EP1692524A1 - Procede et dispositif pour determiner la vitesse de rotation d'un moteur a courant continu - Google Patents

Procede et dispositif pour determiner la vitesse de rotation d'un moteur a courant continu

Info

Publication number
EP1692524A1
EP1692524A1 EP04803804A EP04803804A EP1692524A1 EP 1692524 A1 EP1692524 A1 EP 1692524A1 EP 04803804 A EP04803804 A EP 04803804A EP 04803804 A EP04803804 A EP 04803804A EP 1692524 A1 EP1692524 A1 EP 1692524A1
Authority
EP
European Patent Office
Prior art keywords
motor
samples
speed
signal
digital converter
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Withdrawn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
EP04803804A
Other languages
German (de)
English (en)
Inventor
Siegfried Ritz
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.)
Ams AG
Original Assignee
Austriamicrosystems AG
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 Austriamicrosystems AG filed Critical Austriamicrosystems AG
Publication of EP1692524A1 publication Critical patent/EP1692524A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only

Definitions

  • the present invention relates to a method for determining the speed of a DC motor, an arrangement for determining the speed of a DC motor and the use of such an arrangement in a fan and a pump.
  • the speed of motors can be determined using different methods. A basic distinction can be made between methods that work with additional sensors or sensors, such as Hall elements or light barriers to generate a speed-proportional signal, and methods that evaluate the motor current or voltage by a generate speed-proportional signal.
  • the speed is determined by evaluating changes in the motor current over time due to current changes from one collector bar to the next using pulse shaping stages and measuring devices, for example moving coil instruments.
  • Document DD 254 254 AI also shows a circuit arrangement for generating a speed-proportional signal in DC commutator motors, in which voltage-controlled high-pass and low-pass and narrow-band pass filters are provided for signal evaluation.
  • the documents DE 199 15 875 AI and DE 199 15 877 AI show methods and devices for measuring the speed of a DC commutator motor, in which the speed is evaluated by means of frequency analysis or time synchronization.
  • the object of the present invention is to provide an arrangement and a method for determining the speed of a direct current
  • the object is achieved with an arrangement for determining the speed of a DC motor, comprising a signal input for supplying a signal derived from the motor voltage or the motor current of the DC motor,
  • an analog / digital converter with an input which is coupled to the signal input and with an output for providing a sequence of samples
  • a first averager of the sequence of samples which is coupled to the output of the analog / digital converter a second averager of the sequence of samples which is coupled to the output of the analog / digital converter, the first and the second Averaging is in each case related to a different number of samples, a comparator which is connected to the first and the second averager and provides a sign at its output as a function of the comparison result, and
  • a computing unit which is coupled to the comparator for determining the speed of the DC motor as a function of the number of samples between changes in sign.
  • a digital signal processor can preferably be provided, which comprises the first averager, the second averager, the comparator and the computing unit.
  • a current measuring resistor is further preferably provided, which forms the signal input of the arrangement.
  • a resistor arranged in series with the motor can also be provided.
  • the motor does not need to be disconnected from a supply voltage source while the speed measurement is being carried out.
  • the engine does not have to be switched to generator operation in order to carry out a speed measurement.
  • the current measuring resistor can be arranged at any point in series with the motor, for example at the positive motor pole or at the negative motor pole.
  • a DC voltage amplifier can be provided, which couples the signal input to the input of the analog / digital converter.
  • the DC differential voltage across the current measuring resistor can preferably be amplified by means of a DC voltage amplifier with a preferably floating input stage and can be provided as a time-continuous, ground-related signal at the output of the amplifier.
  • the DC motor is preferably a DC commutator motor.
  • the differential voltage across the current measuring resistor has not only a direct current component for supplying the motor but also current components that vary over time. These time-varying current components are caused, among other things, by the current transfer of the sliding contacts from one motor segment to the next and are therefore proportional to the speed.
  • the two averagers provide two averages, which can be continuously updated by the sequence of samples. The respective number of samples, from which the two different mean values are formed, can be determined in advance depending on the engine type or can be determined in a simple manner by a small number of preliminary tests.
  • the number of samples between the sign changes of the recurring comparison results of the two mean values is multiplied by the time period between the individual samples. This time period is specified by the sampling rate of the analog / digital converter.
  • the multiplication for example, calculates half the period of the electrical contact changes of the motor. From this in turn, the current engine speed can be determined in a simple manner.
  • the number of sample values between immediately successive sign changes can be determined and multiplied by the time period between the individual samples.
  • the time period that elapses between similar sign changes can also be multiplied by multiplying the number of samples between these sign changes of the recurring comparison results by the time period between the individual samples, and the speed can be calculated therefrom.
  • the actual speed of the motor depends not only on the length of time between sign changes, but also on the number of contact changes or commutations when the motor rotates. With the proposed principle, changes in the motor voltage or motor current over time are recorded. No additional sensors are required for this. Rather, the principle can be implemented with little effort, preferably in integrated circuit technology. Only an analog / digital converter and a micro-controller or other means for digital signal processing are provided, which carry out averaging, comparison and speed calculation.
  • the object is achieved by a method for determining the speed of a DC motor with the steps:
  • the speed calculation is preferably carried out by multiplying the number of samples between changes in the sign of the recurring comparison results by the time between the individual samples, which is predetermined by the sampling rate when the signal is sampled.
  • the known relationships between the period, speed and number of contact changes during one revolution can be taken into account.
  • the first number of samples is preferably greater than the second number of samples.
  • the first and the second mean value are preferably continuously updated with the incoming samples.
  • the constantly updated mean values are preferably compared with one another on an ongoing basis.
  • the number of samples formed between two changes in the sign of the recurring comparison results is preferably multiplied by the time between the individual samples and thus the half-period of the electrical contact changes of the motor is calculated, from which the speed of the motor can in turn be calculated.
  • the speed is preferably determined as a function of the time which elapses between two electrical contact changes of the collector lamellae to the sliding contact or the contact brushes.
  • the speed measurement is done according to the proposed "method preferably continuously. It is advantageously no switching from motor operation to generator operation required.
  • a comprehensive series of measurements can advantageously be taken during normal engine operation in order to use statistical signal analysis to provide basic information about the useful and interference spectra of the
  • a signal model tailored to the interference spectrum that occurs depending on the operation can then be determined for the signal shape of the AC voltage generated by the motor itself.
  • the signal model with useful spectrum which can be parameterized with regard to the time profiles and / or signal frequencies, can be adapted for the current engine operating case.
  • An additional advantage of the method is that the method described can be used in the event of major changes in the operating state of the motor, such as the current shape, dynamic range of the signal, speed, load conditions, interference spectrum of the pulse-width-modulated control, etc.
  • the method is also suitable for large differences in engine-specific characteristics such as engine types, running properties, age-related changes in the engine characteristics, etc.
  • Typical parameters can advantageously be used without complex signal transformation, i.e. without using a fast Fourier
  • the figure shows an embodiment of the proposed principle based on a block diagram.
  • the figure shows an arrangement for determining the speed of a DC motor 1.
  • the DC motor 1 is connected to a voltage source 2 for its electrical supply.
  • the voltage source 2 is designed to be switched on and off and provides a changeable signal.
  • a series resistor 3 is connected to the voltage source 2 in series with the DC motor 1.
  • the series resistor 3 is designed as a measuring resistor, English: shunt.
  • the two connections of the measuring resistor 3 are connected to inputs of a DC amplifier 4.
  • the amplifier 4 is designed as a DC voltage amplifier and has a groundless input stage.
  • the output of the DC voltage amplifier 4, at which a ground-related signal is provided, is connected to the input of an analog / digital converter 5.
  • Analog / digital converter 5 is designed to emit a sequence of samples at its output.
  • the output of the analog / digital converter 5 is connected to the input of a microcontroller 6.
  • the microcontroller 6 comprises a first averager 61 and a second averager 62, the inputs of which are coupled to the output of the analog / digital converter 5.
  • a comparator 63 is located at the outputs of the two averaging devices 61, 62 connected, the output of which is in turn coupled to a computing unit 64.
  • the computing unit 64 provides a speed-proportional signal at its output.
  • Another input of the arithmetic unit 64 is coupled to the output of the analog / digital converter 5 or a connection for feeding the sampling rate of the analog / digital converter 5.
  • the computing unit 64 is designed to multiply the number of sampled individual values between two sign changes by the time between the individual sampling processes. This value corresponds to half the period of the electrical contact changes of the motor 1.
  • the comparator 63 provides a sign of the comparison between the mean values of the first and the second mean value generator 61, 62.
  • the time which elapses in a rotating collector motor 1 between electrical contact changes of the individual collector lamellae to the sliding contact is measured.
  • This is achieved in that electrical changes in the physical properties of the motor 1 caused thereby, which are impressed on its electrical connections, in particular via the resistor 3, as an analog physical variable, are fed to an analog / digital converter 5.
  • the analog / digital converter 5 samples these changes in a predetermined time grid within a predetermined time window and outputs the sampled instantaneous values as a digital series of numerical values.
  • a first mean value is calculated from the digital numerical values in a first mean value generator 61 from a larger number of sampled values, and this mean value is continuously updated by incoming numerical values.
  • a second mean value is education is carried out by calculating the mean value from a smaller number of individual values in relation to the first mean value.
  • the second mean value is also continuously updated by incoming further samples.
  • the first mean value and the second mean value are compared repeatedly using the comparator 63.
  • the sign of the comparison is formed.
  • the number of samples between the sign changes of the recurring comparison results is multiplied by the time period between the individual samples. This time period is specified by the sampling rate of the analog / digital converter.
  • the multiplication calculates half the period of the electrical contact changes of the motor 1.
  • the number of sample values between immediately successive sign changes can be determined and multiplied by the time period between the individual samples.
  • the time period that elapses between similar sign changes can also be multiplied by multiplying the number of sample values between these sign changes in the recurring comparison results by the time period between the individual samples, and the speed can be calculated therefrom.
  • the actual speed of the motor depends on the length of time between
  • the change of sign also depends on the number of contact changes or commutations with one revolution of the motor.
  • a particularly inexpensive system solution is provided with which an engine speed measurement can be implemented without additional devices and consequently at low cost.
  • the engine speed obtained can be used to control the engine speed.
  • the necessary devices such as common-mode amplification 4, analog / digital converter 5 and micro-controller 6 are necessarily present in a motor control anyway, even if no speed measurement and / or no speed control is carried out. Therefore, the present method for speed measurement can be implemented with particularly little effort and at low cost.
  • the time-constant direct voltage via a resistor 3 arranged in series with the motor 1 serves as the signal to be evaluated for the speed measurement.
  • the motor 1 works continuously in the normal operating mode and does not have to be disconnected from the supply voltage source while the speed measurement is being carried out, nor does it work in generator operation.
  • the measuring resistor 3 is arranged on the motor negative pole, the so-called low side, but can alternatively also be arranged on the motor positive pole, the so-called high side.
  • the motor current and thus also the differential voltage across the current measuring resistor 3 also have current components which vary over time and which are caused by the current transfer of the sliding contacts, for example carbon brushes, from one motor segment to the next and are therefore proportional to the speed.
  • the differential DC voltage across the measuring resistor 3 is amplified with the DC voltage amplifier 4 with a floating input stage and provided as a time-continuous, ground-related signal at the output of the amplifier 4.
  • the direct voltage generated in this way is fed to the input of an analog / digital converter and converted into a sequence of digital measured values at a sufficiently high sampling rate.
  • the speed of the motor is determined in the digital signal processor from the digital samples.
  • the method is designed so that it manages with minimal computing power and particularly low memory requirements.
  • the described method can in particular be implemented in a simple manner with 8-bit microprocessors.
  • an extensive series of measurements can advantageously be recorded during normal engine operation, in order to derive basic information about the useful and interference spectra of the signal with the aid of statistical signal analysis and to carry out signal conditioning.
  • a spectrum of interference that occurs depending on the operation can then be tailored
  • Signal model for the signal shape of the AC voltage generated by the motor itself can be determined.
  • the signal model with useful spectrum which can be parameterized with regard to the time profiles and / or signal frequencies, can be adapted for the current engine operating case.
  • An additional advantage of the method is that the method described in the event of major changes in the operating state of the engine, such as current shape, dynamic range of the
  • Signals, speed, load conditions, interference spectrum of the pulse width modulated control, etc. can be used.
  • the method is also suitable for large differences engine-specific characteristics such as engine types, running characteristics, age-related changes in the engine characteristics, etc.
  • Typical parameters can advantageously be obtained without a complex signal transformation, that is to say without the use of a fast Fourier transformation, FFT, fast fourier transformation, or the like.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

La présente invention concerne un procédé et un dispositif pour déterminer la vitesse de rotation d'un moteur à courant continu. Selon l'invention, un convertisseur analogique/numérique (5) est couplé à une borne d'alimentation d'un moteur (1). Deux dispositifs de formation de valeurs moyennes (61, 62) qui sont connectés à la sortie du convertisseur analogique/numérique (5), fournissent des valeurs moyennes relatives à un nombre différent de valeurs de détection. Un comparateur (63) détermine le signe de la comparaison entre les valeurs moyennes. La vitesse de rotation du moteur (1) est déterminée, au moyen d'une unité de calcul (64), en fonction du nombre des valeurs de détection entre les changements de signe.
EP04803804A 2003-12-11 2004-12-13 Procede et dispositif pour determiner la vitesse de rotation d'un moteur a courant continu Withdrawn EP1692524A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10358261A DE10358261B4 (de) 2003-12-11 2003-12-11 Verfahren und Anordnung zur Bestimmung der Drehzahl eines Gleichstrom-Motors
PCT/EP2004/014173 WO2005057225A1 (fr) 2003-12-11 2004-12-13 Procede et dispositif pour determiner la vitesse de rotation d'un moteur a courant continu

Publications (1)

Publication Number Publication Date
EP1692524A1 true EP1692524A1 (fr) 2006-08-23

Family

ID=34672666

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04803804A Withdrawn EP1692524A1 (fr) 2003-12-11 2004-12-13 Procede et dispositif pour determiner la vitesse de rotation d'un moteur a courant continu

Country Status (5)

Country Link
EP (1) EP1692524A1 (fr)
JP (1) JP2007516440A (fr)
KR (1) KR100796055B1 (fr)
DE (1) DE10358261B4 (fr)
WO (1) WO2005057225A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4956238B2 (ja) * 2007-03-13 2012-06-20 アイシン精機株式会社 直流モータのリプル検出装置、回転状態検出装置、リプル検出方法及び回転状態検出方法
KR101905954B1 (ko) 2016-05-24 2018-10-08 현대자동차주식회사 리플 전류 센싱형 모터 제어 장치 및 방법
KR102152635B1 (ko) * 2019-04-18 2020-09-07 현대모비스 주식회사 전자식 브레이크 시스템에서 모터의 회전수 추정 장치 및 방법

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
DE1673364A1 (de) * 1967-12-14 1971-08-19 Bosch Gmbh Robert Anordnung zur Messung der Drehzahl eines Gleichstrommotors
JPS59117479A (ja) * 1982-12-21 1984-07-06 Fanuc Ltd サーボモータの速度検出装置
JPS60100765A (ja) * 1983-11-07 1985-06-04 Fujitsu Ltd 移動速度検出装置
US4527101A (en) * 1983-11-23 1985-07-02 Black & Decker Inc. Universal electric motor speed sensing by using Fourier transform method
DD254254A1 (de) * 1986-12-01 1988-02-17 Zeiss Jena Veb Carl Schaltungsanordnung zur erzeugung einer drehzahlproportionalen impulsfolge bei gleichstromkommutatormotoren
DE19602362A1 (de) * 1996-01-24 1997-07-31 Teves Gmbh Alfred Schaltungsanordnung zur Bestimmung der Drehzahl eines Kommutatormotors
DE19729238C1 (de) * 1997-07-09 1998-08-27 Telefunken Microelectron Verfahren zum Ermitteln der Drehzahl bei mechanisch kommutierten Gleichstrommotoren
DE19915875A1 (de) * 1999-04-08 2000-11-23 Hkr Climatec Gmbh Verfahren und Vorrichtung zur Messung der Drehzahl eines Gleichstrom-Kommutatormotors
DE19915877B4 (de) * 1999-04-08 2008-11-13 Hkr Climatec Gmbh Verfahren und Vorrichtung zur Regelung der Drehzahl eines Gleichstrom-Kommutatormotors

Non-Patent Citations (1)

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Title
See references of WO2005057225A1 *

Also Published As

Publication number Publication date
KR100796055B1 (ko) 2008-01-21
DE10358261A1 (de) 2005-07-14
JP2007516440A (ja) 2007-06-21
DE10358261B4 (de) 2006-04-06
WO2005057225A1 (fr) 2005-06-23
KR20060103913A (ko) 2006-10-04

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