200914833 九、發明說明： 【發明所屬之技術領域】. 本發明係有關-種用於馬達轉速量測 心:-種馬達轉速量測系統之起始估計轉速自動尤 【先前技術】 助叹疋方法。 在馬達閉環速度控制中，速度估測是 般在對馬達做速度估測時，常使用—編碼器㈣助 估測馬達轉子運轉速度。 ° 第-圖所示為- AC馬達控制系統方塊圖，藉由量測 3逮度的回授資訊，以控制馬彡轉速。該習知速度 測糸統20a包含一計數器22a及一速度估測單元*。 一編碼器12a輸出-脈波信號以表示—量測到的馬達位 置，該計數器22a處理該脈波信號後得到馬達的位置訊號 P、。該速度估測單元24a處理該馬達位置訊號p，以得麥; 馬達轉速％ 。一位置控制單元40a根據一位置命令 與來自計數器22a之回授，計算出一速度命令;然後 一速度控制單元3 0a依據該速度命令計算出一電流命 令U輸出至一電流控制與驅動單元5〇a。該電流控制與驅 動單元50a依據該電流命令。及馬達回授電流以驅動馬達 10a 。 參見第二及第三圖，分別為說明習知技術速度估測單 元24a處理之原理及步驟。如第二圖所示，習知之速度估 測單元24a利用單位時間内的位移量來估算目前的移動速 200914833 度：印）： π —-丹 一 (t)表示編碼 器的回授位置，Γ為取樣時間。 測單元24a在每次時間Γ 圖所不，该速度估 數器回授的數值P w (步_2/ (步職G〇，取得計 再由計數器回授的隸= i:=度估測單元- (步_〇。接著該速度的：置”-Τ) k又估展j早兀24a依據兩次位置的 差值及取樣時間Γ计异出初步估測速度瞥增_尸(，，(步 ^如）。然後將求得的初步估測速度: "平順化後形成最後的速度值％ (步驟8丨8a)皮 個取利早期公開* US2〇〇7〇〇43528A1揭露-種對多 (ri f Μ量測速度做平均的方法，以降低量測漣波 時會T相4=遲:\而上述專利提案方式在馬達高頻率操作 有相位延遲（phase delay)的問題。 最高G的頻Ϊ量：==時’通f會讓使用者輸人 速，否則古可At、、疋使用者必須知道待測物的最高轉 種狀況：1造成量測誤差。這個量測誤差的產生有兩 厶h 月& 力吗至待'則物很慢’但使用者輸入高轉速頻率：抗雜訊 力差/，假如有雜訊進來會產生誤差。 率.合待〆則物很快’但使用者輸入低於待測物轉速頻 .θ產生計數脈波漏數或測得轉速變慢。 、；而有時候待測物的轉速並不固定’因此使用者很難 7 200914833 預測待測物的轉速。如能設計自動切換馬達轉速量測系統 ^起始估計轉速，不需要由使用者輸入，即可減少量測的 誤差，增加準確性。 【發明内容】 因此本發明之另一目的即在於提供一種馬達轉速量測 系統之起始估計轉速自動設定方法。 為達成上述目的，本發明提供一種馬達轉速量測系統 Γ之起始估計轉速自動設定方法，係用於處理一編碼器感測 馬達轉動之脈波訊號，以自動產生用於計算脈波之起始估 计轉速。在量測初始設定時，先將一計數器歸零並設定— 起始估計轉速及一計數設定值Μ，其中在做第一筆資料量 測時，可將該起始估計轉速設定為該馬達轉速量測系統所 忐篁測之最大轉速。將馬達轉子轉速分成複數個階層，並 依據起始估計轉速設定一脈波寬度臨界值△τ。該系統在 ，收該編碼器之一脈波訊號時，計算該脈波訊號之一脈波 ( 寬度’若該脈波寬度大於該脈波寬度臨界值△Τ，則將計 數器加1。在計數完成該計數設定值撾後，由計數器計算 之脈波數目及全部量測時間計算出一新的馬達轉速；及利 用該新的馬達轉速設定新的起始估計轉速，其中該起始估 计轉速係為比新的馬達轉速速度為高的另一階層速度。再 者計數設定值Μ也可以隨馬達估計轉速而單調遞增，以確 保量測精確度。 【實施方式】 第四圖為依據本發明一較佳具體實例之馬達轉速量測 8 200914833 系統方塊圖，該馬達轉速量測系統主要包含一速度控制器 10、一轉速計18、及一編碼器16。該編碼器16係與馬達14 轉子連動，並可以依據轉子轉動而輸出脈波buh)信號。 該轉速計18可以依據該輸出脈波信號而估計馬達轉子轉 速，並將估計轉速送至速度控制器10。該速度控制器1〇可 以接收一輸入轉速命令及估計轉速，以產生一個速度命 令，然後將速度命令送給該驅動電路12，以精確控制馬達 14轉子轉速。 ^ 參見第五圖，為編碼器16輸出脈波信號之時序圖，假 設每一脈波之脈波週期為時間丁（脈波與脈波間時間 差）。一般量測轉速或計數通常有兩個參數，一個是時 間，一個是脈波數。也就是每一秒產生幾個脈波，單位為 赫兹_。市面上轉速計的單位有聊（每分鐘之圈數）或 卬以每秒鐘之圈數）。若每一圈有η個脈波，那麼lrpm = n/60Hz，lrpS=nHz。跟據兩個參數，轉速計以可利用硬體 中斷，當程式偵測到有脈波發生時，啟動時間計時，當程 式又债測到下-個脈波，停止時間計時，如此可知道脈波 與脈波之間之時間T。若轉速夠快可取N個脈波，經過時 間侧，料計算出馬達轉子轉速ν/(τ_)Ηζ。 、然=在上述馬達轉速估計中，為了避免雜訊干擾對於 脈波的H通常會設定脈波寬度臨界值△ T(pulsewkit}i threshold) ’當―脈波寬度經判斷小於脈波寬度臨界值^ τ貝j把該脈波視為雜訊去除掉。但脈波寬度臨界值△τ 的大小與使用者設定的轉速有關，歧的轉速越快，脈波 200914833 ι度臨界值△τ越小，通常是小於轉速的一半。例如如轉 速為lk Hz ’則對應的脈波寬度臨界值△ τ必須不得小於 l/(lk X 2)=0.5ms 。 如果讓使用者自己設定待測物的轉速，跟據使用者的 設定計算出雜訊脈波寬度，確保量測的精確度。但此時脈 波寬度是固定，但待測物的轉速並不一定不變，而且萬一 使用者設定錯誤或忘了設定或不知待測物的轉速，如此勢 必造成量測誤差。200914833 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for measuring the rotational speed of a motor: the initial estimated rotational speed of a motor speed measuring system is automatic [Prior Art] . In the motor closed-loop speed control, the speed estimation is usually used to estimate the speed of the motor when the speed estimation of the motor is used. ° Figure - shows the block diagram of the AC motor control system, which measures the speed of the horse by measuring the feedback information of the 3 catch. The conventional speed measuring system 20a includes a counter 22a and a speed estimating unit*. An encoder 12a outputs a pulse signal to indicate the measured motor position, and the counter 22a processes the pulse signal to obtain a position signal P of the motor. The speed estimating unit 24a processes the motor position signal p to obtain a motor speed %. A position control unit 40a calculates a speed command based on a position command and feedback from the counter 22a; then a speed control unit 30a calculates a current command U output to a current control and drive unit 5 according to the speed command. a. The current control and drive unit 50a is commanded in accordance with the current. And the motor feedback current to drive the motor 10a. Referring to the second and third figures, the principles and steps of the prior art speed estimation unit 24a are illustrated. As shown in the second figure, the conventional speed estimating unit 24a uses the displacement amount per unit time to estimate the current moving speed 200914833 degrees: printing): π —- Dan Yi (t) indicates the feedback position of the encoder, Γ For sampling time. The measuring unit 24a does not calculate the value P w of the speed estimator at each time. (Step _2 / (Step 〇 G 〇, the Measure is calculated by the counter = i: = degree) Unit - (step _ 〇. Then the speed: set "- Τ) k again estimated j early 兀 24a based on the difference between the two positions and the sampling time 异 初步 初步 初步 初步 初步 _ _ _ _ _ _ (Step ^). Then the initial estimated speed will be obtained: "The final speed value is formed after the smoothing (Step 8丨8a). The first profit is disclosed in the early stage* US2〇〇7〇〇43528A1Exposure-species For the method of averaging the ri f Μ measurement speed, the T phase 4 = late: when the measurement chopping is reduced, and the above-mentioned patent proposal has a phase delay problem at the high frequency operation of the motor. Frequency of G: When == 'pass f will let the user lose speed, otherwise the user can know the highest transfer condition of the object to be tested: 1 caused the measurement error. This measurement error There are two 厶h & force to wait for 'the object is very slow' but the user inputs high speed frequency: anti-noise power difference /, if there is noise coming in will produce errors. Rate. The condition is very fast, but the user input is lower than the speed of the object to be tested. θ produces the number of count pulse waves or the measured speed becomes slower. · And sometimes the speed of the object to be tested is not fixed' Therefore, it is difficult for the user to predict the rotational speed of the object to be tested. If the automatic switching motor speed measurement system can be designed to start the estimated speed, the input error can be reduced by the user input, and the accuracy of the measurement can be reduced and the accuracy can be increased. SUMMARY OF THE INVENTION Therefore, another object of the present invention is to provide a method for automatically setting an initial estimated rotational speed of a motor rotational speed measuring system. To achieve the above object, the present invention provides an automatic setting of an initial estimated rotational speed of a motor rotational speed measuring system. The method is used for processing a pulse signal of an encoder sensing motor rotation to automatically generate an initial estimated rotation speed for calculating a pulse wave. When measuring the initial setting, first resetting a counter to zero and setting - starting Estimating the rotational speed and a set value Μ, wherein when the first data measurement is performed, the initial estimated rotational speed can be set to the maximum rotational speed measured by the motor rotational speed measuring system. The motor rotor speed is divided into a plurality of levels, and a pulse width threshold Δτ is set according to the initial estimated speed. The system calculates a pulse wave of the pulse signal when receiving a pulse signal of the encoder. (Width 'If the pulse width is greater than the pulse width threshold △ Τ, the counter is incremented by 1. After the counting is completed, the number of pulses calculated by the counter and the total measurement time are calculated. Motor speed; and using the new motor speed to set a new initial estimated speed, wherein the initial estimated speed is another level of speed higher than the new motor speed. Further, the set value Μ can also be The motor estimates the speed and monotonically increases to ensure measurement accuracy. [Embodiment] The fourth figure is a block diagram of a motor speed measurement 8 200914833 system according to a preferred embodiment of the present invention. The motor speed measurement system mainly includes a speed controller 10, a tachometer 18, and an encoder. 16. The encoder 16 is coupled to the rotor of the motor 14 and can output a pulse wave signal according to the rotation of the rotor. The tachometer 18 can estimate the motor rotor speed based on the output pulse signal and send the estimated speed to the speed controller 10. The speed controller 1 can receive an input speed command and an estimated speed to generate a speed command, and then send a speed command to the drive circuit 12 to precisely control the rotor speed of the motor 14. ^ See the fifth diagram for the timing diagram of the pulse wave signal output from the encoder 16. It is assumed that the pulse period of each pulse wave is time ( (the time difference between the pulse wave and the pulse wave). Generally, the measured speed or count usually has two parameters, one is the time and the other is the pulse number. That is, several pulses are generated every second, in Hertz. The unit of the tachometer on the market is Talk (the number of laps per minute) or 圈 in laps per second. If there are η pulses per circle, then lrpm = n/60Hz, lrpS = nHz. According to the two parameters, the tachometer can be interrupted by the usable hardware. When the program detects that a pulse wave occurs, the time is started. When the program measures the next pulse, the time is stopped, so that the pulse can be known. The time T between the wave and the pulse wave. If the rotation speed is fast enough, N pulse waves can be taken. After the time side, the motor rotor speed ν/(τ_)Ηζ is calculated. However, in the above motor speed estimation, in order to avoid noise interference, the pulse width threshold Δ T (pulsewkit}i threshold) is usually set for the pulse wave H. When the pulse width is judged to be smaller than the pulse width threshold value ^ τ贝 j removes the pulse as a noise. However, the magnitude of the pulse width threshold Δτ is related to the rotational speed set by the user. The faster the rotational speed of the differential, the smaller the critical value Δτ of the pulse wave 200914833 ι, which is usually less than half of the rotational speed. For example, if the speed is lk Hz ′, the corresponding pulse width threshold Δ τ must not be less than l/(lk X 2)=0.5ms. If you let the user set the rotation speed of the object to be tested, calculate the noise pulse width according to the user's setting to ensure the accuracy of the measurement. However, the pulse width is fixed at this time, but the rotation speed of the object to be tested does not necessarily change, and if the user sets an error or forgets to set or does not know the rotation speed of the object to be tested, this will inevitably cause measurement error.
對於一般轉速必須要使用者設定而造成量測誤差的缺 失，本發明可利用量測轉速有連續性的特色，自動切換轉 速的設定。參見第六® ’為㈣本發明之馬達轉度估計值 自動設定方法之流程圖。步驟s卿為馬達轉速估計初始值 設定，在此有兩個參數需要自動設定…個是脈波寬度臨 界值ΔΤ，-個是計數設定值（set_tvalue)M。依據本發 明’可以建立-個起始估計轉速對照表㈣蘭y_estin^For the general rotation speed, the user must set the measurement error, and the invention can utilize the characteristic that the rotation speed is continuous, and automatically switches the setting of the rotation speed. Refer to the sixth page's (f) for a flowchart of the automatic setting method of the motor rotation degree estimation value of the present invention. The step s is the initial value setting of the motor speed estimation. Here, two parameters need to be automatically set... one is the pulse width threshold value ΔΤ, and the other is the count set value (set_tvalue) M. According to the present invention, it is possible to establish a starting estimated speed table (four) blue y_estin^
Speedlookuptable)，因為轉子轉速係有連續性，不會由 瞬間變成100 Hz，轉子轉速—宏抑m w 丁捋迷疋從1Hz經過一段時間變成 100Hz。因此該起始估計轉速對照表係將馬達轉子轉速由 該馬達轉速量測系統所能量測的最小轉速到最大轉速之 分成複數個階層（multiple ranges)，（參見第七圖）士 、 ί : 2UUHz 500kHz 1Hz 1MHz ... 〇 备 _速度階層均有-個對應之時間週期（timeperiQd)， 主（1HZi、1/(2〇〇HZ)…1/(1MHZ)。在此起始估計轉速對昭 表可以由轉料18所能量測的最小轉速到最大轉逮設定多 10 200914833 轉速卩自層’以有利於依據目前轉速設定r% —層（速度較 尚）的起始估計轉速，而能精確量測正確的脈波。 脈波寬度臨界值△ T即為速度階層之對應時間週期的 特疋工作週率(duty cycle)。例如假使速度階層為5kHz，那 麼對應時間週期為l/5k=〇.2mS ，如果取50 %的工作週率 (一半High，一半Low)，則脈波寬度臨界值△ τ為 O.lmS。因此如果轉速計18設定之脈波寬度臨界值△ τ為 ^ (UmS ’則轉速計18量測到脈波寬度小於〇 lmS脈波即視 為雜訊去除掉。 為了能精確量測脈波’在步驟S100，如果是第一次量 測（之前無量測數據），就取轉速計18所能量測的最大轉 速為起始估計轉速。如果已經有量測數據，則取目前轉速 (current rotational speed)的上一轉速階層作為起始估計轉速， 以避免量測誤差。如目前量測轉速為190Hz ，比較接近 200Hz (第2階層），可預先將脈波寬度臨界值Δτ設到 C相對應5001^(第3階層）的脈波寬度。若目前量測轉速為 10Hz，比較接近1Hz(第1階層），可預先將脈波寬度臨界 值△ T設到相對應200Hz (第2階層）的脈波寬度。再 者，該轉速計18内部包含有一個計數器（未圖示），在初 始值設定時，計數器會歸零。 在完成初始值設定之後，該轉速計18等待脈波進入 (步驟S102)、並在脈波進入後由硬體中斷產生及偵測脈波 寬度（步驟S102)。該轉速計18判斷偵測脈波是否大於一脈 波寬度臨界值ΔΤ?(步驟S110);若否，則將該债測脈波 200914833 視為雜訊（步驟SI 12);若是，則將該偵測脈波視為正常之 轉子計數脈波而將計數器加丨（步驟S114)。接著該轉速計18 判斷計數器之結果，若計數器之計數結果等於該計數設定 值Μ，則結束該次量測並計算新的馬達轉速=·τ_ (Hz)， 其中Ttotal為該次量測之全部量測時間（步驟S122)。該轉速 計18依據計算出來的新的馬達轉速計算新的脈波寬度臨界 值ΔΤ及計數設定值M(步驟S124)，其中計數設定值M可 和與量測頻率有關，也可設定為固定值。該計數設定值μ 較佳者係與量測到的頻率成單調遞增(monotonously increasing) 關係：例如量測頻率在200Hz以上，計數設定值絲2〇〇 筆，量測頻率在200Hz以下，計數設定值河取丨筆，依此 類推。 ^本發明具有起始估計轉速自動設定方法之馬達轉速量 測系統’可以依據前-次的量測結果自動設定起始估計轉 速（亦即自動設定脈波寬度臨界值Δτ)，料數設定值 Μ可隨量測頻率增大而增加，因此可以準確量測轉子頻 率而改進設定固定起始估計轉速的問題。 知上所述’當知本發明已具有產業利用性'新賴性與 ’又本發明之構造亦未曾見於同類產品及公開使 用’完全符合發明專利中請要件，爰依專利 【圖式簡單說明】 甲月 第一圖所示為一 Ac馬達控制系統方塊圖。 第二圖說明習知技術速度估測單元處理之原理。 第二圖說明習知技術速度估測單元處理之步驟。 12 200914833 第四圖為依據本發明一較佳具體實例 系統方塊圖。 建轉.迷量測 第五圖為編碼器輸出脈波信號之時序圖。 第六圖依據本發明之馬達轉速量測系# 速自動設定方法流程圖。 起始估計轉 第七圖為馬達轉子轉速分成複數個階層的—個範例。 I主要7G件符號說明】Speedlookuptable), because the rotor speed is continuous, it will not change from 100 Hz to 100 Hz. The rotor speed - macro m m w 捋 捋 疋 from 1 Hz to 100 Hz. Therefore, the initial estimated speed comparison table divides the motor rotor speed into a plurality of ranges from the minimum speed to the maximum speed measured by the motor speed measuring system (see the seventh figure), ί: 2UUHz 500kHz 1Hz 1MHz ... 〇 _ speed class has a corresponding time period (timeperiQd), main (1HZi, 1 / (2 〇〇 HZ) ... 1 / (1MHZ). Here at the estimated speed pair The indicator can be set from the minimum speed measured by the energy of the material 18 to the maximum speed of 10 200914833. The speed is from the layer 'to facilitate the initial estimated speed based on the current speed setting r% - layer (speed is better), and It can accurately measure the correct pulse wave. The pulse width threshold Δ T is the characteristic duty cycle of the corresponding time period of the velocity hierarchy. For example, if the velocity level is 5 kHz, then the corresponding time period is l/5k. =〇.2mS, if 50% of the working cycle rate (half High, half of Low), the pulse width threshold Δ τ is O.lmS. Therefore, if the tachometer 18 sets the pulse width threshold Δ τ is ^ (UmS 'the tachometer 18 measures the pulse width is small The 〇lmS pulse wave is regarded as noise removal. In order to accurately measure the pulse wave, in step S100, if it is the first measurement (previous measurement data), the maximum energy measured by the tachometer 18 is taken. The rotational speed is the initial estimated rotational speed. If there is already measured data, the previous rotational speed level of the current rotational speed is taken as the initial estimated rotational speed to avoid the measurement error. For example, the current measured rotational speed is 190 Hz, which is relatively close. 200 Hz (second level), the pulse width threshold Δτ can be set to the pulse width of C corresponding to 5001^ (third level) in advance. If the current measurement rotation speed is 10 Hz, it is closer to 1 Hz (first level). The pulse width threshold ΔT can be set to a pulse width corresponding to 200 Hz (second level) in advance. Further, the tachometer 18 includes a counter (not shown) therein, and the counter is set at the initial value. After the initial value setting is completed, the tachometer 18 waits for the pulse wave to enter (step S102), and generates and detects the pulse wave width by the hardware interrupt after the pulse wave enters (step S102). Determine if the detected pulse wave is large a pulse width threshold value ΔΤ? (step S110); if not, the debt measurement pulse 200914833 is regarded as noise (step SI 12); if so, the detected pulse wave is regarded as a normal rotor count pulse The counter is twisted (step S114). Then the tachometer 18 judges the result of the counter. If the counter is equal to the count set value Μ, the measurement is ended and the new motor speed is calculated = τ_ (Hz ), where Ttotal is the total measurement time of the measurement (step S122). The tachometer 18 calculates a new pulse width threshold ΔΤ and a count set value M according to the calculated new motor speed (step S124), wherein the count set value M can be related to the measurement frequency or can be set to a fixed value. . Preferably, the count set value μ is in a monotonously increasing relationship with the measured frequency: for example, the measurement frequency is above 200 Hz, the set value is 2 〇〇 pen, the measurement frequency is below 200 Hz, and the count setting is set. Value River takes a pen, and so on. The motor speed measuring system with the method of automatically setting the initial estimated speed can automatically set the initial estimated speed according to the previous-time measurement result (that is, automatically set the pulse width threshold Δτ), the number setting value. Μ can increase as the measurement frequency increases, so it is possible to accurately measure the rotor frequency and improve the problem of setting the fixed initial estimated speed. Knowing that 'when the invention has industrial applicability', the new reliance and the structure of the present invention have not been seen in the same kind of products and the public use of 'in full compliance with the invention patents, according to the patent [simplified description of the drawings The first picture of the first month shows a block diagram of an Ac motor control system. The second figure illustrates the principle of the prior art speed estimation unit processing. The second figure illustrates the steps of the prior art speed estimation unit processing. 12 200914833 The fourth figure is a block diagram of a system in accordance with a preferred embodiment of the present invention. Building Turn. Volume Measurement The fifth picture is the timing diagram of the encoder output pulse signal. Fig. 6 is a flow chart showing the method of automatically setting the speed of the motor speed measuring system according to the present invention. The initial estimate turns to the seventh figure, which is an example of the motor rotor speed divided into multiple levels. I main 7G parts symbol description]
【習知技術】 馬達10a 計數器22a 速度控制單元30a 電流控制與驅動單元 編碼器12a 速度估測單元24a 位置控制單元40a 50a 【本發明】 速度控制器10 驅動電路12 馬達14 編碼器16 轉速計18 步驟 S100-124 13[Technical Technology] Motor 10a Counter 22a Speed Control Unit 30a Current Control and Drive Unit Encoder 12a Speed Estimation Unit 24a Position Control Unit 40a 50a [Invention] Speed Controller 10 Drive Circuit 12 Motor 14 Encoder 16 Tachometer 18 Step S100-124 13