CN103424566A - Motor speed detection device and motor speed detection method - Google Patents
Motor speed detection device and motor speed detection method Download PDFInfo
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- CN103424566A CN103424566A CN2013103640895A CN201310364089A CN103424566A CN 103424566 A CN103424566 A CN 103424566A CN 2013103640895 A CN2013103640895 A CN 2013103640895A CN 201310364089 A CN201310364089 A CN 201310364089A CN 103424566 A CN103424566 A CN 103424566A
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Abstract
The invention discloses a motor speed detection method. Based on a multi-window sliding speed detection mode, encoder signals are sequentially sampled at intervals of T/n by the aid of a plurality of QEP (quadrature encoded pulse) modules of a DSP (digital signal processor), sampling cycle is T, the execution cycle of speed rings is decreased into T/n, windows sequentially slide after the speed rings are executed every time, and the speed is detected by the aid of the count value of a next QEP module. The speed is detected in such a manner, so that the detection rate of the speed rings can be increased on the premise of ensuring motor speed detection resolution. The invention further discloses a detection device implementing the method, and instantaneity and resolution of speed detection can be ensured.
Description
Technical field
The invention belongs to motor detection technique field, be specifically related to a kind of pick-up unit and detection method thereof of motor speed.
Background technology
Motor speed detects generally and all completes by gathering the photoelectric encoder signal.Photoelectric encoder is connected with motor coaxle, evenly is carved with the grating of some on encoder disk, and the disk both sides are equipped with the infrared transmitter-receiver of correlation.When electric machine rotation, scrambler is followed together and to be rotated, by grating be used for controlling infrared signal logical every, the code device signal of the infrared receiving device pulse train form that just output frequency is directly proportional to rotating speed.In order to judge direction, general scrambler also can add that a road differs the pulse signal of 90 °, by the phase relation judgement direction of two phase signals.
Suppose that the motor speed ring performance period is T, carry out the speed detection during each execution speed ring, scrambler is 2500 lines, by the DSP(digital signal processor) to carry out after 4 frequencys multiplication be 10000 lines, by the QEP(quadrature coding pulse circuit of DSP) code device signal is carried out to sample count.If upper one constantly the count value of QEP be M0, the count value of current time QEP is M1, the rotating speed result of according to the M method, carrying out speed calculating is:
n＝(M1-M0)Q
Wherein, rotating speed detection resolution Q is:
Can see, rotating speed detection resolution and speed ring performance period are inversely proportional to.If wish raising speed detection resolution the performance period of the ring that needs to push the speed, but the real-time that can control system is like this brought very large impact, even affects system stability.On the other hand, reducing the speed ring performance period can improve the real-time of electric machine control system, but makes so again the speed detection resolution descend, and brings the fluctuation of speed, causes the motor vibrations when serious.The speed ring performance period 0.5ms of take is example, rotating speed detection resolution now is 12rpm, if wish that motor speed reaches 1rpm or 0.1rpm, utilizes this resolution to carry out the speed detection, the speed of motor can be fluctuateed at ± 12rpm, and so rotating speed resolution is out of use certainly.Rotating speed is carried out to low-pass filtering and can reduce the fluctuation of speed, if but filter factor is little, and it is not obvious that the fluctuation of speed suppresses, if the huge time delay that filter factor can bring again rotating speed to detect too greatly.
Summary of the invention
For the existing above-mentioned technical matters of prior art, the invention provides a kind of pick-up unit and detection method thereof of motor speed, can, under the prerequisite that guarantees the motor speed detection resolution, improve the speed that speed ring detects.
A kind of detection method of motor speed is as follows:
At first, in the RAM(random access memory) in n speed ring detection window of application, n is greater than 1 natural number;
Then, the code device signal after shaping carries out continuous sampling to conditioning to utilize QEP, and sampling interval is T/n, and T is the sampling period; In arbitrary sampling period, QEP will sample n time, and each QEP will be counted the signal sampled, and count value is deposited to corresponding speed ring detection window;
For arbitrary speed ring detection window, before and after it, the time interval of twice count pick up value is T;
When described speed ring detection window count pick up value, judge in window and whether have count value:
If window is empty, the current count value received is deposited in window;
If there has been a count value in window, the current count value received is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal;
If there have been two count values in window, the current count value that receives is replaced to the count value of depositing the earliest in window and is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal.
Based on following formula execution speed ring detection computations:
Wherein: R is motor speed signal, and M ' is the current count value received, and M is the count value of depositing before in window.
Preferably, described motor speed signal being averaged to filtering processes; Can effectively reduce the fluctuation of speed.
A kind of pick-up unit of motor speed, comprise photoelectric encoder and DSP;
Described photoelectric encoder is installed on machine shaft, and it is converted to the swing offset amount of machine shaft by opto-electronic conversion the code device signal of impulse form;
Described DSP is loaded with a control module, a n QEP and n speed ring detection module, and n is greater than 1 natural number; Wherein:
Described QEP is for code device signal is carried out to sample count, and the output count value;
Described speed ring detection module is for storing the count value of corresponding QEP output, and according to count value execution speed ring detection computations with the output motor tach signal;
Described control module is carried out circulating sampling to the code device signal after the conditioning shaping successively for controlling n QEP, be n QEP successively interval T/n sampled, and return to the sampling that is started a new round by first QEP after n QEP completes sampling, the time interval that T is sampling period and arbitrary QEP front and back double sampling is T.
When described speed ring detection module receives from the count value of corresponding QEP output, judge in self module and whether have count value:
If module is empty, the current count value received is deposited in module;
If there has been a count value in module, the current count value received is deposited in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal;
If there have been two count values in module, by the count value of depositing the earliest in the current count value replacement module received and deposit in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal.
Described speed ring detection module is according to following formula execution speed ring detection computations:
Wherein: R is motor speed signal, and M ' is the current count value received, and M is the count value of depositing before in module.
Preferably, described DSP also is loaded with the signal condition module, and described signal condition module supplies the QEP sample count after code device signal being nursed one's health to shaping; Can effectively eliminate pulse signal through transmission attenuation, amplitude reduce, meet capacitive load after the situation such as forward position variation.
Preferably, described DSP also is loaded with filtration module, and described filtration module is processed for motor speed signal being averaged to filtering; Can effectively reduce the fluctuation of speed.
The present invention is based on the speed detection mode that multiwindow slides, utilize many QEP modules of DSP to be sampled to code device signal, sampling period is T, interval T/n is sampled successively, and the speed ring performance period is reduced to T/n, the count value of sliding successively the next QEP module of window utilization after each execution speed ring is carried out the speed detection.So detect, can under the prerequisite that guarantees the motor speed detection resolution, improve the speed that speed ring detects, guaranteed real-time and resolution that rotating speed detects.
The accompanying drawing explanation
The structural representation that Fig. 1 is pick-up unit of the present invention.
Fig. 2 is the overall schematic diagram that multiwindow sliding speed of the present invention detects.
Fig. 3 is for realizing the schematic diagram that the multiwindow sliding speed detects based on RAM.
Embodiment
In order more specifically to describe the present invention, below in conjunction with the drawings and the specific embodiments, technical scheme of the present invention is elaborated.
As shown in Figure 1, a kind of pick-up unit of motor speed, comprise photoelectric encoder and DSP;
Photoelectric encoder is installed on machine shaft, and it is converted to the swing offset amount of machine shaft by opto-electronic conversion the code device signal of impulse form;
DSP is loaded with a signal condition module, a control module, a filtration module, 5 QEP and 5 speed ring detection modules; Wherein:
The signal condition module is for being nursed one's health shaping to code device signal;
QEP carries out sample count for the code device signal to after the conditioning shaping, and the output count value;
Control module is carried out circulating sampling to the code device signal after the conditioning shaping successively for controlling 5 QEP, 5 QEP successively interval 0.2T sampled, and return to the sampling that is started a new round by QEP1 after QEP5 completes sampling, the time interval that T is sampling period and arbitrary QEP front and back double sampling is T;
The speed ring detection module is for storing the count value of corresponding QEP output, and according to count value execution speed ring detection computations with the output motor tach signal; Wherein, when the speed ring detection module receives from the count value of corresponding QEP, judge in self module and whether have count value:
If module is empty, the current count value received is deposited in module;
If there has been a count value in module, the current count value received is deposited in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal;
If there have been two count values in module, by the count value of depositing the earliest in the current count value replacement module received and deposit in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal;
The speed ring detection module is based on following formula execution speed ring detection computations:
Wherein: R is motor speed signal, and M ' is the current count value received, and M is the count value of depositing before in module.
Filtration module is processed for motor speed signal being averaged to filtering.
As shown in Figure 2, in present embodiment, 5 QEP carry out the sample count in two cycles to code device signal, and 5 QEP modules interval 0.2T are successively sampled, and the sampling period is still T, and the speed detection resolution is
but the speed ring performance period shortens to 0.2T, the count value of sliding successively the next QEP of window utilization after each execution speed ring is carried out the speed detection, wherein, before and after QEP1, the count value of twice counting output is that M1-0 and M1-1 are deposited with in first speed ring detection module, before and after QEP2, the count value of twice counting output is that M2-0 and M2-1 are deposited with in second speed ring detection module, before and after QEP3, the count value of twice counting output is that M3-0 and M3-1 are deposited with in the 3rd speed ring detection module, before and after QEP4, the count value of twice counting output is that M4-0 and M4-1 are deposited with in the 4th speed ring detection module, before and after QEP5, the count value of twice counting output is that M5-0 and M5-1 are deposited with in the 5th speed ring detection module.
So detect, the sample rate that can improve speed ring does not affect again the speed detection resolution.But so utilize hardware to realize that hyperchannel QEP counting can increase hardware cost undoubtedly, therefore, a kind of rotating speed detection method that realizes hyperchannel QEP counting based on software of the subsequent proposition of present embodiment, the specific implementation process is as follows:
At first, 5 speed ring detection windows of application in RAM;
Then, the code device signal after utilizing QEP in DSP to the conditioning shaping carries out continuous sampling, and sampling interval is 0.2T; In arbitrary sampling period T, QEP will sample 5 times, and each QEP will be counted the signal sampled, and count value is deposited to corresponding speed ring detection window;
For arbitrary speed ring detection window, before and after it, the time interval of twice count pick up value is T;
When speed ring detection window count pick up value, judge in window and whether have count value:
If window is empty, the current count value received is deposited in window;
If there has been a count value in window, the current count value received is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal;
If there have been two count values in window, the current count value that receives is replaced to the count value of depositing the earliest in window and is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal.
In present embodiment, code device signal is input to the QEP module of DSP after the signal condition shaping, by the QEP module, code device signal is caught and is counted.The data of record are stored in RAM, as shown in Figure 3:
Count value every a QEP of 0.2T record, be designated as respectively M0～M9 and charge to storage of array in RAM, and every 0.2T carries out a speed ring and controls, by M5-M0, and M6-M1, M7-M2, M8-M3, M9-M4 is considered as respectively 5 equivalent windows, is equivalent to 5 QEP modules.Once equivalent window slides during each computing velocity, utilize respectively M5-M0, M6-M1, M7-M2, M8-M3, M9-M4 to carry out speed calculating, so facility is carried out encoder pulse count with the software simulation hyperchannel, thereby reach under the prerequisite that guarantees the rotating speed detection resolution, improve the purpose of speed ring execution speed.When if rotational speed setup is low, the tachometer value that also can export the calculating of each window averages filtering and processes.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and General Principle described herein is applied in other embodiment and needn't passes through performing creative labour.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and the improvement of making for the present invention and modification all should be within protection scope of the present invention.
Claims (8)
1. the detection method of a motor speed is as follows:
At first, n speed ring detection window of application in RAM, n is greater than 1 natural number;
Then, the code device signal after shaping carries out continuous sampling to conditioning to utilize QEP, and sampling interval is T/n, and T is the sampling period; In arbitrary sampling period, QEP will sample n time, and each QEP will be counted the signal sampled, and count value is deposited to corresponding speed ring detection window;
For arbitrary speed ring detection window, before and after it, the time interval of twice count pick up value is T;
When described speed ring detection window count pick up value, judge in window and whether have count value:
If window is empty, the current count value received is deposited in window;
If there has been a count value in window, the current count value received is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal;
If there have been two count values in window, the current count value that receives is replaced to the count value of depositing the earliest in window and is deposited in window, and then according to two count value execution speed ring detection computations in window with the output motor tach signal.
2. detection method according to claim 1 is characterized in that: based on following formula execution speed ring detection computations:
Wherein: R is motor speed signal, and M ' is the current count value received, and M is the count value of depositing before in window.
3. detection method according to claim 1, is characterized in that: described motor speed signal is averaged to filtering and process.
4. the pick-up unit of a motor speed, comprise photoelectric encoder and DSP;
Described photoelectric encoder is installed on machine shaft, and it is converted to the swing offset amount of machine shaft by opto-electronic conversion the code device signal of impulse form; It is characterized in that:
Described DSP is loaded with a control module, a n QEP and n speed ring detection module, and n is greater than 1 natural number; Wherein:
Described QEP is for code device signal is carried out to sample count, and the output count value;
Described speed ring detection module is for storing the count value of corresponding QEP output, and according to count value execution speed ring detection computations with the output motor tach signal;
Described control module is carried out circulating sampling to the code device signal after the conditioning shaping successively for controlling n QEP, be n QEP successively interval T/n sampled, and return to the sampling that is started a new round by first QEP after n QEP completes sampling, the time interval that T is sampling period and arbitrary QEP front and back double sampling is T.
5. pick-up unit according to claim 4 is characterized in that: when described speed ring detection module receives from the count value of corresponding QEP output, judge in self module and whether have count value:
If module is empty, the current count value received is deposited in module;
If there has been a count value in module, the current count value received is deposited in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal;
If there have been two count values in module, by the count value of depositing the earliest in the current count value replacement module received and deposit in module, and then according to two count value execution speed ring detection computations in module with the output motor tach signal.
6. according to the described pick-up unit of claim 4 or 5, it is characterized in that: described speed ring detection module is according to following formula execution speed ring detection computations:
Wherein: R is motor speed signal, and M ' is the current count value received, and M is the count value of depositing before in module.
7. pick-up unit according to claim 4, it is characterized in that: described DSP also is loaded with filtration module, and described filtration module is processed for motor speed signal being averaged to filtering.
8. pick-up unit according to claim 4, it is characterized in that: described DSP also is loaded with the signal condition module, and described signal condition module is for being nursed one's health code device signal after shaping for the QEP sample count.
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| CN103675324A (en) * | 2013-12-13 | 2014-03-26 | 中国航空工业集团公司第六三一研究所 | Rotation speed measurement method with anti-shake function |
| CN106330016A (en) * | 2016-10-27 | 2017-01-11 | 重庆华数机器人有限公司 | Speed detection method and system for alternating current servo motor |
| CN106645780A (en) * | 2016-12-28 | 2017-05-10 | 深圳市英威腾电气股份有限公司 | Rotating speed detection method and system base on DSP |
| CN107102162A (en) * | 2017-04-21 | 2017-08-29 | 中国神华能源股份有限公司 | Rotary shaft rotating speed measuring method and device |
| CN113176451A (en) * | 2021-04-22 | 2021-07-27 | 浙江威星智能仪表股份有限公司 | Pulse signal detection method based on table look-up method |
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Cited By (6)
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| CN113176451A (en) * | 2021-04-22 | 2021-07-27 | 浙江威星智能仪表股份有限公司 | Pulse signal detection method based on table look-up method |
| CN113176451B (en) * | 2021-04-22 | 2023-08-15 | 浙江威星智能仪表股份有限公司 | Pulse signal detection method based on table look-up method |
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Application publication date: 20131204 |