WO2013135139A1 - 一种伺服电机低速运行时的测速方法及装置 - Google Patents

一种伺服电机低速运行时的测速方法及装置 Download PDF

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Publication number
WO2013135139A1
WO2013135139A1 PCT/CN2013/072000 CN2013072000W WO2013135139A1 WO 2013135139 A1 WO2013135139 A1 WO 2013135139A1 CN 2013072000 W CN2013072000 W CN 2013072000W WO 2013135139 A1 WO2013135139 A1 WO 2013135139A1
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Prior art keywords
speed
pulse
data
digital signal
signal processor
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PCT/CN2013/072000
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English (en)
French (fr)
Inventor
吴蔚
齐丹丹
李军良
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南京埃斯顿自动控制技术有限公司
南京埃斯顿自动化股份有限公司
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Publication of WO2013135139A1 publication Critical patent/WO2013135139A1/zh

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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information

Definitions

  • the utility model relates to a speed measuring method and a speed measuring device of a servo motor, in particular to a speed measuring method and device for a servo motor running at a low speed.
  • the low speed operation of the servo motor is one of the performance indicators of the servo drive.
  • the speed data of the motor at low speed is an important information to measure the performance of the servo drive. At low speeds, the speed of the servo motor fluctuates greatly, and the noise signal has a large ratio with respect to the effective information.
  • the current speed measuring device obtains the speed data of the motor by detecting the encoder pulse signal installed on the motor shaft. This method is not independent of the servo motor. It is easy to cause interference to the test object or interfere with the test object; and the current test device does not process the low speed data of the servo motor, which is not conducive to analyzing the low speed running performance of the servo motor.
  • the existing motor speed measuring device has the following disadvantages in measuring the servo low speed performance: It cannot be independent of the test object; the motor speed information is not processed for the low speed characteristic; the servo motor low speed running performance cannot be analyzed intuitively and conveniently. Summary of the invention
  • the problem to be solved by the present invention is to overcome the defects of the prior art, and propose a method and a device for measuring the speed of a servo motor at low speed, which can analyze the low speed performance of the servo motor independently, effectively and conveniently.
  • Servo drive for servo motor PG Pulse Generator
  • Cross-frequency pulse detection avoiding the interaction between the speed measuring device and the test object; after calculating the motor speed in the digital signal processor, the speed data is filtered by the processing method for the low-speed characteristic, and the effective selection is selected.
  • Information Sampling multiple sets of data, calculating multiple sets of speed maximum, minimum, average, speed fluctuations and averaging; real-time drawing and reading speed performance indicators through PC software, visual display of motor operation, convenient analysis .
  • the speed measuring method of the servo motor at low speed running solving the technical problem, the basic idea of achieving the object of the invention is: setting the parameters of the speed measuring device by the upper computer software; receiving the PG frequency dividing pulse of the servo driver by the speed measuring device, using the programmable logic controller For the frequency division pulse counting, the digital signal processor reads the pulse count and the time count from the programmable logic controller, and uses the frequency cycle method (M/T method) to measure multiple sets of speed data during the motor running process, and processes the speed data. After that, it is transmitted to the host computer through the serial port for display.
  • M/T method frequency cycle method
  • Step A1 Set the measurement parameters through the serial port communication with the host computer software: data transmission rate, calibration mode, number of data sampling times per sample, sampling interval time, number of sampling data groups, number of pulses per motor revolution, speed measurement resolution; Sending a speed measurement command through the host computer software;
  • Step A2 Schmitt shaping the PG frequency-divided orthogonal pulse of the servo driver with a pulse filter, and filtering the high-frequency signal by low-pass filtering after shaping, and then performing Schmitt shaping on the orthogonal pulse after filtering;
  • Step A3 Using a programmable logic controller to perform multiplication counting on the orthogonal pulse signal processed by the filtering and shaping to obtain pulse counting information; Inter-counting information;
  • Step A4 The pulse count value and the time count value are read from the programmable logic controller by the digital signal processor, and the motor speed is calculated by the M/T method and stored in the external memory of the digital signal processor;
  • Step A5 After the speed measurement is completed, the digital signal processor processes the measurement data to obtain a maximum value, a minimum value, a rotation speed fluctuation, and an average value;
  • Step A6 The host computer software reads the relevant speed information through the serial port communication, and draws the corresponding speed pattern.
  • the digital signal processor processes the measurement data as follows: collecting multiple sets of data, and collecting data points for each set of data for analysis;
  • Average speed The total speed is divided by the number of times
  • the speed data includes a first high speed, a second high speed, a third high speed, a first low speed, a second low speed, and a third low speed;
  • the first high speed exceeds 5 times
  • the first high speed is the highest speed
  • the second high speed is the highest speed
  • the third high speed is the highest speed
  • the first low speed exceeds 5 times
  • the first low speed is the lowest speed
  • the second low speed is the lowest speed
  • the third low speed is the lowest speed.
  • the method of the invention determines the rotation speed of the motor by detecting the PG frequency division pulse of the servo driver, and is independent of the servo driver and the motor, thereby minimizing the influence of the speed measuring device on the servo driver and the servo motor.
  • PC software, digital signal processor, programmable The combination of the logic controller and the programmable logic controller in the speed measuring device can detect the input pulse in real time.
  • the motor speed is calculated by the digital signal processor and the speed data is filtered and processed to obtain more reasonable data.
  • the speed measurement data is stored in the memory for the upper computer to obtain from the speed measuring device.
  • the speed measurement operation is performed by the upper computer software, and the motor speed information is displayed, which is convenient for analysis and judgment.
  • the invention relates to a speed measuring device for a servo motor running at a low speed, comprising: a pulse filter, a programmable logic controller, a digital signal processor and a memory, wherein:
  • the pulse interface of the pulse filter is connected to the PG frequency division interface of the servo driver, and the PG frequency division pulse independently reflects the position and rotation speed information of the motor;
  • the pulse filter After receiving the input pulse, the pulse filter first performs Schmidt shaping to remove the signal distortion occurring during the pulse transmission; low-pass filtering the shaped pulse to filter out the high-frequency interference signal; Smooth, so the Schmitt shaping is performed on the filtered signal again; after shaping, filtering, and reshaping, the ideal pulse input signal is obtained, while maintaining the processed signal waveform and the waveform level polarity of the servo drive input signal.
  • the programmable logic controller receives the pulsed input signal processed by the filter, determines the direction through the internal registers, latches, counters, and logic units and counts the number of pulses and time.
  • the digital signal processor includes a speed calculation unit, a data processing unit, and a communication unit.
  • the digital signal processor is connected to the programmable logic controller through the data bus and the address bus, and reads the pulse count value and the time count value from the programmable logic controller, calculates the speed and performs data filtering and processing; the digital signal processor passes the data. Bus and address bus will be tested
  • the speed data is stored in a memory (external memory), and the bulk data is stored through the external memory.
  • the host computer software is connected to the communication unit of the digital signal processor through the serial port, and different speed information of the servo motor is obtained and displayed according to different upper computer operations.
  • the protocol for communicating between the upper computer software and the digital signal processor adopts the Modbus protocol, and obtains the information required by the upper computer and displays it by sending different commands.
  • the invention has the beneficial effects that: the measuring device is independent of the test object and has no influence on the measuring object; the low speed running characteristic of the servo motor can obtain effective information; the relevant speed information can be obtained Visual display by the host computer software is beneficial to analyze the low-speed operation characteristics of the servo motor.
  • Fig. 1 is a schematic structural view (block diagram) of a speed measuring device when the servo motor of the present invention is operated at a low speed.
  • FIG. 2 is a flow chart showing the speed measurement method of the servo motor of the present invention at low speed operation.
  • Fig. 3 is a software flow chart of the digital signal processor in the speed measuring device of the servo motor of the present invention at low speed operation. detailed description
  • the speed measuring device of the servo motor shown in Fig. 1 at low speed operation includes a pair of input pulses Filter 1 for filtering, programmable logic controller 2 for pulse counting and time counting of filtered pulses; memory 7 for storing speed data; number for calculating, processing and communicating with the host computer by frequency cycle method Signal processor 3; PC software that operates the speed measuring device and displays the speed data.
  • the input end of the filter 1 is connected to the PG frequency division pulse output of the servo driver; the output of the filter 1 is connected to the input end of the programmable logic controller 2; the programmable logic controller 2 and the digital signal processor 3 pass the data bus and address The bus connection; the digital signal processor 3 and the memory 7 multiplex the data bus and the address bus to exchange data; the host computer software 8 and the digital signal processor 3 are connected through the RS232 serial port.
  • the digital signal processor 3 includes a speed calculating unit 4 for calculating the running speed of the motor, a data processing unit 5 for screening the speed by a certain algorithm, and a communication unit 6 for communicating with the upper computer.
  • the speed calculation unit 4 reads the pulse count value and the time count value from the programmable logic controller 2 through the data bus and the address bus, calculates the speed data by using the frequency cycle method, and exchanges data with the communication unit 6; the speed calculation unit 4 calculates The speed is stored in the memory 7 via the data bus and the address bus for communication transmission.
  • the data processing unit 5 filters the speed calculated by the speed calculating unit 4, and selects data indicating the low speed performance.
  • the communication unit 6 is responsible for transmitting the speed data during the detection process, the filtered speed indicators, and the decomposition and transmission communication commands to realize the related operations of the upper computer.
  • the speed measuring step of measuring the motor speed during the low speed operation of the servo motor is as follows:
  • Step A1 The host computer software sets the following parameters through serial communication: Data transmission speed Rate, calibration mode, number of data samples per group, sampling interval time, number of sampling data sets, number of pulses per motor revolution, speed measurement resolution; send speed start command.
  • Step A2 The pulse filter performs Schmitt shaping on the PG frequency-divided orthogonal pulse of the servo driver. After shaping, the low-pass filter is used to filter out the high-frequency signal, and then the filtered orthogonal pulse is subjected to Schmidt shaping.
  • Step A3 The programmable logic controller multiplies the quadrature pulse signal processed by the filtering and shaping to obtain the pulse counting information (pulse count value); at the same time, the time information (time count value) is obtained by counting the time.
  • Step A4 The digital signal processor periodically reads the pulse count value and the time count value from the programmable logic controller, calculates the motor speed by using the frequency cycle M/T method, and the measured speed data is stored in the external memory of the digital signal processor. .
  • Step A5 After the speed measurement is completed, the digital signal processor screens and calculates the measured speed data to obtain the maximum value, minimum value, speed fluctuation, and average value of the motor speed.
  • Step A6 The host computer software communicates through the serial port, reads the relevant speed information, and draws the speed graph.
  • the software flow of the digital signal processor is shown in Figure 3.
  • the parameter initialization S1 and the memory data S2 are cleared to enter the main loop.
  • the speed measuring device has a digital tube and a keyboard, and can perform some simple data display and Operation, S3 performs digital tube display and keyboard operation update;
  • S3 performs digital tube display and keyboard operation update;
  • the main loop judges whether the speed measurement is completed, and after completion, performs data processing on the collected multiple sets of data S4; when it is necessary to send data to When the upper computer is used, the related operation is completed by S5;
  • S6 is responsible for decomposing the Modbus command sent by the upper computer to obtain the relevant operation command word, and executing the specific operation.
  • S7 step receives the data sent by the host computer to the speed measuring device for corresponding processing; speed calculation is performed in the speed measuring interrupt, when the interrupt occurs, S8 reads the pulse counting value from the programmable logic controller, S9 controls from the programmable logic The time count value is read in the device, and then the current speed is calculated by the frequency cycle method in step S10, and the data is stored in the memory through step S1 1.
  • the data processing unit 5 of the digital signal processor selects data that effectively characterizes low-speed performance according to the non-stationary characteristics of the servo motor at a low speed, and the processing method is as follows: Collecting multiple sets of data by the host computer software, and collecting multiple data points for each group of data for analysis
  • the average speed is equal to the total speed divided by the number of times;
  • the speed data includes the first high speed, the second high speed, the third high speed, the first low speed, the second low speed, and the third low speed;
  • the highest minimum speed is determined by the following method: More than 5 times, the first high speed is the highest speed, if the first high speed is not 5 times, the second high speed + the first high speed exceeds 5 times, the second high speed is the highest speed, otherwise the third high speed is the highest speed; If the low speed exceeds 5 times, the first low speed is the lowest speed.
  • Speed after performing the above processing on multiple sets of data, obtain the average value of the speed index, and obtain The final maximum speed, minimum value, speed fluctuation, and average value reflect the servo motor's low speed operation characteristics.
  • the functions that the upper computer software 8 can realize are as follows:
  • the communication port setting function sets the data transmission rate and the verification mode when the host computer software 8 communicates with the speed measuring device;
  • the sampling parameter setting function sets the sampling parameters of the speed measuring device, Including the number of data sampling times per sample, sampling interval time, number of sampling data sets, number of pulses per motor revolution, speed measurement The resolution of the quantity;
  • the real-time drawing (ten sets of data) function this function draws the speed graph of the corresponding group number in real time according to the setting of the sampling parameters, stops the drawing after completion, and can read the selected speed graph of any set by reading operation ;
  • Real-time drawing function this function draws the running speed of the motor in real time, knows to execute the stop drawing operation; reads the historical speed measuring data function, this function reads the measured speed performance index value of the set number of groups, the indicator includes the data of each group Maximum, minimum, fluctuation, average, and final speed maximum, minimum, fluctuation, and average.
  • the upper computer software is easy to operate and convenient for

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Abstract

一种伺服电机低速运行时的测速方法及装置，测速装置包括：脉冲滤波器（1）、可编程逻辑控制器（2）、数字信号处理器（3）、存储器（7）。测速方法是通过上位机软件设置测速装置参数，测试装置对伺服驱动器的PG分频脉冲进行频率周期法测速，并对多批数据进行处理，筛选数据后由上位机软件进行显示。本发明的方法与装置，能够满足伺服***低速测量的要求。

Description

一种伺服电机低速运行时的测速方法及装置 技术领域
本实用新型涉及一种伺服电机的测速方法及测速装置， 具体说是 一种伺服电机低速运行时的速度测量方法及装置。 背景技术
伺服电机低速运行情况是伺服驱动器性能指标之一， 低速时电机 的速度数据是衡量伺服驱动器性能的重要信息。低速时伺服电机的速 度波动大， 噪声信号相对于有效信息比例大； 目前的测速装置是通过 检测电机轴上安装的编码器脉冲信号来获取电机的速度数据，这种方 法没有独立于伺服电机， 容易对测试对象造成干扰， 或者受到测试对 象的干扰；并且目前的测试装置没有针对伺服电机的低速数据进行处 理， 不利于分析伺服电机的低速运行性能。
现有的电机测速装置在测量伺服低速性能时有以下缺点： 不能独 立于测试对象； 没有对电机速度信息进行针对低速特性的处理； 无法 直观方便地分析伺服电机低速运行性能。 发明内容
本发明所要解决的问题， 在于克服现有技术存在的缺陷， 提出了 一种伺服电机低速运行时的测速方法及装置， 能够独立、 有效、 方便 地分析伺服电机的低速性能。 对伺服电机的驱动装置伺服驱动器的 PG (Pulse Generator ) 分频脉冲进行检测， 避免了测速装置与测试 对象的相互影响； 数字信号处理器中计算出电机速度后， 采用针对低 速特性的处理方法对速度数据进行筛选， 选择出有效的信息； 采样多 组数据， 计算多组速度最大值、 最小值、 平均值、 速度波动并求取平 均； 通过上位机软件实现实时绘图、 读取速度性能指标功能， 直观显 示电机运行情况， 方便分析。
本发明伺服电机低速运行时的测速方法，其解决技术问题实现发 明目的的基本思路是： 通过上位机软件设置测速装置的参数； 测速装 置接收伺服驱动器的 PG分频脉冲， 使用可编程逻辑控制器对分频脉 冲计数，数字信号处理器从可编程逻辑控制器读取脉冲计数和时间计 数，采用频率周期法（M/T法）测量电机运行过程中的多组速度数据， 对速度数据进行处理后通过串口传输到上位机进行显示。本发明方法 实现发明目的的具体步骤如下：
步骤 A1 : 用上位机软件通过串口通讯设置测量参数： 数据传输 速率、校验方式、每组数据采样次数、采样间隔时间、采样数据组数、 电机每转脉冲数， 转速测量分辨率； 然后， 通过上位机软件发出测速 指令；
步骤 A2 : 用脉冲滤波器对伺服驱动器的 PG分频正交脉冲进行施 密特整形， 整形后采用低通滤波滤除高频信号， 再对滤波之后的正交 脉冲进行施密特整形；
步骤 A3 : 用可编程逻辑控制器对经过滤波整形处理的正交脉冲 信号进行倍频计数， 得到脉冲计数信息； 同时对时间进行计数得到时 间计数信息；
步骤 A4 : 用数字信号处理器定时从可编程逻辑控制器中读取脉 冲计数值和时间计数值， 采用 M/T法计算电机转速， 存储在数字信号 处理器的外部存储器中；
步骤 A5 : 测速完成后， 数字信号处理器对测量数据进行处理， 求取最大值、 最小值、 转速波动、 平均值；
步骤 A6 : 上位机软件通过串口通讯读取相关转速信息， 并绘出 对应的转速图形。
所述的数字信号处理器对测量数据处理， 过程如下所述： 采集多组数据， 每组数据采集多个数据点进行分析；
平均速度： 全部速度累加除以次数；
速度数据包含第一高速、 第二高速、 第三高速、 第一低速、 第二 低速、 第三低速；
判断最高最低速度： 如果第一高速超过 5次， 以第一高速为最高 速度， 如果第一高速没有 5次， 第二高速 +第一高速超过 5次， 以第 二高速为最高速度， 否则以第三高速为最高速度； 如果第一低速超过 5次， 以第一低速为最低速度， 如果第一低速没有 5次， 第二低速 + 第一低速超过 5次， 以第二低速为最低速度， 否则以第三低速为最低 速度。
本发明方法， 通过检测伺服驱动器的 PG分频脉冲来判断电机的 转速情况， 独立于伺服驱动器和电机， 能够最大程度减少测速装置对 伺服驱动器和伺服电机的影响。 上位机软件、 数字信号处理器、 可编 程逻辑控制器相结合的***，通过测速装置中的可编程逻辑控制器能 够实时检测输入脉冲。通过数字信号处理器计算电机转速并对转速数 据进行筛选、处理， 以得到更合理的数据。通过存储器存储测速数据， 供上位机从测速装置中获取。通过上位机软件进行测速操作， 并对电 机转速信息显示， 方便分析判断。
本发明一种伺服电机低速运行时的测速装置，包括：脉冲滤波器、 可编程逻辑控制器、 数字信号处理器、 存储器， 其特征是：
所述脉冲滤波器的脉冲接口与伺服驱动器的 PG分频接口连接， PG分频脉冲独立反映电机的位置和转速信息；
脉冲滤波器接收输入脉冲后， 首先对其进行施密特整形， 去除脉 冲传输过程中发生的信号畸变； 对整形后的脉冲进行低通滤波， 滤除 高频干扰信号； 滤波后由于信号沿比较平缓， 因此再次对滤波后的信 号进行施密特整形； 经过整形、 滤波、 再整形后得到理想的脉冲输入 信号，同时保持处理后的信号波形与伺服驱动输入信号波形电平极性 保持一致。
可编程逻辑控制器接收经过滤波器处理的脉冲输入信号，通过内 部的寄存器、锁存器、计数器及逻辑单元判断方向并对脉冲数和时间 进行计数。
数字信号处理器包括速度计算单元、 数据处理单元、 通讯单元。 数字信号处理器通过数据总线和地址总线与可编程逻辑控制器相连， 从可编程逻辑控制器中读取脉冲计数值和时间计数值，计算速度并做 数据筛选、处理； 数字信号处理器通过数据总线和地址总线将测试的 速度数据存储在存储器（外部存储器）中， 通过外部存储器存储批量 数据。
本发明装置使用前，将上位机软件通过串口与数字信号处理器的 通讯单元连接，根据不同的上位机操作获取伺服电机不同的速度信息 并显示。所述的上位机软件与数字信号处理器通讯的协议采用 Modbus 协议， 通过发送不同的命令， 获取上位机所需要的信息并显示。
与现有技术相比， 本发明所带来的有益效果是： 测量装置独立于 测试对象， 与测量对象之间无影响； 针对伺服电机的低速运行特性能 够得到有效的信息；可以将相关速度信息通过上位机软件进行直观显 示， 有利于分析伺服电机低速运行特性。 附图说明
图 1 是本发明伺服电机低速运行时的测速装置结构示意图 （框 图）。
图 2是本本发明伺服电机低速运行时的测速方法流程框图。
图 3 是本发明伺服电机低速运行时的测速装置中数字信号处理 器的软件流程图。 具体实施方式
下面结合附图和实施例对本实用新型进一步说明。
实施例 1、
如图 1所示的伺服电机低速运行时的测速装置，包括有对输入脉 冲进行滤波的滤波器 1， 对滤波后的脉冲进行脉冲计数和时间计数的 可编程逻辑控制器 2 ; 存储速度数据的存储器 7; 采用频率周期法对 速度计算、 处理并与上位机通讯的数字信号处理器 3 ; 对测速装置进 行操作及显示速度数据的上位机软件。其中滤波器 1的输入端连接伺 服驱动器的 PG分频脉冲输出； 滤波器 1的输出连接可编程逻辑控制 器 2的输入端；可编程逻辑控制器 2与数字信号处理器 3通过数据总 线和地址总线连接；数字信号处理器 3和存储器 7复用数据总线和地 址总线交换数据；上位机软件 8与数字信号处理器 3通过 RS232串口 进行连接。
数字信号处理器 3包括计算电机运行速度的速度计算单元 4， 采 用一定算法对速度进行筛选的数据处理单元 5， 负责与上位机通讯的 通讯单元 6。 其中速度计算单元 4通过数据总线与地址总线从可编程 逻辑控制器 2中读取脉冲计数值和时间计数值，采用频率周期法计算 速度数据， 并与通讯单元 6交互数据； 速度计算单元 4计算的速度通 过数据总线和地址总线将采集数据存储在存储器 7中，供通讯传输时 用。数据处理单元 5对速度计算单元 4计算的速度进行筛选， 选取表 征低速性能的数据。通讯单元 6负责传输检测过程中的速度数据、经 过筛选的速度指标以及分解、 传输通讯命令， 实现上位机相关操作。
实施例 2
如图 2所示，使用本实施例 1所述伺服电机低速运行时的测速装 置， 测量伺服电机低速运行时的电机转速的测速步骤如下：
步骤 A1 : 上位机软件通过串口通讯设置如下参数： 数据传输速 率、 校验方式、 每组数据采样次数、 采样间隔时间、 采样数据组数、 电机每转脉冲数， 转速测量分辨率； 发送测速启动指令。
步骤 A2 : 脉冲滤波器对伺服驱动器的 PG分频正交脉冲施密特整 形， 整形后采取低通滤波滤除高频信号， 再对滤波之后的正交脉冲进 行施密特整形。
步骤 A3 : 可编程逻辑控制器对经过滤波整形处理的正交脉冲信 号进行倍频计数， 得到脉冲计数信息 （脉冲计数值）； 同时对时间计 数得到时间信息 （时间计数值）。
步骤 A4 : 数字信号处理器定时从可编程逻辑控制器中读取脉冲 计数值和时间计数值， 采用频率周期 M/T法计算电机转速， 测量的转 速数据存储在数字信号处理器的外部存储器中。
步骤 A5 : 测速完成后数字信号处理器对测量的速度数据进行筛 选、 计算， 得到电机速度的最大值、 最小值、 转速波动、 平均值。
步骤 A6 : 上位机软件通过串口通讯， 读取相关转速信息， 绘制 速度图形。
数字信号处理器的软件流程如图 3所示，测速装置上电后经过参 数初始化 Sl、 清除存储器数据 S2， 进入主循环中； 测速装置自带数 码管及键盘， 可以进行一些简单的数据显示及操作， S3 进行数码管 显示及键盘操作的更新； 当上位机发送测速命令进行操作时， 主循环 中判断是否测速完成， 完成后则对采集的多组数据进行数据处理 S4; 当需要发送数据到上位机时， 通过 S5完成相关操作； S6负责将上位 机发送的 Modbus指令进行分解， 得到相关的操作命令字， 执行特定 操作； S7 步骤接收上位机发送到测速装置的数据进行相应处理； 速 度计算在测速中断中进行， 当中断发生时， S8 从可编程逻辑控制器 中读取脉冲计数值， S9 从可编程逻辑控制器中读取时间计数值， 然 后 S10步骤采用频率周期法计算当前速度，通过步骤 S1 1将数据存储 到存储器中。
其中数字信号处理器的数据处理单元 5 根据伺服电机低速运行 不平稳特性， 选择有效表征低速性能的数据， 处理方法如下： 通过上 位机软件采集多组数据， 每组数据采集多个数据点进行分析； 平均速 度等于全部速度累加除以次数； 速度数据包含第一高速、 第二高速、 第三高速、 第一低速、 第二低速、 第三低速； 最高最低速度通过以下 方法判断： 第一高速如果超过 5次， 以第一高速为最高速度， 如果第 一高速如果没有 5次， 第二高速 +第一高速超过 5次， 以第二高速为 最高速度， 否则以第三高速为最高速度； 第一低速如果超过 5次， 以 第一低速为最低速度， 如果第一低速如果没有 5次， 第二低速 +第一 低速超过 5次，以第二低速为最低速度，否则以第三低速为最低速度； 在对多组数据进行以上处理后， 求取速度指标的平均值， 得到最终的 速度最大值、 最小值、 速度波动、 平均值， 反映伺服电机低速运行特 性。
其中上位机软件 8所能够实现的功能如下： 通讯端口设置功能， 设置上位机软件 8 与测速装置之间通讯时的数据传输速率、 校验方 式； 采样参数设置功能， 设置测速装置的采样参数， 包括每组数据采 样次数、 采样间隔时间、 采样数据组数， 电机每转的脉冲数， 转速测 量的分辨率； 实时绘图 （十组数据）功能， 此功能根据采样参数的设 置实时绘制相应组数的速度图形， 完成后停止绘图， 可以通过读取操 作读取选定任意一组的速度图形； 实时绘图功能， 此功能对电机运行 速度进行实时绘图，知道执行停止绘图操作；读取历史测速数据功能， 此功能读取测量的设定组数的速度性能指标值，指标包括每组数据的 最大值、最小值、波动值、平均值， 以及最终的速度最大值、最小值、 波动值、 平均值。 上位机软件操作方便， 方便分析。

Claims

权利要求
1、 一种伺服电机低速运行时的测速方法， 其步骤如下：
步骤 A1 : 用上位机软件通过串口通讯设置测量参数， 然后， 通 过上位机软件发出测速指令；
步骤 A2 : 用脉冲滤波器对伺服驱动器的 PG分频正交脉冲进行施 密特整形， 整形后采用低通滤波滤除高频信号， 再对滤波之后的正交 脉冲进行施密特整形；
步骤 A3 : 用可编程逻辑控制器对经过滤波整形处理的正交脉冲 信号进行倍频计数， 得到脉冲计数信息； 同时对时间进行计数得到时 间计数信息；
步骤 A4 : 用数字信号处理器定时从可编程逻辑控制器中读取脉 冲计数值和时间计数值， 采用 M/T法计算电机转速， 得到的电机转速 数据存储在数字信号处理器的外部存储器中。
2、根据权利要求 1所述伺服电机低速运行时的测速方法， 其特征是: 步骤 A5 : 用数字信号处理器对测量的电机转速数据进行筛选、 计算， 得到电机转速的最大值、 最小值、 转速波动、 平均值。
3、 一种伺服电机低速运行时的测速装置， 包括： 脉冲滤波器、 可编 程逻辑控制器、 数字信号处理器、 存储器， 其特征是：
所述脉冲滤波器的脉冲接口与伺服驱动器的 PG分频接口连接， 脉冲滤波器接收输入脉冲后， 首先对其进行施密特整形， 去除脉冲传 输过程中发生的信号畸变； 对整形后的脉冲进行低通滤波， 滤除高频 干扰信号； 再次对脉冲信号进行施密特整形， 得到理想的脉冲输入信 号，同时保持处理后的信号波形与伺服驱动输入信号波形电平极性保 持一致； 可编程逻辑控制器接收经过滤波器处理的脉冲输入信号， 通 过内部的寄存器、锁存器、计数器及逻辑单元判断方向并对脉冲数和 时间进行计数；数字信号处理器通过数据总线和地址总线与可编程逻 辑控制器相连， 从可编程逻辑控制器中读取脉冲计数值和时间计数 值， 计算速度并做数据筛选、 处理； 数字信号处理器通过数据总线和 地址总线将测试的速度数据存储在存储器中。
4、 根据权利要求 3所述一种伺服电机低速运行时的测速装置， 其特 征是： 所述数字信号处理器包括速度计算单元、数据处理单元和通讯 单元；其中速度计算单元通过数据总线与地址总线从可编程逻辑控制 器中读取脉冲计数值和时间计数值， 采用频率周期法计算速度数据， 并与通讯单元交互数据；速度计算单元计算的速度通过数据总线和地 址总线将采集数据存储在存储器中， 供通讯传输时用； 数据处理单元 对速度计算单元计算的速度进行筛选， 选取表征低速性能的数据。
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