CN118169424A - Motor rotation speed estimation method and device, electronic equipment and storage medium - Google Patents
Motor rotation speed estimation method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN118169424A CN118169424A CN202410300470.3A CN202410300470A CN118169424A CN 118169424 A CN118169424 A CN 118169424A CN 202410300470 A CN202410300470 A CN 202410300470A CN 118169424 A CN118169424 A CN 118169424A
- Authority
- CN
- China
- Prior art keywords
- motor
- denotes
- counting
- rotating speed
- counting result
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000001914 filtration Methods 0.000 claims abstract description 27
- 238000006243 chemical reaction Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The application provides a motor rotation speed estimation method, a motor rotation speed estimation device, electronic equipment and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: acquiring a current signal of a motor to be tested and a count value corresponding to a reference rotating speed; filtering the current signal to obtain a ripple signal representing the rotating speed of the motor; respectively inputting ripple signals into a preset number of comparators to obtain pulse signals output by each comparator; performing double-edge counting on each pulse signal to obtain a counting result corresponding to each pulse signal; and selecting a target counting result from the counting results according to the comparison of each counting result and the counting value, and determining the estimated rotating speed of the motor to be tested according to the target counting result. Therefore, the problems of high cost and insufficient accuracy of the current motor rotating speed test mode can be solved.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a motor rotation speed estimation method, a motor rotation speed estimation device, an electronic device, and a storage medium.
Background
In the automobile wire control redundant braking system, a direct current brush motor is used as an actuating mechanism in the redundant braking system due to simple control and low cost.
In the existing direct current brush motor rotating speed closed loop control, the motor rotating speed is usually measured by adopting an additional position sensor and the motor rotating speed is estimated by adopting a motor back electromotive force mode, but the modes have some defects:
1. the use of additional position sensors increases hardware and harness costs.
2. The method for estimating the counter electromotive force has the defect of inaccurate low-speed counter electromotive force of the motor, and is more dependent on the accuracy of motor parameters.
Disclosure of Invention
Accordingly, an objective of the embodiments of the present application is to provide a motor rotation speed estimation method, apparatus, electronic device and storage medium, which can improve the problems of high cost and insufficient accuracy of the current motor rotation speed test method.
In order to achieve the technical purpose, the application adopts the following technical scheme:
In a first aspect, an embodiment of the present application provides a method for estimating a rotational speed of a motor, including:
acquiring a current signal of a motor to be tested and a count value corresponding to a reference rotating speed;
Filtering the current signal to obtain a ripple signal representing the rotating speed of the motor;
Respectively inputting the ripple signals into a preset number of comparators to obtain pulse signals output by each comparator;
Double-edge counting is carried out on each pulse signal, and a counting result corresponding to each pulse signal is obtained;
And selecting a target counting result from each counting result according to the comparison of each counting result and the counting value, and determining the estimated rotating speed of the motor to be tested according to the target counting result.
With reference to the first aspect, in some optional embodiments, before acquiring the count value corresponding to the current signal and the reference rotational speed of the motor to be tested, the method further includes:
Constructing a band-pass filter as a preset filter, wherein the center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be tested, p represents the pole pair number of the motor to be tested, k represents the number of commutators of the motor to be tested, c=1 when k is even number, and c=2 when k is odd number;
filtering the current signal to obtain a ripple signal representing the rotational speed of the motor, comprising:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
With reference to the first aspect, in some optional embodiments, obtaining a count value corresponding to a reference rotation speed of the motor to be tested includes:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
With reference to the first aspect, in some optional embodiments, selecting a target count result from each of the count results according to a comparison of each of the count results and the count value, and determining the estimated rotational speed of the motor under test according to the target count result includes:
Taking the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value as a to-be-selected item, and selecting the counting result corresponding to the minimum value from each to-be-selected item as the target counting result:
In the method, in the process of the invention, Representing the minimum value in the to-be-selected items, M 1 representing the target counting result, j representing the number of pulse signals, and cnt j-cntref representing the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value;
and determining the estimated rotating speed according to the target counting result.
With reference to the first aspect, in some optional embodiments, the determining the estimated rotation speed according to the target count result is determined by a preset rotation speed estimation formula, where the preset rotation speed estimation formula is as follows:
Z＝c·k·p
Where n est denotes the estimated rotational speed of the motor to be measured, f 0 denotes the modulated clock pulse frequency, Z denotes the number of pulses generated by one revolution of the motor, p denotes the pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, M 1 denotes the target count result, and M 2 denotes the clock pulse count value.
In a second aspect, an embodiment of the present application further provides a motor rotation speed estimation device, including:
The acquisition unit is used for acquiring a current signal of the motor to be detected and a count value corresponding to the reference rotating speed;
The filtering unit is used for filtering the current signal to obtain a ripple signal representing the rotating speed of the motor;
the conversion unit is used for respectively inputting the ripple signals into a preset number of comparators to obtain pulse signals output by each comparator;
the counting unit is used for carrying out double-edge counting on each pulse signal to obtain a counting result corresponding to each pulse signal;
And the determining unit is used for selecting a target counting result from each counting result according to the comparison of each counting result and the counting value and determining the estimated rotating speed of the motor to be tested according to the target counting result.
With reference to the second aspect, in some optional embodiments, the apparatus further includes:
a construction unit, configured to construct a band-pass filter as a preset filter, where a center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be tested, p represents the pole pair number of the motor to be tested, k represents the number of commutators of the motor to be tested, c=1 when k is even number, and c=2 when k is odd number;
The filtering unit is further adapted to:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
With reference to the second aspect, in some optional embodiments, the obtaining unit is further configured to:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes a processor and a memory coupled to each other, where the memory stores a computer program, and when the computer program is executed by the processor, causes the electronic device to perform the method described above.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to perform the above-described method.
The invention adopting the technical scheme has the following advantages:
In the technical scheme provided by the application, firstly, a current signal of a motor to be detected and a count value corresponding to a reference rotating speed are obtained, the current signal is filtered to obtain ripple signals representing the rotating speed of the motor, then the ripple signals are respectively input into a preset number of comparators to obtain pulse signals output by each comparator, double-edge counting is carried out on each pulse signal to obtain a count result corresponding to each pulse signal, finally, a target count result is selected from the count results according to comparison of each count result and the count value, and the estimated rotating speed of the motor to be detected is determined according to the target count result. Therefore, the problems of high cost and insufficient accuracy of the current motor rotating speed test mode can be solved.
Drawings
The application may be further illustrated by means of non-limiting examples given in the accompanying drawings. It is to be understood that the following drawings illustrate only certain embodiments of the application and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.
Fig. 1 is a block diagram of an electronic device according to an embodiment of the present application.
Fig. 2 is a flowchart of a motor rotation speed estimation method according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a constant bandwidth filtering principle of a bandpass filter according to an embodiment of the application.
Fig. 4 is a schematic diagram of a variable bandwidth filtering principle of a bandpass filter according to an embodiment of the present application.
Fig. 5 is a block diagram of a motor rotation speed estimation device according to an embodiment of the present application.
Icon: 100-an electronic device; a 101-processor; 102-memory; 200-motor rotation speed estimation device; 210-an acquisition unit; 220-a filtering unit; a 230-conversion unit; 240-a counting unit; 250-determination unit.
Detailed Description
The present application will be described in detail below with reference to the drawings and the specific embodiments, wherein like or similar parts are designated by the same reference numerals throughout the drawings or the description, and implementations not shown or described in the drawings are in a form well known to those of ordinary skill in the art. In the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an electronic device 100 according to an embodiment of the application may include a processor 101 and a memory 102. The memory 102 stores a computer program which, when executed by the processor 101, enables the electronic device 100 to perform the respective steps of the motor speed estimation method described below.
In this embodiment, the electronic device 100 may be a personal computer, a notebook computer, a server, or the like, and is configured to filter a current signal of a motor to be tested, convert a ripple signal obtained after filtering into a pulse signal through a plurality of comparators, then perform double-edge counting on the pulse signal, and finally determine an estimated rotation speed of the motor to be tested according to a counting result obtained by counting and a count value corresponding to a reference rotation speed.
Referring to fig. 2, the present application further provides a motor rotation speed estimation method, which can be applied to the electronic device 100, and each step in the method is executed or implemented by the electronic device 100. The motor rotation speed estimation method may include the steps of:
step 110, obtaining a current signal of a motor to be tested and a count value corresponding to a reference rotating speed;
step 120, filtering the current signal to obtain a ripple signal representing the rotation speed of the motor;
step 130, respectively inputting the ripple signals into a preset number of comparators to obtain pulse signals output by each comparator;
step 140, performing double-edge counting on each pulse signal to obtain a counting result corresponding to each pulse signal;
And step 150, selecting a target counting result from each counting result according to the comparison of each counting result and the counting value, and determining the estimated rotating speed of the motor to be tested according to the target counting result.
In the above embodiment, firstly, a current signal of a motor to be tested and a count value corresponding to a reference rotation speed are obtained, the current signal is filtered to obtain ripple signals representing the rotation speed of the motor, then the ripple signals are respectively input into a preset number of comparators to obtain pulse signals output by each comparator, double-edge counting is performed on each pulse signal to obtain a count result corresponding to each pulse signal, finally, a target count result is selected from the count results according to comparison of each count result and the count value, and an estimated rotation speed of the motor to be tested is determined according to the target count result. Therefore, the problems of high cost and insufficient accuracy of the current motor rotating speed test mode can be solved.
The following will explain the steps of the motor rotation speed estimation method in detail, as follows:
before step 110, a band-pass filter is constructed as a preset filter, wherein the center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be measured, p represents the pole pair number of the motor to be measured, k represents the number of commutators of the motor to be measured, c=1 when k is even number, and c=2 when k is odd number.
In this embodiment, a band-pass filter is constructed to filter the low-frequency direct current component and the high-frequency component related to the switching frequency in the current signal as shown in fig. 3, meanwhile, since the motor to be tested generally has a wider speed range, in order to meet the sine degree of the ripple signal as much as possible, as shown in fig. 4, the center frequency of the band-pass filter needs to adapt to the change of the motor frequency, and the width is adjustable, and in practical application, the center frequency of the band-pass filter is generally the same as the ripple frequency, and is determined by the above formula (1).
In step 110, the motor to be tested according to the present embodiment is exemplified by a dc brush motor, which generally includes a stator pole, an armature rotor, a commutator and brushes, and when the motor rotates, the brushes can alternately short-circuit two adjacent commutators instantaneously, thereby causing the impedance of the motor to change, and the motor generates a current ripple signal proportional to the rotational speed of the motor. In this embodiment, the current signal of the motor to be measured can be obtained through resistance sampling and differential amplification. In this embodiment, the reference rotation speed is understood to be the ideal rotation speed that the user wants the motor to be measured to reach, for example, the rotation speed that the user wants the motor to be measured to reach is 1460rpm, and then the reference rotation speed is 1460rpm.
In this embodiment, obtaining the count value corresponding to the reference rotation speed of the motor to be tested may include:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
In this embodiment, the current signal and the count value corresponding to the reference rotation speed may be obtained by transmitting the data detected or input by the user to the electronic device 100 in real time for subsequent processing, or may be obtained by storing the detected or input data in the memory 102 of the electronic device 100, and calling the count value corresponding to the current signal or the reference rotation speed from the memory 102 when the user estimates the rotation speed of the motor to be tested based on the operation instruction of the user. The manner of acquiring the count value corresponding to the current signal and the reference rotational speed is not particularly limited herein.
In step 120, filtering the current signal to obtain a ripple signal indicative of a rotational speed of the motor may include:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
In this embodiment, after the current signal is filtered by the preset filter, a sine ripple signal related to the motor rotation speed is obtained.
In step 130, due to the fact that the motor to be tested may have sudden load, speed increase, etc., the ripple signal obtained after filtering by the band-pass filter is not an ideal sinusoidal signal, that is, the waveform of the ripple signal is distorted, which may cause the counter to miss the pulse signal obtained after conversion, multiple records, etc., and finally cause errors in the result of motor rotation speed estimation. Therefore, the embodiment of the application adopts a plurality of comparators to perform pulse conversion on the ripple signal, so as to reduce the generation of counting errors.
In this embodiment, the preset number may be flexibly determined according to practical situations, for example, 4, 5, or 6, and in this embodiment, 6 is taken as an example. In this embodiment, the threshold values of the comparators may be distributed in an arithmetic progression.
For example, the ripple signal is converted into the pulse signal by 6 comparators, when the amplitude of the ripple waveform is A, the threshold of the first comparator may be set to h 1 >0, and the threshold of the second comparator may be set toThe threshold of the third comparator may be set to/>The threshold of the fourth comparator may be set to h 4 <0 and the threshold of the fifth comparator may be set to/>The threshold of the sixth comparator may be set to/>
In step 140, double edge counts, i.e., both rising and falling edges of the pulse signal, are counted. In this embodiment, each pulse signal obtained after the plurality of comparators convert the ripple signal is subjected to double-edge counting, and each pulse signal obtains a corresponding counting result, for example, when the number of comparators is 6, the comparators with 6 different thresholds are used to convert the ripple signal into 6 different pulse signals respectively, and then double-edge counting is performed on the 6 pulse signals respectively, so as to obtain 6 different counting results (cnt 1,cnt2,cnt3,v4,cnt5,cnt6).
In step 150, selecting a target count result from each of the count results according to the comparison of each of the count results and the count value, and determining an estimated rotational speed of the motor under test according to the target count result may include:
Taking the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value as a to-be-selected item, and selecting the counting result corresponding to the minimum value from each to-be-selected item as the target counting result:
In the method, in the process of the invention, Representing the minimum value in the to-be-selected items, M 1 representing the target counting result, j representing the number of pulse signals, and cnt j-cntref representing the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value;
and determining the estimated rotating speed according to the target counting result.
In this embodiment, the determining the estimated rotation speed according to the target count result may be determined by a preset rotation speed estimation formula, where the preset rotation speed estimation formula is as follows:
Z＝c·k·p (5)
Where n est denotes the estimated rotational speed of the motor to be measured, f 0 denotes the modulated clock pulse frequency, Z denotes the number of pulses generated by one revolution of the motor, p denotes the pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, M 1 denotes the target count result, and M 2 denotes the clock pulse count value.
Referring to fig. 5, the present application further provides a motor speed estimation device 200, where the motor speed estimation device 200 includes at least one software function module that may be stored in the memory 102 in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the electronic device 100. The processor 101 is configured to execute executable modules stored in the memory 102, such as software functional modules and computer programs included in the motor speed estimation device 200.
The motor rotation speed estimation device 200 includes an acquisition unit 210, a filtering unit 220, a conversion unit 230, a counting unit 240, and a determination unit 250, and the respective units may have the following functions:
An obtaining unit 210, configured to obtain a current signal of the motor to be tested and a count value corresponding to the reference rotation speed;
The filtering unit 220 is configured to filter the current signal to obtain a ripple signal representing a rotational speed of the motor;
a conversion unit 230, configured to input the ripple signals into a preset number of comparators, respectively, to obtain a pulse signal output by each comparator;
a counting unit 240, configured to perform double-edge counting on each pulse signal to obtain a counting result corresponding to each pulse signal;
A determining unit 250 for selecting a target count result from the respective count results based on a comparison of each of the count results and the count value, and determining an estimated rotational speed of the motor to be measured based on the target count result.
Optionally, the apparatus further includes:
a construction unit, configured to construct a band-pass filter as a preset filter, where a center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be tested, p represents the pole pair number of the motor to be tested, k represents the number of commutators of the motor to be tested, c=1 when k is even number, and c=2 when k is odd number;
the filtering unit 220 is further configured to:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
Optionally, the obtaining unit 210 is further configured to:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
Optionally, the determining unit 250 is further configured to:
Taking the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value as a to-be-selected item, and selecting the counting result corresponding to the minimum value from each to-be-selected item as the target counting result:
In the method, in the process of the invention, Representing the minimum value in the to-be-selected items, M 1 representing the target counting result, j representing the number of pulse signals, and cnt j-cntref representing the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value;
and determining the estimated rotating speed according to the target counting result.
Optionally, the determining the estimated rotation speed according to the target counting result is determined by a preset rotation speed estimation formula, where the preset rotation speed estimation formula is as follows:
Z＝c·k·p (5)
Where n est denotes the estimated rotational speed of the motor to be measured, f 0 denotes the modulated clock pulse frequency, Z denotes the number of pulses generated by one revolution of the motor, p denotes the pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, M 1 denotes the target count result, and M 2 denotes the clock pulse count value.
In this embodiment, the processor 101 may be an integrated circuit chip with signal processing capability. The processor 101 may be a general-purpose processor. For example, the processor 101 may be a central Processing unit (Central Processing Unit, CPU), digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic, discrete hardware components, or may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the application.
The memory 102 may be, but is not limited to, random access memory, read only memory, programmable read only memory, erasable programmable read only memory, electrically erasable programmable read only memory, and the like. In this embodiment, the memory 102 may be configured to store a current signal, a count value corresponding to a reference rotation speed, a ripple signal, a preset number, a pulse signal, a count result, a target count result, an estimated rotation speed, a preset conversion formula, a preset rotation speed estimation formula, and the like. Of course, the memory 102 may also be used to store a program that the processor 101 executes after receiving the execution instruction.
It is understood that the electronic device 100 shown in fig. 1 is only a schematic structural diagram, and that the electronic device 100 may also include more components than those shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
It should be noted that, for convenience and brevity of description, specific working processes of the electronic device 100 described above may refer to corresponding processes of each step in the foregoing method, and will not be described in detail herein.
The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the motor speed estimation method as described in the above embodiments.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented in hardware, or by means of software plus a necessary general hardware platform, and based on this understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disc, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario of the present application.
In summary, the embodiment of the application provides a motor rotation speed estimation method, a motor rotation speed estimation device, an electronic device and a storage medium. In the technical scheme, firstly, a current signal of a motor to be detected and a count value corresponding to a reference rotating speed are obtained, the current signal is filtered to obtain ripple signals representing the rotating speed of the motor, then the ripple signals are respectively input into a preset number of comparators to obtain pulse signals output by each comparator, double-edge counting is carried out on each pulse signal to obtain a count result corresponding to each pulse signal, finally, a target count result is selected from the count results according to comparison of each count result and the count value, and the estimated rotating speed of the motor to be detected is determined according to the target count result. Therefore, the problems of high cost and insufficient accuracy of the current motor rotating speed test mode can be solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system and method may be implemented in other manners as well. The above-described apparatus, system, and method embodiments are merely illustrative, for example, flow charts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of estimating motor speed, the method comprising:
acquiring a current signal of a motor to be tested and a count value corresponding to a reference rotating speed;
Filtering the current signal to obtain a ripple signal representing the rotating speed of the motor;
Respectively inputting the ripple signals into a preset number of comparators to obtain pulse signals output by each comparator;
Double-edge counting is carried out on each pulse signal, and a counting result corresponding to each pulse signal is obtained;
And selecting a target counting result from each counting result according to the comparison of each counting result and the counting value, and determining the estimated rotating speed of the motor to be tested according to the target counting result.
2. The method of claim 1, wherein prior to obtaining the count value corresponding to the current signal and the reference rotational speed of the motor to be measured, the method further comprises:
Constructing a band-pass filter as a preset filter, wherein the center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be tested, p represents the pole pair number of the motor to be tested, k represents the number of commutators of the motor to be tested, c=1 when k is even number, and c=2 when k is odd number;
filtering the current signal to obtain a ripple signal representing the rotational speed of the motor, comprising:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
3. The method of claim 1, wherein obtaining a count value corresponding to a reference rotational speed of the motor to be measured comprises:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
4. The method according to claim 1, wherein selecting a target count result from the respective count results based on a comparison of each of the count results and the count value, and determining the estimated rotational speed of the motor under test based on the target count result, comprises:
Taking the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value as a to-be-selected item, and selecting the counting result corresponding to the minimum value from each to-be-selected item as the target counting result:
In the method, in the process of the invention, Representing the minimum value in the to-be-selected items, M 1 representing the target counting result, j representing the number of pulse signals, and cnt j-cntref representing the absolute value of the difference between the counting result corresponding to each pulse signal and the counting value;
and determining the estimated rotating speed according to the target counting result.
5. The method of claim 4, wherein said determining said estimated rotational speed based on said target count result is determined by a predetermined rotational speed estimation formula, wherein said predetermined rotational speed estimation formula is as follows:
Z＝c·k·p
Where n est denotes the estimated rotational speed of the motor to be measured, f 0 denotes the modulated clock pulse frequency, Z denotes the number of pulses generated by one revolution of the motor, p denotes the pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, M 1 denotes the target count result, and M 2 denotes the clock pulse count value.
6. A motor speed estimation apparatus, comprising:
The acquisition unit is used for acquiring a current signal of the motor to be detected and a count value corresponding to the reference rotating speed;
The filtering unit is used for filtering the current signal to obtain a ripple signal representing the rotating speed of the motor;
the conversion unit is used for respectively inputting the ripple signals into a preset number of comparators to obtain pulse signals output by each comparator;
the counting unit is used for carrying out double-edge counting on each pulse signal to obtain a counting result corresponding to each pulse signal;
And the determining unit is used for selecting a target counting result from each counting result according to the comparison of each counting result and the counting value and determining the estimated rotating speed of the motor to be tested according to the target counting result.
7. The apparatus of claim 6, wherein the apparatus further comprises:
a construction unit, configured to construct a band-pass filter as a preset filter, where a center frequency of the band-pass filter is as follows:
Wherein f cr represents the center frequency of the band-pass filter, n represents the reference rotation speed of the motor to be tested, p represents the pole pair number of the motor to be tested, k represents the number of commutators of the motor to be tested, c=1 when k is even number, and c=2 when k is odd number;
The filtering unit is further adapted to:
And filtering the current signal through the preset filter to obtain the ripple signal representing the rotating speed of the motor.
8. The apparatus of claim 6, wherein the acquisition unit is further configured to:
The reference rotating speed is obtained, and the reference rotating speed is converted into the count value through a preset conversion formula, wherein the preset conversion formula is as follows:
Wherein cnt ref denotes a count value, n denotes a reference rotation speed, p denotes a pole pair number of the motor to be measured, k denotes the number of commutators of the motor to be measured, c=1 when k is even, c=2 when k is odd, and t d denotes a detection period of pulse count.
9. An electronic device comprising a processor and a memory coupled to each other, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method of any of claims 1-5.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the method according to any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410300470.3A CN118169424A (en) | 2024-03-15 | 2024-03-15 | Motor rotation speed estimation method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410300470.3A CN118169424A (en) | 2024-03-15 | 2024-03-15 | Motor rotation speed estimation method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118169424A true CN118169424A (en) | 2024-06-11 |
Family
ID=91355913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410300470.3A Pending CN118169424A (en) | 2024-03-15 | 2024-03-15 | Motor rotation speed estimation method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118169424A (en) |
-
2024
- 2024-03-15 CN CN202410300470.3A patent/CN118169424A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104136896B (en) | For the system for the vibration signal for obtaining rotation motor | |
| RU2764242C2 (en) | Method for measuring the rotation speed of the shaft of an aircraft engine accounting for noise measurement | |
| CN114168586A (en) | Abnormal point detection method and device | |
| CN118169424A (en) | Motor rotation speed estimation method and device, electronic equipment and storage medium | |
| CN107579734B (en) | Signal processing method, signal processing device, storage medium and processor | |
| CN109782013B (en) | Motor speed measuring method and device, readable storage medium and electric equipment | |
| US10775209B2 (en) | Control circuit and method for checking the plausibility of a rotor position angle | |
| CN112350626A (en) | Method and device for determining the rotational speed and rotational angle of a motor shaft of a mechanically commutated DC motor | |
| CN109085501B (en) | Method for detecting torque rotation angle and rotation speed of direct current brush motor | |
| CN108427345B (en) | Load equipment control method, device and system based on square wave pulse signal | |
| CN108555906B (en) | Robot control method and device and robot | |
| CN110988381A (en) | Method and device for detecting rotating speed of direct current motor | |
| CN107636583B (en) | Method for determining touch position and touch control chip | |
| CN112067991B (en) | Motor locked rotor detection method, detection device, terminal equipment and storage medium | |
| CN111493741A (en) | Dust box detection method and device, electronic equipment and computer readable storage medium | |
| CN115071726A (en) | Wheel speed measuring method, device and equipment | |
| JP7298414B2 (en) | Abnormality predictive diagnostic system for rotating machine, Abnormality predictive diagnostic method for rotating machine | |
| CN110799807A (en) | Orthogonal encoder signal filtering method, device and system | |
| CN111478629B (en) | Position detection method and device of permanent magnet brushless direct current motor and electrical equipment | |
| US11695662B1 (en) | Methods and devices for improved percentile extraction of network monitoring data | |
| CN113376519B (en) | Motor starting state detection method and device, motor and readable storage medium | |
| KR19990043005A (en) | Motor speed detection device using incremental encoder | |
| CN112504441B (en) | Vibration acceleration signal segmentation and integration method based on important information reconstruction | |
| JP3315780B2 (en) | Noise removal device and period measurement device | |
| JP2013053883A (en) | Method for real-time analysis of frequency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |