CN105675029B - A kind of wind generator system and speed-position detection device and method - Google Patents
A kind of wind generator system and speed-position detection device and method Download PDFInfo
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- CN105675029B CN105675029B CN201610009037.XA CN201610009037A CN105675029B CN 105675029 B CN105675029 B CN 105675029B CN 201610009037 A CN201610009037 A CN 201610009037A CN 105675029 B CN105675029 B CN 105675029B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- General Physics & Mathematics (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
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Abstract
The invention discloses a kind of method for locating speed measurement, including：N tooth is distributed with code-disc, the space width of one of tooth is A, and the space width of other all teeth is B；The ratio that space width A is more than space width B, space width A and space width B is R；By the tooth of detection means alignment code-disc；When the tooth edge of detection means alignment code-disc, the level of detection means, which is undergone mutation, produces pulse signal, the interruption processing module of detection trigger chip；Interruption processing module calculates code-disc and often encloses time-consuming s [x] in real time, and comparing code-disc, currently whether the time-consuming s [x] of circle encloses time-consuming s [x 1] within a certain error range with code-disc one；Assert that code-disc enters at the uniform velocity state；The time ratios P used between adjacent teeth is calculated in real time, when P values are about R, are now determined that code-disc position is code-disc physics zero-bit, is calculated angle J of the detection means relative to code-disc physics zero-bit in real time.The present invention reduces the error of speed and angle, improves speed-position detection precision.
Description
Technical field
The present invention relates to speed-position detection technical field, more particularly to a kind of wind generator system and speed-position detection device and side
Method.
Background technology
At present, wind-driven generator uses orthogonal pulses formula speed-position detection device more, and its principle is：Incremental encoder A phases,
B phases can export rectangular pulse signal respectively, and the phase between this two signals differs 90 degree, and rotation is detected according to phase place change
Direction, according to umber of pulse and time detecting speed, calculate the angle between zero-bit.Its cost is higher, poor reliability, anti-interference
It is indifferent.
The content of the invention
In view of this, the present invention proposes a kind of wind generator system and speed-position detection device and method, fixed to solve to test the speed
Position precision problem.
On the one hand, the invention provides a kind of method for locating speed measurement, comprise the following steps：
Step 1：It is distributed with n tooth on code-disc, the space width of one of tooth is A, the space width of other all teeth
For B；The ratio that space width A is more than space width B, space width A and space width B is R；By the tooth of detection means alignment code-disc；Work as inspection
When surveying the tooth edge of device alignment code-disc, the level of detection means, which is undergone mutation, produces pulse signal, in detection trigger chip
Disconnected processing module.
Step 2：Interruption processing module calculates code-disc and often encloses time-consuming s [x] in real time, and s [x] represents institute's used time of code-disc xth circle
Between.
Step 3：Comparing code-disc, currently whether the time-consuming s [x] of circle encloses time-consuming s [x-1] in certain error scope with code-disc one
It is interior；When s [x] values and s [x-1] values are within a certain error range, assert that code-disc enters at the uniform velocity state, and enter step 4, otherwise
Return to step 2；
Step 4：When code-disc enters at the uniform velocity state, the time ratios P used between adjacent teeth is calculated in real time；
Step 5：Compare P and R difference, when P and R difference is in preset range, it is code-disc physics to determine code-disc position
Zero-bit, into step 6, otherwise return to step 4；
Step 6：Angle J of the detection means relative to code-disc physics zero-bit is calculated in real time.
Further, in step 2：The continuous timing of timer T of detection chip, umber of pulse M is updated, if umber of pulse M
During=n+1, timer T=c [x] [1]=0 and umber of pulse M=1 is made；Calculate xth circle and take s [x], s [x]=c [x] [n+1]-c
[x][1]；C [x] [n+1] represents the time of the (n+1)th tooth of xth circle.
Further, in step 4：CalculateC [x] [y] represents the y of xth circle
The time of tooth, y values are equal to umber of pulse M, when P and R difference is in preset range, make timer T=c [x] [1]=0 and pulse
Number M=1.
Further, in step 6：Angle J=(y-1) × q+ (T-c [x] [y]) × v, wherein q=360 ÷ (n+R-
1), v=360 ÷ s [x].
Further, space width A is space width B 2 times, R=2, q=360 ÷ (n+1).
Further, when s [x] values and s [x-1] values are in 5% error range, assert that code-disc enters at the uniform velocity state；
1.95≤p≤2.05。
Further, the tooth edge of code-disc is right angle.
In addition, present invention also offers a kind of speed-position detection device, including frame, detection means, code-disc, detection chip,
Detection means is fixed on frame, and detection means is directed at the tooth of code-disc；N tooth, the between cog of one of tooth are distributed with code-disc
It is B away from the space width for A, other all teeth；The ratio that space width A is more than space width B, space width A and space width B is R；Inspection
Device is surveyed to be used to detect the tooth of code-disc and produce pulse signal；Detection chip is used for the pulse signal of receiving detection device, in real time
Calculate code-disc and often enclose time-consuming s [x]；And judge that code-disc is when front ring takes s [x] and the time-consuming s [x-1] of a circle on code-disc according to code-disc
It is no to enter at the uniform velocity state；And the time ratios P used between adjacent teeth is calculated in real time, the thing of code-disc is judged according to P and R difference
Zero-bit is managed, and calculates angle J of the detection means relative to code-disc physics zero-bit in real time.
Further, space width A is 2 times, R=2 of space width B, and the tooth edge of code-disc is right angle.
In addition, present invention also offers wind generator system, including above-mentioned speed-position detection device.
Wind generator system and speed-position detection device and method provided by the invention.Using high-frequency detection chip, in setting
Liter or trailing edge interrupt mode.Code-disc uses different space width structures, is tested the speed according to every circle institute is time-consuming, by working as front ring
Institute it is time-consuming it is time-consuming with upper one circle institute compared with, judge code-disc whether at the uniform velocity state.When at the uniform velocity state, calculate
By space width A and the time taking ratio P of space width B institutes, code-disc physics zero-bit is looked for by P values.Then detection is calculated in real time
Device relative to code-disc physics zero-bit angle J.The device and method reduces the error of speed and angle, improves speed-position detection
Precision.In addition, the tooth edge of code-disc is right angle, reduces speed and angular error, improve speed-position detection precision.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is speed-position detection schematic device of the present invention；
Fig. 2 is method for locating speed measurement schematic diagram of the present invention.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
With reference to Fig. 1, the preferred embodiments of the present invention are described in further detail.
As shown in figure 1, a kind of speed-position detection device of this preferred embodiment, including frame, detection means, code-disc, detection
Chip, detection means are fixed on frame.N tooth is distributed with code-disc, the space width of one of tooth is A, other all
The space width of tooth is B；Space width A is R times of space width B, takes R=2, n=30 in the present embodiment.Space width is adjacent two tooth
Arc length between homonymy flank profil.The tooth edge of code-disc is right angle.
By the tooth of detection means alignment code-disc；When code-disc rotates, detection means produces high electricity in the tooth high spot of code-disc
It is flat, low level is produced in recess, when tooth passes through detection means from concave to convex, its level is changed into high from low, that is, when detection fills
When putting the tooth edge of alignment code-disc, the level of detection means, which is undergone mutation, produces pulse signal, and code-disc rotation is turned around, and umber of pulse is
M=30, that is to say, that M=n.Detection means can use and receive switch or electromagnetic induction element.
The pulse signal of detection chip receiving detection device, when the tooth edge of detection means alignment code-disc, detection means
Level undergo mutation the interruption processing module of detection trigger chip；Interruption processing module is exactly interrupt handling routine.Detect core
Piece is the high-frequency such as control chip such as DSP, ARM, single-chip microcomputer.In configuration, the pulse signal of detection means is input to detection
In chip, detection chip input signal is configured to rise or fall along mutation and interrupted.It is F to detect program and set interruption resolution ratio
Second.For code-disc under maximum speed state, the tooth that space width is B interrupts the two of resolution ratio F by being less than the time required to detection means
/ mono-.
As shown in Fig. 2 the method for locating speed measurement of speed-position detection device of the present invention is as follows：Comprise the following steps：
Step 1：When the tooth edge of detection means alignment code-disc, the level of detection means, which is undergone mutation, produces pulse letter
Number, the interruption processing module of detection trigger chip；
Step 2：Interruption processing module calculates code-disc and often encloses time-consuming s [x] in real time, and s [x] represents institute's used time of code-disc xth circle
Between；
Step 3：Comparing code-disc, currently whether the time-consuming s [x] of circle encloses time-consuming s [x-1] in certain error scope with code-disc one
It is interior；When s [x] values and s [x-1] values are within a certain error range, assert that code-disc enters at the uniform velocity state, and enter step 4, otherwise
Return to step 2；
Step 4：When code-disc enters at the uniform velocity state, the time ratios P used between adjacent teeth is calculated in real time；CalculateC [x] [y] represents the time of the y teeth of xth circle, and y values are equal to umber of pulse M, when P's and R
Difference makes timer T=c [x] [1]=0 and umber of pulse M=1 in preset range.
Step 5：Compare P and R difference, when P and R difference is in preset range, it is code-disc physics to determine code-disc position
Zero-bit, into step 6, otherwise return to step 4.In embodiment, space width A is 2 times of space width B, R=2.Namely 1.95
During≤p≤2.05, timer T=c [x] [1]=0 and umber of pulse M=1 is made, assert that now code-disc is relative to the position of detection means
It is set to code-disc physics zero-bit.
Step 6：Angle J of the detection means relative to code-disc physics zero-bit is calculated in real time.Angle J=(y-1) × q+ (T-c
[x] [y]) × v, wherein q=360 ÷ (n+R-1), v=360 ÷ s [x].In the present embodiment, R=2, q=360 ÷ (n+1).
The method for locating speed measurement of the present invention is specific as follows：
In initial position, code-disc optional position alignment detection means, code-disc starts to rotate, and first tooth edge passes through inspection
When surveying device, the mutation of detection means level, detection trigger chip interrupt processing routine, the timer T of detection chip is continuous meter
When, now count umber of pulse M=1, x=1, y=1, time c [1] [1]=T.When second tooth edge passes through detection means, inspection
The mutation of device level is surveyed, detection trigger chip interrupt processing routine now counts umber of pulse M+1=2, x=1, y=2, time c [1]
[2]=T-c [1] [1], so repeat, until code-disc rotates to first tooth edge meter umber of pulse M=n+1 again, calculate the
Lap time s [1]=c [1] [n+1]-c [1] [1].Rotating speed v=360 ÷ s [1].Make x add 1, now x=2, make timer T=c
[2] [1]=0 and umber of pulse M=1.When second tooth edge passes through detection means, the mutation of detection means level, detection trigger
Chip interrupt processing routine, now count umber of pulse M+1=2, read timer current time c [2] [2], so repeat.Again count
The next circle s [2] of number, rotating speed v=360 ÷ s [2].When often completing a circle since then, compare as front ring s [x] and upper one circle s [x-
1] whether value is within a certain error range, such as 5%.If think to come at the uniform velocity state within this range.
After judging to enter at the uniform velocity state, because wind-driven generator is a Great inertia system, its rotating speed will not wink
When be mutated, space width can be detected in real time and pass through time-consuming c [x] [the y]-c [x] [y-1] of detection means and a upper tooth for A
Time-consuming c [x] [y-1]-c [x] [y-2] the ratio p of spacing for B by detection means,
Because space width A is R times of space width B, for code-disc under at the uniform velocity state, P values are about R times or so.R=is taken in the present embodiment
2, if P be 1.95 to 2.05 between when, it is believed that be now code-disc physics zero-bit at the level mutation of detection means, can also manage
It is code-disc physics zero-bit to solve as now code-disc relative to the position of detection means, and code-disc physics zero-bit is exactly that space width is A and tooth
Tooth edge of the spacing between B.
After finding code-disc physics zero-bit, timer T=c [x] [1]=0 and umber of pulse M=1, that is, reclocking are made,
Umber of pulse M is recalculated.Angle J of the detection means relative to code-disc physics zero-bit is calculated in real time.Angle J=(y-1) × q+ (T-
C [x] [y]) × v, wherein q=360 ÷ (n+R-1), v=360 ÷ s [x].In the present embodiment, R=2, q=360 ÷ (n+1).
If：Y=1, now T=c [x] [1]=0, J=(1-1) × q+ (T-c [x] [1]) × v=0.If：Y=2, J=q+ (T-c
[x][2])×v。
The speed-position detection device and method of the present invention, using high-frequency detection chip, setting is risen or fallen along interrupt mode.
Code-disc uses different space width structures, is tested the speed according to every circle institute is time-consuming, by when front ring institute it is time-consuming with upper one circle institute
It is time-consuming to compare, judge code-disc whether at the uniform velocity state.When at the uniform velocity state, calculating passes through space width A and between cog
Away from the time taking ratio P of B institutes, code-disc physics zero-bit is looked for by P values.Then detection means is calculated in real time relative to code-disc physics
The angle J of zero-bit.The device and method reduces the error of speed and angle, improves speed-position detection precision.In addition, the tooth of code-disc
Edge is right angle, reduces speed and angular error, improves speed-position detection precision.
Present invention also offers a kind of wind generator system, including above-mentioned speed-position detection device.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (10)
1. a kind of method for locating speed measurement, it is characterised in that comprise the following steps：
Step 1：N tooth is distributed with code-disc, the space width of one of tooth is A, and the space width of other all teeth is B；
The ratio that space width A is more than space width B, space width A and space width B is R；By the tooth of detection means alignment code-disc；When detection fills
When putting the tooth edge of alignment code-disc, the level of detection means, which is undergone mutation, produces pulse signal, at the interruption of detection trigger chip
Manage module；
Step 2：Interruption processing module calculates code-disc and often encloses time-consuming s [x] in real time, and s [x] represents the time used of code-disc xth circle；
Step 3：Comparing code-disc, currently whether the time-consuming s [x] of circle encloses time-consuming s [x-1] within a certain error range with code-disc one；When
S [x] values, within a certain error range, assert that code-disc enters at the uniform velocity state with s [x-1] values, and enter step 4, otherwise return
Step 2；
Step 4：When code-disc enters at the uniform velocity state, the time ratios P used between adjacent teeth is calculated in real time；
Step 5：Compare P and R difference, when P and R difference is in preset range, it is code-disc physics zero-bit to determine code-disc position,
And enter step 6, otherwise return to step 4；
Step 6：Angle J of the detection means relative to code-disc physics zero-bit is calculated in real time.
2. method for locating speed measurement according to claim 1, it is characterised in that：
In step 2：The continuous timing of timer T of detection chip, umber of pulse M is updated, if during umber of pulse M=n+1, makes timing
Device T=c [x] [1]=0 and umber of pulse M=1；Calculate xth circle and take s [x], s [x]=c [x] [n+1]-c [x] [1]；c[x][n+
1] time of the (n+1)th tooth of xth circle is represented.
3. method for locating speed measurement according to claim 2, it is characterised in that：
In step 4：CalculateC [x] [y] represents the time, y values etc. of the y teeth of xth circle
In umber of pulse M, when P and R difference is in preset range, timer T=c [x] [1]=0 and umber of pulse M=1 is made.
4. method for locating speed measurement according to claim 3, it is characterised in that：
In step 6：Angle J=(y-1) × q+ (T-c [x] [y]) × v, wherein q=360 ÷ (n+R-1), v=360 ÷ s
[x]。
5. method for locating speed measurement according to claim 4, it is characterised in that：Space width A is 2 times of space width B, R=2, q
=360 ÷ (n+1).
6. method for locating speed measurement according to claim 5, it is characterised in that：When s [x] values and s [x-1] values are in 5% error
In the range of when, assert that code-disc enters at the uniform velocity state；1.95≤p≤2.05.
7. according to the method for locating speed measurement described in claim 1 to 6 any one, it is characterised in that：The tooth edge of code-disc is straight
Angle.
8. a kind of speed-position detection device, it is characterised in that solid including frame, detection means, code-disc, detection chip, detection means
Frame is scheduled on, detection means is directed at the tooth of code-disc；N tooth is distributed with code-disc, the space width of one of tooth is A, other
The space width of all teeth is B；The ratio that space width A is more than space width B, space width A and space width B is R；Detection means is used for
Detect the tooth of code-disc and produce pulse signal；Detection chip is used for the pulse signal of receiving detection device, and it is every to calculate code-disc in real time
The time-consuming s [x] of circle；And judge whether code-disc enters at the uniform velocity when front ring takes s [x] and the time-consuming s [x-1] of a circle on code-disc according to code-disc
State；And the time ratios P used between adjacent teeth is calculated in real time, the physics zero-bit of code-disc is judged according to P and R difference, and
Angle J of the detection means relative to code-disc physics zero-bit is calculated in real time.
9. speed-position detection device according to claim 8, it is characterised in that：Space width A is 2 times of space width B, R=2,
The tooth edge of code-disc is right angle.
10. a kind of wind generator system, it is characterised in that including speed-position detection device as claimed in claim 8 or 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018195966A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Position detecting device, method, and rotating system |
| CN109073424B (en) | 2017-12-12 | 2020-10-23 | 深圳市大疆创新科技有限公司 | Rotation parameter detection method, encoder, laser radar and unmanned aerial vehicle |
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| CN110646634A (en) * | 2019-10-10 | 2020-01-03 | 清华大学 | Method and device for accurately measuring wheel speed, vehicle and storage medium |
| CN111332504B (en) * | 2020-03-12 | 2021-08-27 | 北京理工大学 | Low-speed driving device of satellite and quick positioning method using same |
| CN117040208A (en) * | 2021-12-30 | 2023-11-10 | 深圳市速腾聚创科技有限公司 | Angle calculation method and device |
| CN117308758B (en) * | 2023-10-11 | 2024-04-09 | 上海品峰医疗科技有限公司 | Code wheel precision detection system |
| CN117175985A (en) * | 2023-11-02 | 2023-12-05 | 深圳市恒永达科技股份有限公司 | Stepping motor control method and device |
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| LNG发动机电控***研究与设计;曹智杰;《中国优秀硕士学位论文全文数据库 工程科技II辑》;20150915;正文第14页第2-3段、第20页第2段-第21页第3段、第68页第2段-第69页第3段，图2-5、2-13 * |
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| CN105675029A (en) | 2016-06-15 |
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