields a to g. In this case, there is an error within the monitoring device 60.
  • the comparison of the recorded instantaneous values of the stator signals 24, 26 in the comparator 72 is somewhat less precise than in the comparator 70.
  • a location point 100, that lies in the interval field e away from the locus is regarded as permissible, so that the comparator 72 does not detect any error of the device 60 in this case.
  • the tolerance within which combinations of instantaneous values can deviate from the geometrically exact locus 90 can be minimized as desired.
  • the speed of the shaft 12 can be determined from the instantaneous values of the stator signals 24, 26 recorded by measuring the time between two successive interval field transitions with the aid of a counter (not shown here).
  • the evaluation device 62 in the exemplary embodiment according to FIG. 4 is a modular additional device for a standard standard drive control 28 is formed. Deviating from this, the evaluation device 62 can be integrated in the drive control 28 of the motor 14 in another embodiment, not shown here.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

La présente invention concerne un dispositif et un procédé destinés à détecter des erreurs dans un système de mesure du mouvement rotatif d'un arbre (12). A cet effet, ce dispositif (60) est composé de moyens de mesure (22) destinés à enregistrer un premier signal et un deuxième signal à décalage de phase (24, 26), et de moyens d'exploitation (62) comportant un comparateur permettant de comparer des valeurs instantanées du premier et du deuxième signal (24, 26) sur la base d'une relation géométrique prédéfinie. En cas de fonctionnement correct, la somme des carrés des deux signaux est constante. Par ailleurs, des combinaisons autorisées de valeurs de signaux peuvent être enregistrées dans un tableau.
EP00949273A 1999-08-10 2000-07-06 Procede et dispositif de detection d'erreurs dans les signaux d'un systeme de surveillance du mouvement rotatif d'un arbre Withdrawn EP1210610A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19937737 1999-08-10
DE19937737A DE19937737C2 (de) 1999-08-10 1999-08-10 Vorrichtung zum sicheren Überwachen der Drehbewegung einer Welle
PCT/EP2000/006394 WO2001011375A1 (fr) 1999-08-10 2000-07-06 Procede et dispositif de detection d'erreurs dans les signaux d'un systeme de surveillance du mouvement rotatif d'un arbre

Publications (1)

Publication Number Publication Date
EP1210610A1 true EP1210610A1 (fr) 2002-06-05

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EP00949273A Withdrawn EP1210610A1 (fr) 1999-08-10 2000-07-06 Procede et dispositif de detection d'erreurs dans les signaux d'un systeme de surveillance du mouvement rotatif d'un arbre

Country Status (6)

Country Link
US (1) US6591217B1 (fr)
EP (1) EP1210610A1 (fr)
JP (1) JP2003513229A (fr)
AU (1) AU6269200A (fr)
DE (1) DE19937737C2 (fr)
WO (1) WO2001011375A1 (fr)

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WO2001011375A1 (fr) 2001-02-15
AU6269200A (en) 2001-03-05
DE19937737A1 (de) 2001-03-15
DE19937737C2 (de) 2003-10-30
US6591217B1 (en) 2003-07-08
JP2003513229A (ja) 2003-04-08

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