CN102680728A - Motor rotation speed measuring method used in precise electromechanical equipment - Google Patents
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Abstract
本发明涉及一种用于精密机电设备中的电机转速测量方法，其采用光栅编码器对所述精密机电设备的电机转速进行测量，步骤为：（1）对光栅编码器输出的两路正弦信号进行放大、整形，使其变为两路方波信号输出；（2）将两路方波信号输入FPGA模块内进行异或运算，得到两倍频信号；（3）在FPGA模块内采用恒温晶振作为基准时钟，对两倍频信号进行计数，其计数值为N1，对基准时钟进行计数的个数为N2；（4）FPGA模块将得到的两个计数值N1、N2传输至外部单片机或DSP芯片，根据所选恒温晶振的频率、两个计数值N1和N2以及转速与频率的关系式，可以得到所要测量的电机转速。本发明在转速处于较低或较高状态时都具有较高的测量精度，可以广泛在各种精密机电设备转速测量应用中。The invention relates to a method for measuring the rotational speed of a motor used in precision electromechanical equipment, which uses a grating encoder to measure the rotational speed of the motor of the precision electromechanical equipment. The steps are: (1) two-way sinusoidal signals output by the grating encoder Carry out amplification and shaping to make it become two-way square wave signal output; (2) Input the two-way square wave signal into the FPGA module for XOR operation to obtain a double-frequency signal; (3) Use a constant temperature crystal oscillator in the FPGA module As a reference clock, count the double-frequency signal, the count value is N1, and the number of counts for the reference clock is N2; (4) The FPGA module transmits the two count values N1 and N2 obtained to the external microcontroller or DSP The chip, according to the frequency of the selected constant temperature crystal oscillator, the two count values N1 and N2, and the relationship between the speed and frequency, can obtain the motor speed to be measured. The invention has high measurement accuracy when the rotational speed is in a low or high state, and can be widely used in the rotational speed measurement application of various precision electromechanical equipment.
Description
Technical field
The present invention relates to a kind of rotating speed measurement method, particularly about a kind of rotating speed measurement method that is used for accurate electromechanical equipments such as high-precision numerical control machine, precision centrifuge.
Background technology
Accurate electromechanical equipment such as high-precision numerical control machine, precision centrifuge needs to adopt closed-loop system to realize high-precision control requirement, therefore need carry out the feedback input of precise measurement results as closed-loop control to rotating speed.Measurement to rotating speed in these accurate electromechanical equipments has very high requirement; It is short that measurement mechanism requires to have high resolving power, high precision, high stability and detection time; Grating encoder can satisfy above-mentioned requirements preferably; Utilize grating encoder to carry out the measurement of rotating speed,, can reach very high measuring accuracy through improving the grating line number of grating encoder.Grating encoder can convert angle signal that changes or displacement signal into electric signal that the cycle changes, electric signal is amplified the calculating that can be used for carrying out rotating speed after shaping, counting or voltage to frequency are changed.When utilizing grating encoder to carry out tachometric survey; At first the sinusoidal signal of grating encoder output is amplified the back shaping; Signal is become square-wave signal; Then square-wave signal is measured, measuring method commonly used has digital counting method, voltage to frequency transformation approach, and perhaps direct offset of sinusoidal signal carries out AD and changes laggard line frequency Zymography.Wherein, the voltage to frequency transformation approach need could be transformed to digital signal with tach signal through frequency-voltage conversion circuit and AD converter, and the link that conversion needs is many, and also all there is linear error in each link.The spectrum analysis rule needs slewing rate to sample than AD converter offset of sinusoidal signal faster; In the certain hour interval, obtain more sampled data; Utilize single-chip microcomputer or computing machine that sample sequence is carried out FFT then and calculate the acquisition rotary speed data,, the slewing rate of AD converter and the processing speed of processor are had higher requirement though this method has higher precision; Processor need consume a lot of times to carry out FFT and calculates the therefore less employing of this measuring method.Using many during actual speed is measured is counting method, and this method is divided into frequency measurement method (M method) and survey all methods (T method) again, and with the frequency measurement method and survey the method (M/T method) that all methods combine.The frequency measurement method is in certain time interval T, and the umber of pulse of measuring scrambler output obtains tested velocity amplitude, and this method is bigger at the low time error of rotating speed.Survey all methods and be in a recurrence interval of scrambler output the reference clock of high frequency counted and obtain tested velocity amplitude, this method has than mistake when high rotating speed, when the slow-speed of revolution, receives the influence of rotating speed again, and Measuring Time is longer.Combining rule in frequency measurement and survey week is in certain time interval, to measure in the number of tacho-pulse, and there is bigger truncation error equally in this method when rotating speed hangs down.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of rotating speed measurement method of accurate electromechanical equipment, this method all has higher measuring accuracy when the high rotating speed and the slow-speed of revolution.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of motor speed measurement method that is used for accurate electromechanical equipment; It adopts grating encoder that the motor speed of said accurate electromechanical equipment is measured; Step is following: the two-way phase differential that at first export grating encoder (1) is that 90 ° sinusoidal signal is amplified, shaping, makes it become the output of two-way square-wave signal; (2) with carrying out XOR in the two-way square-wave signal input FPGA module, obtain two frequency multiplication signals; (3) in the FPGA module, adopt constant-temperature crystal oscillator as reference clock, two frequency multiplication signals are counted, its count value is N1, and the number that reference clock is counted is N2; Wherein, this constant-temperature crystal oscillator frequency is that 10MHz, degree of stability are ± 5 * 10
-10(4) FPGA module two count value N1, the N2 that will obtain transfer to external microcontroller or dsp chip, according to the relational expression of the frequency of selected constant-temperature crystal oscillator, two count value N1 and N2 and rotating speed and frequency, can obtain the motor speed that will measure.
In the said step (3); The method of counting of said two frequency multiplication signals and reference clock is following: the rising edge that 1. adopts two frequency multiplication signals is a trigger pip; To the reference clock signal counting, produce 1 rising edge,, counting produces 1 negative edge when reaching 10000000 times; At this moment, clock signal D that the high level width is 1S of output; 2. when 1. said step counted beginning, adopting the clock signal D rising edge that produces was trigger pip, and two frequency multiplication signals are counted, and when the negative edge of clock signal D finishes, finished the counting to two frequency multiplication signals, and this moment, count value was N1; 3. when finishing to two frequency multiplication signal-count; As trigger pip, begin when promptly finishing the reference clock signal counting with the negative edge of clock signal D, with the rising edge of two frequency multiplication signals as count end signal; Stop the reference clock signal counting, the count value of this moment is N2.
In the said step (4), motor speed Z
sMethod for solving is following: since the cycle of N1 two frequency multiplication signals with two frequency multiplication signals at last by the time of truncated signal with equal 1 second, then obtain equality:
Obtain the frequency f of two frequency multiplication signals through following formula
xFor:
According to the relational expression of rotating speed and frequency, obtain motor speed Z again
sFor:
In the formula, m is the grating line number of grating encoder; f
cBe the reference clock frequency.
In the said step (4), said FPGA module provides parallel interface and two kinds of interfaces of SPI interface that said enumeration data N1 and N2 are transferred to single-chip microcomputer or dsp chip.
Said parallel interface comprises 8 data lines; 3 address wires; 1 reading signal lines, low level is effective; 1 busy signal line, busy signal are that height is then represented to measure, and busy signal is represented during for low level to measure and finished; 1 heel piece selects signal, and chip selection signal is that low level is effective.
Said serial line interface comprises that 1 heel piece selects signal wire, and low level is effective; 1 clock cable; 1 master goes into from going out signal wire; 1 goes out from going into signal wire and 1 busy signal line with main, and busy signal is that height is then represented to measure, and busy signal is represented to measure during for low level and finished.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, the present invention is because when measuring, in the FPGA module, adopting frequency is that 10MHz, degree of stability are ± 5 * 10
-10Constant-temperature crystal oscillator as reference clock, two frequency multiplication signals of the two-way square-wave signal of grating encoder output are counted, therefore, can improve measuring accuracy effectively.2, the present invention is to two frequency multiplication signal-count the time; When each counting begins; Rising edge with two frequency multiplication signals is the time starting point, and producing a time width is the 1s clock signal of (second), in the time of this 1S; Two frequency multiplication signals are counted, and just the clock signal of 1s will be carried out with two frequency multiplication signals of measured signal synchronously.Owing to when time width is the clock signal negative edge end of 1s, finish to two frequency multiplication signal-count; Calculate motor speed and can produce truncation error this moment, and truncation error is the cycle of two frequency multiplication signals to the maximum, therefore is employed in when finishing two frequency multiplication signal-count; Blocked in the remaining cycle at two frequency multiplication signals reference clock signal is counted; According to the count value of two frequency multiplication signals and reference signal is found the solution motor speed, therefore, can further improve the precision of measurement then.3, the present invention is owing to adopt being to two frequency multiplication signal-count value N1 at time width in the clock signal of 1s; Negative edge when finishing with the clock signal that with the time width is 1s is a starting point, and two frequency multiplication signals by these two count results of count value N2 of the reference signal in the rest period after being blocked, are calculated motor speed jointly; Therefore; No matter motor speed is in lower or higher state, can compensate effect through count value N2, has therefore guaranteed the accuracy that the present invention measures.The present invention can be extensively in various accurate electromechanical equipment tachometric surveies be used.
Description of drawings
Fig. 1 is the two-way square-wave signal and the two frequency multiplication signal sequence synoptic diagram of the present invention's output when measuring;
Fig. 2 is that the present invention is when measuring, to the sequential synoptic diagram of two frequency multiplication signals and reference clock signal counting;
Fig. 3 is FPGA module of the present invention and single-chip microcomputer parallel communication interface synoptic diagram;
Fig. 4 is FPGA module of the present invention and singlechip serial communication interface synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
A kind of motor speed measurement method that is used for accurate electromechanical equipment provided by the invention, it adopts the high precision grating encoder that the motor speed of accurate electromechanical equipment is measured, and concrete steps are following:
1) the two-way phase differential of at first grating encoder being exported is that 90 ° sinusoidal signal is amplified, shaping, makes it become two-way square-wave signal A, B output.
2) with in two-way square-wave signal A, B input FPGA (CPLD) module, carry out XOR, obtain two frequency multiplication signal X (as shown in Figure 1);
3) in the FPGA module, adopt constant-temperature crystal oscillator as reference clock, two frequency multiplication signal X are counted, its count value is N1, and the number that reference clock is counted is N2; Wherein, reference clock signal is C, and frequency is f
C
As shown in Figure 2, the method for counting of two frequency multiplication signal X and reference clock is following:
1. the rising edge that adopts two frequency multiplication signal X is a trigger pip, to reference clock signal C counting, and produces 1 rising edge, when counting reaches 10000000 times, produces 1 negative edge, at this moment, exports the clock signal D that the high level width is 1S;
2. when 1. step counted beginning, adopting the clock signal D rising edge that produces was trigger pip, and two frequency multiplication signal X are counted, and when the negative edge of clock signal D finishes, finished the counting to two frequency multiplication signal X, and this moment, count value was N1;
Because when the counting that finishes two frequency multiplication signal X; The negative edge of clock signal D might not align with the rising edge of two frequency multiplication signal X, and just therefore the cycle of signal X is contained by truncation part; If the count value N1 that produces with this moment calculates motor speed; Then can produce truncation error, the maximal value of this truncation error is the cycle 1/fx of two frequency multiplication signal X, and fx is the frequency of two frequency multiplication signal X.
3. when finishing to two frequency multiplication signal X counting; As trigger pip, begin counting when promptly finishing to reference clock signal C with the negative edge of clock signal D, with the rising edge of two frequency multiplication signal X as count end signal; Stop the counting to reference clock signal C, the count value of this moment is N2.
4) FPGA module two count value N1, the N2 that will obtain transfer to external microcontroller or dsp chip, according to the relational expression of the frequency of selected constant-temperature crystal oscillator, two count value N1 and N2 and rotating speed and frequency, can obtain the motor speed that will measure.
Above-mentioned steps 3) in, in order to improve the precision of measurement, the constant-temperature crystal oscillator frequency that the present invention adopts in the FPGA module is that 10MHz, degree of stability are ± 5 * 10
-10
Above-mentioned steps 4) in, the method for solving of motor speed is following: since the cycle of N1 two frequency multiplication signal X with two frequency multiplication signal X at last by the time of truncated signal with equal 1 second, therefore, can obtain following equality:
Can obtain the frequency f of two frequency multiplication signal X according to step formula (1)
xFor:
Because two frequency multiplication signal X are two frequency multiplication signals of two-way square-wave signal A, B, therefore can be according to the relational expression of rotating speed and frequency, obtain motor speed Zs (rev/min) expression formula following:
In the following formula, m is the grating line number of grating encoder.
Above-mentioned steps 4) in; Because the tach signal of measuring through the FPGA module is divided into 2 parts; Account for 8 bytes altogether, preceding 4 bytes store are to the counting number N1 of two frequency multiplication signal X, and back four bytes store are to the counting number N2 of reference clock; Therefore, the FPGA module can provide parallel interface and two kinds of interfaces of SPI interface that enumeration data N1 and N2 are transferred to single-chip microcomputer or dsp chip.Be example with the single-chip microcomputer below, specifically introduce the interface of FPGA module and single-chip microcomputer:
Parallel communication interface: as shown in Figure 3, parallel interface comprises 8 data lines; 3 address wires; 1 reading signal lines, low level is effective; 1 busy signal line, busy signal are that height is then represented to measure, and busy signal is represented during for low level to measure and finished; 1 heel piece selects signal, and chip selection signal is that low level is effective.Measure when finishing, single-chip microcomputer can read the count value N1 and the N2 of FPGA module, and calculates motor speed according to formula (3).
As shown in Figure 4, serial communication interface: serial line interface comprises that 1 heel piece selects signal wire, and low level is effective; 1 clock cable; 1 master goes into from going out signal wire; 1 follows the master to go out from going into signal wire and 1 busy signal line, and busy signal is a same signal wire with the busy signal that uses in the parallel interface, the expression same meaning.
In sum, the present invention because when motor speed is low, in width is the synchronizing clock signals D of 1S, has than mistake two frequency multiplication signal X count value N1 of measured signal in use, and the truncation error of this moment is bigger.But owing to be that start time is counted reference clock signal C with the truncated signal simultaneously, count results is N2.The present invention adopts and calculates motor speed jointly by count value N2, N1, has therefore played compensating action.When motor speed was higher, because the frequency of measured signal is higher, the precision of tachometric survey this moment mainly leaned on count value N1 to guarantee that at this moment, count value N2 also can play certain compensating action.
Above-mentioned each embodiment only is used to explain the present invention; The connection of each parts and structure all can change to some extent; On the basis of technical scheme of the present invention; All improvement and equivalents of the connection and the structure of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (7)
1. motor speed measurement method that is used for accurate electromechanical equipment, it adopts grating encoder that the motor speed of said accurate electromechanical equipment is measured, and step is following:
(1) the two-way phase differential of at first grating encoder being exported is that 90 ° sinusoidal signal is amplified, shaping, makes it become the output of two-way square-wave signal;
(2) with carrying out XOR in the two-way square-wave signal input FPGA module, obtain two frequency multiplication signals;
(3) in the FPGA module, adopt constant-temperature crystal oscillator as reference clock, two frequency multiplication signals are counted, its count value is N1, and the number that reference clock is counted is N2; Wherein, this constant-temperature crystal oscillator frequency is that 10MHz, degree of stability are ± 5 * 10
-10
(4) FPGA module two count value N1, the N2 that will obtain transfer to external microcontroller or dsp chip, according to the relational expression of the frequency of selected constant-temperature crystal oscillator, two count value N1 and N2 and rotating speed and frequency, obtain the motor speed that will measure.
2. a kind of motor speed measurement method that is used for accurate electromechanical equipment as claimed in claim 1 is characterized in that: in the said step (3), the method for counting of said two frequency multiplication signals and reference clock is following:
1. the rising edge that adopts two frequency multiplication signals is a trigger pip, to the reference clock signal counting, produces 1 rising edge, when counting reaches 10000000 times, produces 1 negative edge, at this moment, exports the clock signal D that the high level width is 1S;
2. when 1. said step counted beginning, adopting the clock signal D rising edge that produces was trigger pip, and two frequency multiplication signals are counted, and when the negative edge of clock signal D finishes, finished the counting to two frequency multiplication signals, and this moment, count value was N1;
3. when finishing to two frequency multiplication signal-count; As trigger pip, begin when promptly finishing the reference clock signal counting with the negative edge of clock signal D, with the rising edge of two frequency multiplication signals as count end signal; Stop the reference clock signal counting, the count value of this moment is N2.
3. a kind of motor speed measurement method that is used for accurate electromechanical equipment as claimed in claim 1 is characterized in that: in the said step (4), and motor speed Z
sMethod for solving is following: since the cycle of N1 two frequency multiplication signals with two frequency multiplication signals at last by the time of truncated signal with equal 1 second, then obtain equality:
Obtain the frequency f of two frequency multiplication signals through following formula
xFor:
According to the relational expression of rotating speed and frequency, obtain motor speed Z again
sFor:
In the formula, m is the grating line number of grating encoder; f
cBe the reference clock frequency.
4. a kind of motor speed measurement method that is used for accurate electromechanical equipment as claimed in claim 2 is characterized in that: in the said step (4), and motor speed Z
sMethod for solving is following: since the cycle of N1 two frequency multiplication signals with two frequency multiplication signals at last by the time of truncated signal with equal 1 second, then obtain equality:
Obtain the frequency f of two frequency multiplication signals through following formula
xFor:
According to the relational expression of rotating speed and frequency, obtain motor speed Z again
sFor:
In the formula, m is the grating line number of grating encoder; f
cBe the reference clock frequency.
5. like claim 1 or 2 or 3 or 4 described a kind of motor speed measurement methods that are used for accurate electromechanical equipment; It is characterized in that: in the said step (4), said FPGA module provides parallel interface and two kinds of interfaces of SPI interface that said enumeration data N1 and N2 are transferred to single-chip microcomputer or dsp chip.
6. a kind of motor speed measurement method that is used for accurate electromechanical equipment as claimed in claim 5, it is characterized in that: said parallel interface comprises 8 data lines; 3 address wires; 1 reading signal lines, low level is effective; 1 busy signal line, busy signal are that height is then represented to measure, and busy signal is represented during for low level to measure and finished; 1 heel piece selects signal, and chip selection signal is that low level is effective.
7. a kind of motor speed measurement method that is used for accurate electromechanical equipment as claimed in claim 5 is characterized in that: said serial line interface comprises that 1 heel piece selects signal wire, and low level is effective; 1 clock cable; 1 master goes into from going out signal wire; 1 goes out from going into signal wire and 1 busy signal line with main, and busy signal is that height is then represented to measure, and busy signal is represented to measure during for low level and finished.
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Cited By (11)
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| CN103616839A (en) * | 2013-12-13 | 2014-03-05 | 广西大学 | Field programmable gate array (FPGA)-based adaptive speed detection device |
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| CN105547604A (en) * | 2015-12-10 | 2016-05-04 | 珠海格力电器股份有限公司 | Air conditioner and fan rotating speed detection method and device thereof |
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| CN108181482A (en) * | 2017-12-29 | 2018-06-19 | 天津瑞能电气有限公司 | Real-time low-speed detection device based on virtual sine wave |
| CN109239386A (en) * | 2018-09-11 | 2019-01-18 | 陕西千山航空电子有限责任公司 | A kind of signal acquisition method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103616839A (en) * | 2013-12-13 | 2014-03-05 | 广西大学 | Field programmable gate array (FPGA)-based adaptive speed detection device |
| CN104076165A (en) * | 2014-07-15 | 2014-10-01 | 重庆理工大学 | Non-contact type instantaneous rotating speed sensing method |
| CN105547604A (en) * | 2015-12-10 | 2016-05-04 | 珠海格力电器股份有限公司 | Air conditioner and fan rotating speed detection method and device thereof |
| CN106645787A (en) * | 2017-03-08 | 2017-05-10 | 湖南广思科技有限公司 | Method, system and device for measuring speed of locomotive |
| CN107219375A (en) * | 2017-05-27 | 2017-09-29 | 四川新川航空仪器有限责任公司 | It is a kind of to realize the method measured during tach signal high-precision real |
| CN107271712A (en) * | 2017-07-27 | 2017-10-20 | 南京信息工程大学 | A method for measuring motor speed |
| CN108181482A (en) * | 2017-12-29 | 2018-06-19 | 天津瑞能电气有限公司 | Real-time low-speed detection device based on virtual sine wave |
| CN109239386A (en) * | 2018-09-11 | 2019-01-18 | 陕西千山航空电子有限责任公司 | A kind of signal acquisition method |
| CN110739061A (en) * | 2019-10-24 | 2020-01-31 | 合肥盛东信息科技有限公司 | toilet-entering frequency monitoring system for old people |
| CN112234878A (en) * | 2020-09-07 | 2021-01-15 | 广州大学 | A micro-motor speed measurement control system and method |
| CN112234878B (en) * | 2020-09-07 | 2022-05-27 | 广州大学 | A micro-motor speed measurement control system and method |
| CN119001139A (en) * | 2024-10-23 | 2024-11-22 | 泉州市桑川电气设备有限公司 | High-precision speed and frequency detection device circuit of encoder and detection method thereof |
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