CN104444671B - Elevator speed measurement method and system and elevator low-speed starting control method - Google Patents
Elevator speed measurement method and system and elevator low-speed starting control method Download PDFInfo
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- CN104444671B CN104444671B CN201410495573.6A CN201410495573A CN104444671B CN 104444671 B CN104444671 B CN 104444671B CN 201410495573 A CN201410495573 A CN 201410495573A CN 104444671 B CN104444671 B CN 104444671B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
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- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an elevator speed measurement method and system and an elevator low-speed starting control method. The speed measurement method comprises the steps of (1) sampling analog signals output by a sin-cos encoder at intervals of the preset time delta t, and using the current sampling time as the sampling time t, wherein the analog signals include the signal A and the signal B; (2) reading a code value y<A,t> of the signal A at the sampling time t and a code value y<B,t> of the signal B at the sampling time t, and calculating the electrical angle theta t at the sampling time t according to the code value y<A,t> and the code value y<B,t>; (3) according to the electrical angle theta t at the sampling time t and the electrical angle theta (t-1) at the previous sampling time (t-1), working out the electrical angle increment delta theta t corresponding to the sampling time t within the preset time delta t, and according to the electrical angle increment delta theta t and the preset time delta t, obtaining the speed Vt at the current sampling time through calculation; (4) if speed measurement is not finished, executing the step (1), and continuing speed measurement at the next sampling time. According to the speed measurement method, the speed measurement precision is greatly improved, the time delay is small, convergence is fast, and the speed measurement method is applicable to low speed measurement.
Description
Technical field
The present invention relates to control technical field, particularly relate to a kind of elevator speed-measuring method, system and elevator low
Speed starts control method.
Background technology
In prior art, the real time speed measuring of elevator is usually and uses encoder to detect angular displacement or straight-line displacement
It is converted into output of pulse signal, the change of elevator position can be calculated according to the pulse number sampled, enter
And obtain the speed of elevator, but it is exactly that precision is the highest that this method exists a defect.
With reference to Fig. 1, in step-by-step counting, being to count according to the level saltus step in train of pulse, encoder is defeated
The pulse signal gone out is through analog digital conversion, and such as encoder rotates a circle and exports N number of sine wave,
The most corresponding certain angular displacement of each sine wave, each sine wave is corresponding 2 pulses after analog digital conversion,
Speed-measuring method the most of the prior art is not just ensuring that an impulse hits just correspondence 1/4th
1 this level is occurred in that between certain sampling instant K and a upper sampling instant K-1 in string ripple, such as figure
Saltus step, in then judging this sampling time, electrical angle increment is as 90 °, correspond in sine wave it can be seen that
This estimation has precision very poor, and big just because of this angle calculating error, and it is right further to limit
Sample frequency and the requirement of electrode speed, this estimation requires that sample frequency can not too big or electrode speed
Can not be the lowest, if such as sample frequency is quickly or electrode speed is the lowest, it is possible to a sampling time section
The most do not sample level saltus step, then the speed calculated is exactly 0, therefore the testing the speed of prior art
The measurement real-time of method also can reduce, and is appropriate only for high speed test.Therefore, the elevator of prior art is real-time
Speed-measuring method is not suitable for low speed test, and rate accuracy has much room for improvement.
When elevator starts, in order to improve the whole apparatus for controlling elevator control performance in zero servo stage, need
Direction and the load of load can be detected when load changing in time, and be given rapidly by feedback control
With the moment of load balance, with ensure elevator device opening a sluice gate instantaneous proof load balance, cab will not rollback,
Passenger has preferable comfort, thus improves the overall performance of apparatus for controlling elevator.Current elevator controlling system
In system, the methods such as M method, T method and M/T method that tested the speed with low speed at a high speed are tested the speed, but these test the speed
Method feeds back to speed ring after having to pass through low-pass filtering link, owing to filtering the existence of link, the speed of detection
Degree is average speed, is not instantaneous velocity, the in the case of of changing for momentary load, the sound of whole control system
Should be slower, it is impossible to meet the demand of on-the-spot actual application, and real time speed measuring method precision of the prior art is not
High and test real-time is restricted, and is only applicable to high speed test, and when elevator starts, general speed ratio is relatively low,
Therefore the real time speed measuring method of prior art is not suitable for.
Therefore, prior art existing defects, need to improve.
Summary of the invention
The technical problem to be solved in the present invention is, the above-mentioned real time speed measuring method for prior art is not suitable for
Low speed test and rate accuracy speed-measuring method the highest, average are unfavorable for the defect of feedback control timely, it is provided that
A kind of can realize real time speed measuring and the high elevator speed-measuring side of rate accuracy in the case of elevator low cruise
Method, system and elevator low rate start control method.
The technical solution adopted for the present invention to solve the technical problems is: structure is a kind of based on sine and cosine encoder
Elevator speed-measuring method, for the elevator of low cruise is carried out real time speed measuring, wherein, described method includes
Following steps:
S1, the analogue signal of interval Preset Time Δ t sampling sine and cosine encoder output, during by present sample
Engraving as t sampling instant, described analogue signal includes a-signal and the B signal of phase 90 °;
S2, read the code value y of described a-signal of t sampling instant<A, t>Code value with described B signal
y<B, t>, and according to described code value y<A, t>With code value y<B, t>Calculate electrical angle θ of t sampling instantt;
S3, electrical angle θ according to t sampling instantt, electrical angle θ of previous t-1 sampling instantt-1Calculate
Go out electrical angle increment Delta θ in the Preset Time Δ t that t sampling instant is correspondingt, and according to electrical angle increment Delta θt
And Preset Time Δ t is calculated speed V of current sample timet;
It is not over if S4 tests the speed, then goes to step S1, continue testing the speed of next sampling instant.
Elevator speed-measuring method of the present invention, wherein,
In described step S1, a-signal is sine wave signal, and B signal is cosine wave signal;
In described step S2, code value y<A, t>With code value y<B, t>Electrical angle θ with t sampling instanttRelation
For: y<A, t>=sin θt/ code value precision, y<B, t>=cos θt/ code value precision.
Elevator speed-measuring method of the present invention, wherein, described step S2 includes following sub-step:
S20, determine the code value accuracy class of a-signal and B signal;
S21, read the code value y of described a-signal in t sampling instant<A, t>Code value with described B signal
y<B, t>, to described code value y<A, t>With code value y<B, t>It is filtered process and obtains code value Y(A, t)And code value
Y(B, t);
S22, by code value Y(A, t)With code value Y(B, t)Carry out zero point process and be converted to bipolarity code value;
S23, according in step S22 bipolarity code value calculate t sampling instant electrical angle θt, described electricity
Angle, θtComputing formula be: θt=arctan (Y(A, t)/Y(B, t))。
Elevator speed-measuring method of the present invention, wherein, is filtered the formula processed in described step S21
As follows:
Wherein, N is integer and is more than or equal to 1, described y(A, t-i)Represent that t sampling instant rises and elapse forward i
The code value of the a-signal of individual sampling instant, y(A, max)Represent that a-signal rises in t sampling instant and elapse forward N-1
Individual sampling instant is to the maximum in the N number of code value in current t sampling instant, y(A, max)Represent A letter
Number play N-1 sampling instant of passage forward to the N number of code value in current t sampling instant in t sampling instant
In minima, y(B, t-i)Represent that t sampling instant plays the code of the B signal of i sampling instant of passage forward
Value, y(B, max)Represent that B signal plays N-1 sampling instant of passage forward to current t in t sampling instant
The maximum in N number of code value in sampling instant, y(B, min)Represent that B signal rises forward in t sampling instant
Elapse N-1 sampling instant to the minima in the N number of code value in current t sampling instant.
Elevator speed-measuring method of the present invention, wherein, if the whole sampling before t sampling instant time
Number amounts to not enough n times, then the code value lacked all is defaulted as 0.
Elevator speed-measuring method of the present invention, wherein, described code value accuracy class and a-signal or B signal
Theoretical maximum actual magnitude and theory minimum actual magnitude between relation be: 2M=(MAX-MIN)/L,
Wherein, MAX represents the theoretical maximum actual magnitude of a-signal or B signal, and MIN represents a-signal or B letter
Number theoretical minimum actual magnitude, M represents code value accuracy class, and M is natural number and M >=6, and L represents code
Value precision.
Elevator speed-measuring method of the present invention, wherein,
Described method also includes, before step S1, first rotary encoder one encloses, and record collects
The code value Y that the theoretical minimum actual magnitude of a-signal or B signal is correspondingoff, going in described step S22
Zero point processes and includes: by code value Y(A, t)With code value Y(B, t)All deduct code value Yoff;
The bipolarity code value that is converted in described step S22 includes: will remove the code value Y after zero point(A, t)And code
Value Y(B, t)Numerical value be individually subtracted 2M-1。
Elevator speed-measuring method of the present invention, wherein,
Electrical angle increment Delta θ in described step S3tFor: Δ θt=θt-θt-1;
Speed VtComputing formula be: Vt=Δ θt/ Δ t,
If current sample time is the moment that sampling is corresponding for the first time, then θt-1Zero migration for encoder
Angle.
The invention also discloses a kind of elevator speed-measuring system based on described elevator speed-measuring method, wherein, institute
The system of stating includes:
Signal sampling module: for being spaced the analogue signal of Preset Time sampling sine and cosine encoder output, institute
State analogue signal and include a-signal and the B signal of phase 90 °;
Code value accuracy class determines module: for determining the code value accuracy class of a-signal and B signal;
Code value read module: for reading under code value accuracy class determines the code value precision conditions that module limits
The a-signal of signal sampling module acquisition and the code value of B signal;
Code value Filtering Processing module: process for the code value that code value read module reads is carried out zero point and turn
It is changed to bipolarity code value;
Electrical angle computing module: calculate present sample according to the bipolarity code value that code value Filtering Processing module obtains
The electrical angle in moment;
Speed calculation module: the electrical angle of the current sample time obtained according to electrical angle computing module and front
The electrical angle of one sampling instant and Preset Time are calculated the speed of current sample time.
The invention also discloses a kind of elevator low rate start control method, wherein, described method includes:
Elevator speed-measuring method described in S10, utilization, obtains speed V of current sample time elevatort, calculate
The positional increment in Preset Time Δ t corresponding before current sample time is: θt-θt-1, and will currently adopt
Positional increment summation corresponding to all sampling instants before the sample moment obtains the position of current time;
S20, the position of the current time fed back according to given position and step S10 determine the need for adjusting
The given speed of output, if it is not required, then terminate, otherwise, adjusts the given speed of output;
S30, the given speed exported according to step S20 and speed V of step S10 feedbacktControl electric current defeated
Go out and then adjust the speed of elevator, go to step S10.
Implement the elevator speed-measuring method of the present invention, system and elevator low rate start control method, have following
Beneficial effect: the present invention is directly to calculate electrical angle according to analogue signal, owing to analogue signal is actual response
Electrical angle change, therefore, compared with digital signal conversion, precision is greatly improved, on the other hand,
Sample frequency is the highest more is conducive to the real-time of speed to measure, with digital signal, this requires that sample frequency can not be too high
Comparing, more can embody the real-time of tachometric survey, time delay is little, and convergence is fast, and is not suitable for digital signal
Low speed test is compared, and the method for the present invention is more suitable for low speed test.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is prior art measuring principle figure;
Fig. 2 is the analogue signal schematic diagram in elevator speed-measuring method of the present invention;
Fig. 3 is the flow chart of the most preferred embodiment of elevator speed-measuring method of the present invention;
Fig. 4 is the structured flowchart of the most preferred embodiment of elevator speed-measuring system of the present invention;
Fig. 5 is the schematic diagram of elevator low rate start control method of the present invention.
Detailed description of the invention
In order to be more clearly understood from the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing is detailed
Describe the detailed description of the invention of the bright present invention in detail.
The speed of motor can represent with the change of electrical angle in the unit interval, therefore, if electricity can be improved
The precision of angular surveying, then can be effectively improved the precision that electrode speed is measured.The present invention is directly according to simulation
Signal calculates electrical angle, and therefore, compared with digital signal conversion, precision is greatly improved, the opposing party
Face, owing to analogue signal is the change of actual response electrical angle, therefore calculates electrical angle without limitation on to sampling
The requirement of frequency.
The sine and cosine encoder that the present invention uses is Heidenhain 1387 encoder, the analogue signal bag of its output
Include A, B, R, C, D signal.Wherein, a-signal and B signal phase 90 °, i.e. postpone 1/4
In the cycle, rotating can be distinguished according to delay relation;C signal is individual pen signal, i.e. encoder every revolution
Send the C signal in a cycle.For Heidenhain 1387 encoder, encoder every revolution, a-signal
Being respectively 2048 with the periodicity of B signal, a-signal is sinusoidal wave sin θ, and B signal is cosine wave cos
θ, θ represent electrical angle.The speed of elevator motor is different, then the a-signal that encoder every revolution is corresponding is defeated
Go out 2048 sinusoidal wave times also the most different.
For sinusoidal wave sin θ and cosine wave cos θ, although according to waveforms amplitude by arcsine or
Person's anticosine computing can obtain the angle of correspondence, but owing to sin θ and cos θ are Non-monotonic functions,
Therefore, the electrical angle that certain waveforms amplitude is corresponding can not be judged accurately, therefore by a-signal and B signal,
The tan of dullness: tan θ=sin θ/cos θ, then carry out arctangent cp cp operation is obtained through Mathematical treatment
I.e. can determine that electrical angle increment: θ=arctan (sin θ/cos θ).
Below in conjunction with Fig. 2 and Fig. 3, the concrete steps that the method for introduction relates to, it is right that the method for the present invention is applicable to
The elevator of low cruise carries out real time speed measuring, is connected with sine and cosine encoder for example with DSP, compiles in DSP
Cheng Shixian following steps, specifically include:
S1, the a-signal of interval Preset Time Δ t sampling sine and cosine encoder output and B signal, will be current
Sampling instant is designated as t sampling instant.
In most preferred embodiment, Preset Time Δ t is 100 μ s, i.e. samples once every 100 μ s, above-mentioned carries
Arriving, be finally intended to obtain calculating electrical angle through arctan function, therefore, Preset Time Δ t can not surpass
Spend a sine wave or the cycle of cosine wave.The maximum speed that general synchrodrive runs is less than 300 turns
/ s, i.e. 0.0005 turn/100 μ s, then the a-signal sinusoidal wave number in a Preset Time Δ t is:
0.0005 turn/100 μ s × 2048/turn=1.024/100 μ s.Visible, even if taking maximum speed, A
Signal the most corresponding 1.024 cycles in Preset Time Δ t, therefore for the motor of low cruise,
Do not worry a Preset Time Δ t cycle more than an a-signal.
S2, referring to figs. 2 and 3, in most preferred embodiment, step S2 includes following sub-step S20-S23:
S20, determine the code value accuracy class of a-signal and B signal;
Code value accuracy class determines code value precision, described code value accuracy class and a-signal or the reason of B signal
Relation between the maximum actual magnitude of opinion and theory minimum actual magnitude is: 2M=(MAX-MIN)/L, its
In, MAX represents the theoretical maximum actual magnitude of a-signal or B signal, and MIN represents a-signal or B signal
Theoretical minimum actual magnitude, M represents code value accuracy class, M be natural number and, preferably M >=6, L
It is code value precision for L.Will the theoretical maximum actual magnitude of sinusoidal wave (and cosine wave) and theory minimum real
Distance between the amplitude of border is divided into 2MPart.Due to theoretical maximum actual magnitude and theory minimum actual magnitude it
Between distance be fixing, therefore, M is the biggest, and corresponding L is the least, and the precision calculating electrical angle is also got over
High.
S21, read the code value y of described a-signal in t sampling instant<A, t>Code value with described B signal
y<B, t>, to described code value y<A, t>With code value y<B, t>It is filtered process and obtains code value Y(A, t)And code value
Y(B, t);
Code value y<A, t>With code value y<B, t>Electrical angle θ with t sampling instanttRelation be:
y<A, t>=sin θt/ code value precision, y<B, t>=cos θt/ code value precision;
Therefore,
y<A, t>/y<B, t>=sin θt/cosθt=tan θt,
Then, θt=arctan (y<A, t>/y<B, t>) (A)
S22, by code value Y(A, t)With code value Y(B, t)Carry out zero point process and be converted to bipolarity code value;
Although the formula (A) in step S21 just can calculate electrical angle, but in order to improve data
Reliability, described step S2 is calculating electrical angle θtThe most also include described code value y<A, t>And code value
y<B, t>It is filtered process and obtains code value Y(A, t)With code value Y(B, t),
The formula of described Filtering Processing is as follows:
Corresponding, electrical angle θtComputing formula be updated to the most accordingly:
θt=arctan (Y(A, t)/Y(B, t)) (B)
Wherein, N is integer and is more than or equal to 1, preferably 10, described y(A, t-i)Represent that t sampling instant rises
The code value of the a-signal of i sampling instant of passage forward, y(A, max)Represent that a-signal rises in t sampling instant
N-1 sampling instant of passage forward to the maximum in the N number of code value in current t sampling instant,
y(A, min)Represent that a-signal plays N-1 sampling instant of passage forward to current t sampling in t sampling instant
The minima in N number of code value in moment, y(B, t-i)Represent that t sampling instant plays i sampling of passage forward
The code value of the B signal in moment, y(B, max)Represent that B signal plays passage forward N-1 in t sampling instant and adopts
The sample moment is to the maximum in the N number of code value in current t sampling instant, y(B, min)Represent that B signal exists
T sampling instant plays N-1 sampling instant of passage forward in the N number of code value in current t sampling instant
Minima.
The code value y of the most current t sampling instant<A, t>Put down with the code value in above N-1 moment of continuous print
All Filtering Processing obtain the code value Y of t sampling instant(A, t), for the sampling several times started most, due to before it
The number of times of surface sample not enough N-1, if the whole sampling number total therefore before current time is not
Foot n times, then the code value lacked all is defaulted as 0, although so calculates the code value for initial time and reads by mistake
Difference is very big, but Preset Time Δ t is 100 μ s, and sample frequency is the highest, and the speed calculation of start time is by mistake
Difference is for the real time speed measuring process of whole subsequent process, and this error is negligible.
Further, the impact fluctuated due to other, the code value got not is theoretic code value.Cause
This, the code value Y that Filtering Processing is obtained(A, t)With code value Y(B, t)It is necessary that carrying out zero point processes, reference
Fig. 2, in most preferred embodiment, code value accuracy class is defined as 10, a most corresponding sine wave or
The code value that the maximum of person's cosine wave is corresponding with minima is respectively as follows: 2048 and 0.But due to other disturbances
Impact, the actual code value that maximum is corresponding with minima may be: 2148 and 100.Then survey therefore,
Before speed, need first error identifying.
Method particularly includes: before step S1, first rotary encoder one encloses, the A letter that record collects
Number or code value Y corresponding to the theoretical minimum actual magnitude of B signaloffGo zero point to process described in, to include: will
Code value Y(A, t)With code value Y(B, t)All deduct code value Yoff。
Such as, the code value Y that Filtering Processing obtains sometime(A, t)With code value Y(B, t)It is respectively 2011 Hes
612, if then YoffBe 100, then zero-suppress the code value Y after processing(A, t)With code value Y(B, t)It is respectively 1911
With 512.
But, above-mentioned go zero point process after code value Y(A, t)With code value Y(B, t)Be do not distinguish positive and negative,
Can not directly carry out arctangent cp cp operation.It is thus desirable to by Y(A, t)With code value Y(B, t)It is reconverted into bipolar code
Value.Be converted to bipolarity code value include: the code value Y after zero point will be removed(A, t)With code value Y(B, t)Numerical value divide
Do not deduct 2M-1。
Such as, the above-mentioned code value Y after going zero point to process(A, t)With code value Y(B, t)It is respectively 1911
With 612, then code value Y(A, t)With code value Y(B, t)Be converted to bipolarity code value: 1911-1024 and 612-1024,
It is: 887 and-512.
It should be noted that code value accuracy class is the highest, the impact of interference is the biggest, so most preferred embodiment
In be provided with special average filter step S22.If the code value accuracy class of step S20 is somewhat reduced,
Then can save this filter step S22.Such as, in most preferred embodiment, code value accuracy class preferred 10,
Interference is that the average filter by step S22 is disposed, it is also possible to code value accuracy class somewhat reduces changing into
8 or 9, and save average filter step S22.
S23, according in step S22 bipolarity code value calculate t sampling instant electrical angle θt。
Finally, the bipolarity code value obtained in above-mentioned steps S22 is substituted in formula (B), carries out anyway
Cutting the electrical angle that computing obtains is arctan (-887/512)=60 °.
S3, electrical angle θ according to t sampling instantt, electrical angle θ of previous t-1 sampling instantt-1Calculate
Go out electrical angle increment Delta θ in the Preset Time Δ t that t sampling instant is correspondingt, and according to electrical angle increment Delta θt
And Preset Time Δ t is calculated speed V of current sample timet;
Electrical angle increment Delta θtFor: Δ θt=θt-θt-1;Speed VtComputing formula be: Vt=Δ θt/Δt;
If current sample time is the moment that sampling is corresponding for the first time, then θt-1Zero migration for encoder
Angle.
With reference to Fig. 4, the invention also discloses a kind of elevator based on elevator speed-measuring method of the present invention and survey
Speed system, described system includes:
Signal sampling module: for being spaced the analogue signal of Preset Time sampling sine and cosine encoder output, institute
State analogue signal and include a-signal and the B signal of phase 90 °.
Code value accuracy class determines module: for determining the code value accuracy class of a-signal and B signal;
Code value read module: for reading under code value accuracy class determines the code value precision conditions that module limits
The a-signal of signal sampling module acquisition and the code value of B signal;
Code value Filtering Processing module: process for the code value that code value read module reads is carried out zero point and turn
It is changed to bipolarity code value;
Electrical angle computing module: calculate present sample according to the bipolarity code value that code value Filtering Processing module obtains
The electrical angle in moment;
Speed calculation module: the electrical angle of the current sample time obtained according to electrical angle computing module and front
The electrical angle of one sampling instant and Preset Time are calculated the speed of current sample time.
The invention also discloses a kind of elevator low rate start control method, with reference to Fig. 5, the method is based on elevator
System realize, elevator device includes: elevator speed-measuring system 200, control system 100, sine and cosine encoder,
Motor;Wherein elevator speed-measuring system 200 is above-mentioned elevator speed-measuring system, except for the difference that, elevator speed-measuring system
System 200 also includes position computation module;
The method of the present invention comprises the following steps:
S10, the speed calculation module of control system 100 calculate speed V of current sample time elevatort,
Positional increment in the Preset Time Δ t that position computation module is corresponding before calculating current sample time is: θt-
θt-1, and when positional increment summation corresponding for all sampling instants before current sample time is obtained current
The position carved, and respectively by speed VtFeeding back to acceleration module, the position of current time feeds back to position mould
Block;
S20, position module according in given position and step S10 position computation module feed back current time
The position carved, it is determined whether need to adjust the given speed of output, if it is not required, then terminate, otherwise,
Adjust the given speed of output;
Speed calculation mould in given speed that S30, acceleration module export according to step S20 and step S10
Speed V of block feedbacktControl the electric current output of current module, and then the speed of adjustment elevator, go to step S10.
In sum, the present invention is directly to calculate electrical angle according to analogue signal, owing to analogue signal is true
Reaction electrical angle change, therefore, compared with digital signal conversion, precision is greatly improved, another
Aspect, sample frequency is the highest more is conducive to the real-time of speed to measure, and this requires sample frequency not with digital signal
Too high can compare, more can embody the real-time of tachometric survey, time delay is little, and convergence is fast, and with digital signal not
Being applicable to low speed test compare, the method for the present invention is more suitable for low speed test.
Above in conjunction with accompanying drawing, embodiments of the invention are described, but the invention is not limited in above-mentioned
Detailed description of the invention, above-mentioned detailed description of the invention is only schematic rather than restrictive, this
The those of ordinary skill in field, under the enlightenment of the present invention, is being protected without departing from present inventive concept and claim
Under the ambit protected, it may also be made that a lot of form, within these belong to the protection of the present invention.
Claims (8)
1. an elevator speed-measuring method based on sine and cosine encoder, for carrying out the elevator of low cruise
Real time speed measuring, it is characterised in that said method comprising the steps of:
S1, the analogue signal of interval Preset Time Δ t sampling sine and cosine encoder output, during by present sample
Engraving as t sampling instant, described analogue signal includes a-signal and the B signal of phase 90 °;
S2, read the code value y of described a-signal of t sampling instant(A, t)Code value y with described B signal(B, t),
And according to described code value y(A, t)With code value y(B, t)Calculate electrical angle θ of t sampling instantt;
S3, electrical angle θ according to t sampling instantt, electrical angle θ of previous sampling instantt-1Calculate t
Electrical angle increment Delta θ in the Preset Time Δ t that sampling instant is correspondingt, and according to electrical angle increment Delta θtAnd
Preset Time Δ t is calculated speed V of current sample timet;
It is not over if S4 tests the speed, then goes to step S1, continue testing the speed of next sampling instant;
Wherein, in described step S1, a-signal is sine wave signal, and B signal is cosine wave signal;
In described step S2, code value y(A, t)With code value y(B, t)Electrical angle θ with t sampling instanttRelation
For: y(A, t)=sin θt/ code value precision, y(B, t)=cos θt/ code value precision;
Wherein, described step S2 includes following sub-step:
S20, determine the code value accuracy class of a-signal and B signal;
S21, read the code value y of described a-signal in t sampling instant(A, t)Code value with described B signal
y(B, t), to described code value y(A, t)With code value y(B, t)It is filtered process and obtains code value Y(A, t)And code value
Y(B, t);
S22, by code value Y(A, t)With code value Y(B, t)Carry out zero point process and be converted to bipolarity code value;
S23, according in step S22 bipolarity code value calculate t sampling instant electrical angle θt, described electricity
Angle, θtComputing formula be: θt=arctan (Y(A, t)/Y(B, t))。
Elevator speed-measuring method the most according to claim 1, it is characterised in that in described step S21
The formula being filtered processing is as follows:
Wherein, N is integer and is more than or equal to 1, described y(A, t-i)Represent that t sampling instant rises and elapse forward i
The code value of the a-signal of individual sampling instant, y(A, max)Represent that a-signal rises in t sampling instant and elapse forward N-1
Individual sampling instant is to the maximum in the N number of code value in current t sampling instant, y(A, min)Represent A letter
Number play N-1 sampling instant of passage forward to the N number of code value in current t sampling instant in t sampling instant
In minima, y(B, t-i)Represent that t sampling instant plays the code of the B signal of i sampling instant of passage forward
Value, y(B, max)Represent that B signal plays N-1 sampling instant of passage forward to current t in t sampling instant
The maximum in N number of code value in sampling instant, y(B, min)Represent that B signal rises forward in t sampling instant
Elapse N-1 sampling instant to the minima in the N number of code value in current t sampling instant.
Elevator speed-measuring method the most according to claim 2, it is characterised in that if t sampling instant
Whole sampling number before amounts to not enough n times, then the code value lacked all is defaulted as 0.
Elevator speed-measuring method the most according to claim 1, it is characterised in that described code value precision etc.
Relation between level and the theoretical maximum actual magnitude of a-signal or B signal and theory minimum actual magnitude is:
2M=(MAX-MIN)/L, wherein, MAX represents the theoretical maximum actual magnitude of a-signal or B signal,
MIN represents the theoretical minimum actual magnitude of a-signal or B signal, and M represents code value accuracy class, and M is certainly
So number and M >=6, L represents code value precision.
Elevator speed-measuring method the most according to claim 1, it is characterised in that
Described method also includes, before step S1, first rotary encoder one encloses, and record collects
The code value Y that the theoretical minimum actual magnitude of a-signal or B signal is correspondingoff, going in described step S22
Zero point processes and includes: by code value Y(A, t)With code value Y(B, t)All deduct code value Yoff;
The bipolarity code value that is converted in described step S22 includes: will remove the code value Y after zero point(A, t)And code
Value Y(B, t)Numerical value be individually subtracted 2M-1。
Elevator speed-measuring method the most according to claim 1, it is characterised in that
Electrical angle increment Delta θ in described step S3tFor: Δ θt=θt-θt-1;
Speed VtComputing formula be: Vt=Δ θt/ Δ t,
If current sample time is the moment that sampling is corresponding for the first time, then θt-1Zero migration for encoder
Angle.
7. an elevator speed-measuring system based on the elevator speed-measuring method described in any one of claim 1-6,
It is characterized in that, described system includes:
Signal sampling module: for being spaced the analogue signal of Preset Time sampling sine and cosine encoder output, institute
State analogue signal and include a-signal and the B signal of phase 90 °;
Code value accuracy class determines module: for determining the code value accuracy class of a-signal and B signal;
Code value read module: for reading under code value accuracy class determines the code value precision conditions that module limits
The a-signal of signal sampling module acquisition and the code value of B signal;
Code value Filtering Processing module: process for the code value that code value read module reads is carried out zero point and turn
It is changed to bipolarity code value;
Electrical angle computing module: calculate present sample according to the bipolarity code value that code value Filtering Processing module obtains
The electrical angle in moment;
Speed calculation module: the electrical angle of the current sample time obtained according to electrical angle computing module and front
The electrical angle of one sampling instant and Preset Time are calculated the speed of current sample time.
8. an elevator low rate start control method, it is characterised in that described method includes:
S10, utilize the elevator speed-measuring method described in any one of claim 1-6, obtain current sample time
Speed V of elevatort, the positional increment in Preset Time Δ t corresponding before calculating current sample time is:
θt-θt-1, and positional increment summation corresponding for all sampling instants before current sample time is obtained current
The position in moment;
S20, the position of the current time fed back according to given position and step S10 determine the need for adjusting
The given speed of output, if it is not required, then terminate, otherwise, adjusts the given speed of output;
S30, the given speed exported according to step S20 and speed V of step S10 feedbacktControl electric current defeated
Go out and then adjust the speed of elevator, go to step S10.
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