CN105675906A - Direct current brushed motor speed measurement device and speed measurement method - Google Patents
Direct current brushed motor speed measurement device and speed measurement method Download PDFInfo
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- CN105675906A CN105675906A CN201610129773.9A CN201610129773A CN105675906A CN 105675906 A CN105675906 A CN 105675906A CN 201610129773 A CN201610129773 A CN 201610129773A CN 105675906 A CN105675906 A CN 105675906A
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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
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Abstract
The invention relates to a direct current brushed motor speed measurement device and speed measurement method. The speed measurement device is characterized by comprising a current sensor, a filter amplifying circuit, a signal comparison circuit, and a controller which are serially connected in turn. A logical operation unit is arranged in the controller. The speed measurement method is characterized by comprising the steps of: collecting a current signal of the direction current brushed motor through the current sensor; filtering and removing high frequency noise and direct current component in the current signal through the filter amplifying circuit; amplifying the signal; comparing a pulse component of the current signal with a reference voltage through the signal comparison circuit; generating a high-low alternating square wave speed signal to the controller; finally calculating the period or frequency of the speed signal through a logical operation unit built in the controller; and combining the number of mica sheets in a direct current brushed motor commutator and obtaining the corresponding motor speed through simple calculation. The speed measurement device and the speed measurement method can realize the speed measurement function of the direct current brushed motor through a simple circuit combination without increasing additional large devices on the motor, have low cost and no limitation of the use environment or a motor mechanical structure, and have a more accurate measurement result.
Description
Technical field
The present invention relates to a kind of test set, it is the device and method that the rotation of the reverser for brush direct current motor (i.e. rotor) carries out testing the speed specifically.
Background technology
Brush direct current motor is used widely in the civilian industry of industry. In order to control brush direct current motor rotating speed, it is necessary to first detect the speed of rotation of motor, then controlled. The current velocity measuring for brush motor mainly still uses the methods such as velodyne, photoelectric coding device, hall sensing device to be master, usually all need to increase extra equipment on motor by these methods, not only considerably increase cost, and environment for use and motor physical construction are also had higher requirement.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of brush direct current motor and tests the speed device, this device just can realize speed measuring function by the combination of simple circuit, without the need to increasing extra large-scale device on motor, cost is lower, and environment for use and motor physical construction are not limited, measurement result is more accurate.
For solving the problem, take following technical scheme:
The test the speed feature of device of the brush direct current motor of the present invention comprises current sense device, filter amplification circuit, signal comparator circuit and controller, and current sense device, filter amplification circuit, signal comparator circuit and controller are successively in being connected in series. Described controller logic built computing unit.
Wherein, described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit. Described low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three are that any sequencing is sequentially connected in series. Described low-pass filtering circuit comprises the first resistance, and the input terminus of this first resistance is the input terminus of described low-pass filtering circuit, and the output terminal of the first resistance is the output terminal of described low-pass filtering circuit, and the output terminal of the first resistance is by one first electric capacity ground connection.Described signal amplification circuit comprises the first operational amplifier, the electrode input end of this first operational amplifier is the input terminus of described signal amplification circuit, the output terminal of the first operational amplifier is the output terminal of described signal amplification circuit, the 2nd resistance it is parallel with, and the negative input of the first operational amplifier is by one the 3rd resistance ground connection between the negative input of the first operational amplifier and output terminal. Described high-pass filtering circuit comprises the 2nd electric capacity, the 3rd electric capacity and the 2nd operational amplifier, the input terminus of the 2nd electric capacity is the input terminus of described high-pass filtering circuit, the output terminal of the 2nd electric capacity is connected by wire with the input terminus of the 3rd electric capacity, the output terminal of the 3rd electric capacity is connected by wire with the electrode input end of the 2nd operational amplifier, and the output terminal of the 2nd operational amplifier is the output terminal of described high-pass filtering circuit; It is connected by wire between the output terminal of described 2nd electric capacity with the output terminal of the 2nd operational amplifier, and this section lead has the 4th resistance; The negative input of described 2nd operational amplifier is connected by wire with between output terminal, and the electrode input end of the 2nd operational amplifier is connected with the 5th resistance by wire; Described 2nd operational amplifier is two power supply operational amplifier or single power supply operational amplifier; When the 2nd operational amplifier is two power supply operational amplifier, described 5th resistance is by wire ground connection; When the 2nd operational amplifier is single power supply operational amplifier, described 5th resistance is connected with benchmark level circuit by wire.
Described signal comparator circuit comprises the 3rd operational amplifier, and the electrode input end of the 3rd operational amplifier is the input terminus of described signal comparator circuit, and the output terminal of the 3rd operational amplifier is the output terminal of described signal comparator circuit. Being parallel with the 6th resistance between the electrode input end of described 3rd operational amplifier and output terminal, the output terminal of the 3rd operational amplifier is connected with power supply by one the 7th resistance. Described 3rd operational amplifier is two power supply operational amplifier or single power supply operational amplifier. When the 3rd operational amplifier is two power supply operational amplifier, the negative input ground connection of the 3rd operational amplifier. When the 3rd operational amplifier is single power supply operational amplifier, the negative input of the 3rd operational amplifier is connected with benchmark level circuit by wire.
Or described signal comparator circuit comprises comparer, the electrode input end of this comparer is the input terminus of described signal comparator circuit, and the output terminal of comparer is the output terminal of described signal comparator circuit. Being parallel with the 6th resistance between the electrode input end of described comparer and output terminal, the output terminal of comparer is connected with power supply by one the 7th resistance. Described comparer is two power supply comparer or single power supply comparer. When comparer is two power supply comparer, the negative input ground connection of comparer. When comparer is single power supply comparer, the negative input of comparer is connected with benchmark level circuit by wire.
Described benchmark level circuit comprises the 9th resistance, the tenth resistance, the 11 resistance, the 5th electric capacity, the 6th electric capacity and four-operational amplifier. The input terminus of described 9th resistance is connected with power supply by wire, is connected by wire between the input terminus of the output terminal of the 9th resistance and the tenth resistance, and the output terminal of the tenth resistance is by wire ground connection. The described output terminal of the 9th resistance is connected by wire with between the electrode input end of four-operational amplifier, it is connected by wire between the input terminus of the output terminal of four-operational amplifier and the 11 resistance, being connected by wire between the input terminus of the output terminal of the 11 resistance and the 6th electric capacity, the output terminal of the 6th electric capacity is by wire ground connection. The electrode input end of described four-operational amplifier is connected with the input terminus of the 5th electric capacity, and the output terminal of the 5th electric capacity is by wire ground connection. The negative input of described four-operational amplifier is connected by wire with between output terminal. The output terminal of described 11 resistance is connected by the 5th resistance of wire and high-pass filtering circuit, the negative input of signal comparator circuit the 3rd operational amplifier or the negative input of comparer.
Another problem that the present invention to be solved is to provide a kind of brush direct current motor speed-measuring method, the method by the collection to the armature current signal of brush direct current motor, filtration, amplify, compare, carry out cycle or frequency calculation again, it is possible to the accurate speed of rotation measuring brush direct current motor.
For solving the problem, take following technical scheme:
The feature of the brush direct current motor speed-measuring method of the present invention is to comprise the following steps:
The first step, utilizes current sense device to gather the armature current signal of brush direct current motor.
Brush direct current motor realizes commutation when running by the contact of brush and reverser, and its reverser is made up of the sheet mica of commutator segment and insulation, and commutator segment and sheet mica are arranged along the outer weekly interval of motor rotor; Due to the existence of sheet mica, along with the rotation of motor, just have gap when the swiped through commutator segment of brush is switched to another commutator segment, cause the pulsation of armature current accordingly, after motor rotates a circle, then there will be the pulsation of fixed number; Simultaneously, when rotor high-speed rotates, on brush inevitable with high frequency noises such as electric arcs, these high frequency noises can be mixed in armature current so that much irregular burr occur in the both sides up and down of the pulsation waveform of the electric current signal that current sense device gathers.
2nd step, utilizes that electric current signal is filtered by filter amplification circuit, amplification process.
Described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit.
Described low-pass filtering circuit can by the high frequency noise target signal filter in electric current signal, i.e. burr composition in elimination electric current signal pulsation waveform so that the pulsation waveform of this electric current signal is in the zig-zag of rule.
Electric current signal can be carried out amplification process by described signal amplification circuit. Owing to the rotor of brush direct current motor is mostly in the state of high speed rotating in use, and the thickness of commutator segment and sheet mica is all very little in reverser, therefore the armature current of its reality is a galvanic current being mixed with pulsation waveform, and this galvanic current is relevant with the size of motor load. Compared with galvanic current, the amplitude of pulsation waveform is very little, it is very difficult to directly process. Electric current signal can be amplified to suitable numerical value by signal amplification circuit, use for late-class circuit.
Described high-pass filtering circuit can direct current composition in elimination electric current signal, obtain the pulsation component of brush direct current motor armature current signal. Direct current component in brush direct current motor armature current is relevant with the size of motor load, belongs to uncertain factor, and this uncertain factor elimination is conducive to the process of late-class circuit.
Electric current signal is filtered or amplification process by above-mentioned low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three with any sequencing.
3rd step, utilizes signal comparator circuit that the pulsation component of armature current signal is carried out square wave process.
By signal comparator circuit the pulsation component of armature current signal is transformed into height alternation, there is the fixed cycle and shape is the speed signal of square wave.
4th step, the speed signal of square wave is carried out calculation process by controller, and is converted into the speed of rotation of brush direct current motor.
Controller receives the speed signal of square wave after signal comparator circuit is changed, and the cycle of this speed signal or frequency are measured by its built-in logical operation unit, and the cycle of the party's ripple speed signal, frequency are cycle of fluctuation, the frequency of armature current. Owing in the reverser of each brush direct current motor, the quantity of commutator segment and sheet mica is specific, therefore logical operation unit is according to the cycle of fluctuation of armature current or frequency, in conjunction with the quantity of commutator segment in reverser and sheet mica, the speed of rotation of brush direct current motor can be conversed.
Take such scheme, have the following advantages:
The brush direct current motor of the present invention device that tests the speed comprises current sense device, filter amplification circuit, signal comparator circuit and controller, and current sense device, filter amplification circuit, signal comparator circuit and controller are successively in being connected in series, and controller logic built computing unit.In brush direct current motor, across the sheet mica playing insulation effect between commutator segment, so in the waveform of motor armature current, except the direct current composition relevant with load size, also there is small periodic ripple component. The cycle of this ripple component is relevant with the speed of rotation of motor, and the quantity of sheet mica is corresponding with the rushing and rapid pulse of armature current. The method utilizing this device to be tested the speed by brush direct current motor is: first, utilizes the electric current signal of current sense device induction brush direct current motor; Then, utilize the high frequency noise in filter amplification circuit elimination electric current signal, direct current component, and electric current signal is carried out amplification process, obtain the pulsation component of aforementioned brush direct current motor armature current; Then, being input in signal comparator circuit by this pulsation component, the shape generating a height alternation is the speed signal of square wave, the square wave frequency of speed signal or cycle relation proportional to motor rotating speed; Finally, the built-in logical operation unit of controller can conveniently detect frequency or the cycle of square wave, in conjunction with the quantity of sheet mica in engine commutator, by simply calculating the motor rotating speed that just can obtain correspondence. It can thus be seen that the present invention coordinates the speed measuring function that just can realize brush direct current motor by simple circuit, and its measurement result is very accurate, it is possible to better motor rotating speed is carried out Survey control. Meanwhile, this apparatus structure is simple, it is not necessary to increasing extra large-scale device on motor, cost is lower, and environment for use and motor physical construction is not also limited.
Accompanying drawing explanation
Fig. 1 is that the brush direct current motor of the present invention tests the speed the schematic diagram of device;
Fig. 2 is the electrical block diagram to the embodiment one after Fig. 1 refinement;
Fig. 3 is the electrical block diagram to the embodiment two after Fig. 1 refinement;
Fig. 4 is the oscillogram of the armature current signal of the brush direct current motor that current sense device collects;
Fig. 5 is the oscillogram of electric current signal after low-pass filtering circuit filters;
Fig. 6 is the oscillogram of electric current signal after signal amplification circuit amplifies;
Fig. 7 is the oscillogram of electric current signal after the high-pass filtering circuit containing two power supply operational amplifier filters;
Fig. 8 is the oscillogram of electric current signal after the high-pass filtering circuit containing single power supply operational amplifier filters;
Fig. 9 is the speed signal oscillogram of electric current signal after signal comparator circuit processes.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Embodiment one
As depicted in figs. 1 and 2, the brush direct current motor of the present invention device that tests the speed comprises current sense device, filter amplification circuit, signal comparator circuit and controller, and current sense device, filter amplification circuit, signal comparator circuit and controller are successively in being connected in series. Described controller logic built computing unit.
Described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit.
Described low-pass filtering circuit comprises the first resistance 1, the input terminus of this first resistance 1 is the input terminus of described low-pass filtering circuit, the output terminal of the first resistance 1 is the output terminal of described low-pass filtering circuit, and the output terminal of the first resistance 1 is by one first electric capacity 2 ground connection.
Described signal amplification circuit comprises the first operational amplifier 4, the electrode input end of this first operational amplifier 4 is the input terminus of described signal amplification circuit, the output terminal of the first operational amplifier 4 is the output terminal of described signal amplification circuit, the 2nd resistance 3 it is parallel with, and the negative input of the first operational amplifier 4 is by one the 3rd resistance 5 ground connection between the negative input of the first operational amplifier 4 and output terminal.
Described high-pass filtering circuit comprises the 2nd electric capacity 6, the 3rd electric capacity 7 and the 2nd operational amplifier 9, the input terminus of the 2nd electric capacity 6 is the input terminus of described high-pass filtering circuit, the output terminal of the 2nd electric capacity 6 is connected by wire with the input terminus of the 3rd electric capacity 7, the output terminal of the 3rd electric capacity 7 is connected by wire with the electrode input end of the 2nd operational amplifier 9, and the output terminal of the 2nd operational amplifier 9 is the output terminal of described high-pass filtering circuit. It is connected by wire between the output terminal of described 2nd electric capacity 6 with the output terminal of the 2nd operational amplifier 9, and this section lead has the 4th resistance 8. The negative input of described 2nd operational amplifier 9 is connected by wire with between output terminal, and the electrode input end of the 2nd operational amplifier 9 is connected with the 5th resistance 10 by wire. Described 2nd operational amplifier 9 is two power supply operational amplifiers, and described 5th resistance 10 is by wire ground connection.
Low-pass filtering circuit can high frequency noise in elimination electric current signal; Electric current signal can be amplified to suitable numerical value and use for late-class circuit by signal amplification circuit; High-pass filtering circuit can direct current composition in elimination electric current signal, obtain the pulsation component of brush direct current motor armature current. The process effect of electric current signal is independent separately by these three groups of circuit, there is not mutual synergy between them. Therefore, low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three can be sequentially connected in series in any sequencing. Namely the series connection order of three can be: low-pass filtering circuit → signal amplification circuit → high-pass filtering circuit, or low-pass filtering circuit → high-pass filtering circuit → signal amplification circuit, or signal amplification circuit → low-pass filtering circuit → high-pass filtering circuit, or signal amplification circuit → high-pass filtering circuit → low-pass filtering circuit, or high-pass filtering circuit → low-pass filtering circuit → signal amplification circuit, or high-pass filtering circuit → signal amplification circuit → low-pass filtering circuit. The present embodiment is the order adopting low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit to connect successively is to form described filter amplification circuit. Meanwhile, in order to improve filter amplification circuit to the filteration of electric current signal, it is possible to according to the particular case of different occasion and requirement, repeat three kinds of circuit to arrange. As when the high frequency noise interference in electric current signal is more, the low-pass filtering circuit arranging more than a group can be increased in series circuit; When the fluctuating range of component of pulsing in electric current signal is less, the signal amplification circuit arranging more than a group can be increased in series circuit; When the direct current composition numerical value in electric current signal is higher, the high-pass filtering circuit arranging more than a group can be increased in series circuit. As shown in Figure 2, the filter amplification circuit of the present embodiment has accessed one group of low-pass filtering circuit again at the output terminal of high-pass filtering circuit, its objective is the high frequency noise in order to residual in further elimination electric current signal, simultaneously also can the high frequency noise that produces by front stage circuits of elimination, to reach better effect.
The electrode input end that described signal comparator circuit comprises the 3rd operational amplifier the 12, three operational amplifier 12 is the input terminus of described signal comparator circuit, and the output terminal of the 3rd operational amplifier 12 is the output terminal of described signal comparator circuit. The output terminal being parallel with the 6th resistance the 11, three operational amplifier 12 between the electrode input end of described 3rd operational amplifier 12 and output terminal is connected with power supply Vcc by one the 7th resistance 13.Described 3rd operational amplifier 12 is two power supply operational amplifiers, the negative input ground connection of the 3rd operational amplifier 12.
In Fig. 2, i_in is current sense device input port, and low-pass filtering circuit employs simple resistance and electric capacity composition, also can adopt amplifier unit composition low-pass filtering circuit on demand; Signal amplification circuit uses discharge circuit to form; High-pass filtering circuit is made up of discharge circuit; Signal comparator circuit is compared with votage reference by the ripple component of motor armature current, and the square wave speed signal f_Motor(generating a height alternation is as shown in Figure 9), and carry to controller; Controller is by the cycle of built-in logical operation unit computing velocity signal or frequency. Owing to the rushing and rapid pulse of component of pulsing in brush direct current motor armature current signal is corresponding with the quantity of sheet mica in reverser, namely signal comparator circuit generates the square wave frequency of speed signal or cycle relation proportional to motor rotating speed, its ratio value is corresponding with sheet mica quantity. Therefore, controller is in conjunction with cycle of speed signal or frequency, and the quantity of sheet mica in brush direct current motor reverser, by simply calculating the motor rotating speed that just can obtain correspondence.
The relation of motor rotating speed and square wave speed signal f_Motor is calculated as follows:
In formula, rpm is motor rotating speed, and f_motor is the frequency of the square wave speed signal that tachometer circuit exports, and K is brush direct current motor reverser sheet mica number.
Embodiment two
As shown in figures 1 and 3, the brush direct current motor of the present invention device that tests the speed comprises current sense device, filter amplification circuit, signal comparator circuit and controller, and current sense device, filter amplification circuit, signal comparator circuit and controller are successively in being connected in series. Described controller logic built computing unit.
Described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit.
Described low-pass filtering circuit comprises the first resistance 1, the input terminus of this first resistance 1 is the input terminus of described low-pass filtering circuit, the output terminal of the first resistance 1 is the output terminal of described low-pass filtering circuit, and the output terminal of the first resistance 1 is by one first electric capacity 2 ground connection.
Described signal amplification circuit comprises the first operational amplifier 4, the electrode input end of this first operational amplifier 4 is the input terminus of described signal amplification circuit, the output terminal of the first operational amplifier 4 is the output terminal of described signal amplification circuit, the 2nd resistance 3 it is parallel with, and the negative input of the first operational amplifier 4 is by one the 3rd resistance 5 ground connection between the negative input of the first operational amplifier 4 and output terminal.
Described high-pass filtering circuit comprises the 2nd electric capacity 6, the 3rd electric capacity 7 and the 2nd operational amplifier 9, the input terminus of the 2nd electric capacity 6 is the input terminus of described high-pass filtering circuit, the output terminal of the 2nd electric capacity 6 is connected by wire with the input terminus of the 3rd electric capacity 7, the output terminal of the 3rd electric capacity 7 is connected by wire with the electrode input end of the 2nd operational amplifier 9, and the output terminal of the 2nd operational amplifier 9 is the output terminal of described high-pass filtering circuit. It is connected by wire between the output terminal of described 2nd electric capacity 6 with the output terminal of the 2nd operational amplifier 9, and this section lead has the 4th resistance 8. The negative input of described 2nd operational amplifier 9 is connected by wire with between output terminal, and the electrode input end of the 2nd operational amplifier 9 is connected with the 5th resistance 10 by wire. Described 2nd operational amplifier 9 is single power supply operational amplifier, and described 5th resistance 10 is connected with benchmark level circuit by wire.
Low-pass filtering circuit can high frequency noise in elimination electric current signal; Electric current signal can be amplified to suitable numerical value and use for late-class circuit by signal amplification circuit; High-pass filtering circuit can direct current composition in elimination electric current signal, obtain the pulsation component of brush direct current motor armature current. The process effect of electric current signal is independent separately by these three groups of circuit, there is not mutual synergy between them. Therefore, low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three can be sequentially connected in series in any sequencing. Namely the series connection order of three can be: low-pass filtering circuit → signal amplification circuit → high-pass filtering circuit, or low-pass filtering circuit → high-pass filtering circuit → signal amplification circuit, or signal amplification circuit → low-pass filtering circuit → high-pass filtering circuit, or signal amplification circuit → high-pass filtering circuit → low-pass filtering circuit, or high-pass filtering circuit → low-pass filtering circuit → signal amplification circuit, or high-pass filtering circuit → signal amplification circuit → low-pass filtering circuit. The present embodiment is the order adopting low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit to connect successively is to form described filter amplification circuit. Meanwhile, in order to improve filter amplification circuit to the filteration of electric current signal, it is possible to according to the particular case of different occasion and requirement, repeat three kinds of circuit to arrange. As when the high frequency noise interference in electric current signal is more, the low-pass filtering circuit arranging more than a group can be increased in series circuit; When the fluctuating range of component of pulsing in electric current signal is less, the signal amplification circuit arranging more than a group can be increased in series circuit; When the direct current composition numerical value in electric current signal is higher, the high-pass filtering circuit arranging more than a group can be increased in series circuit. As shown in Figure 3, the filter amplification circuit of the present embodiment has accessed one group of low-pass filtering circuit again at the output terminal of high-pass filtering circuit, its objective is the high frequency noise in order to residual in further elimination electric current signal, simultaneously also can the high frequency noise that produces by front stage circuits of elimination, to reach better effect.
The electrode input end that described signal comparator circuit comprises the 3rd operational amplifier the 12, three operational amplifier 12 is the input terminus of described signal comparator circuit, and the output terminal of the 3rd operational amplifier 12 is the output terminal of described signal comparator circuit. The output terminal being parallel with the 6th resistance the 11, three operational amplifier 12 between the electrode input end of described 3rd operational amplifier 12 and output terminal is connected with power supply Vcc by one the 7th resistance 13. Described 3rd operational amplifier 12 is single power supply operational amplifier, and the negative input of the 3rd operational amplifier 12 is connected with benchmark level circuit by wire.
Described benchmark level circuit comprises the 9th resistance 14, the tenth resistance the 15, the 11 resistance 18, the 5th electric capacity 16, the 6th electric capacity 19 and four-operational amplifier 17. The input terminus of described 9th resistance 14 is connected with power supply Vcc by wire, is connected by wire between the input terminus of the output terminal of the 9th resistance 14 and the tenth resistance 15, and the output terminal of the tenth resistance 15 is by wire ground connection. The described output terminal of the 9th resistance 14 is connected by wire with between the electrode input end of four-operational amplifier 17, it is connected by wire between the input terminus of the output terminal of four-operational amplifier 17 and the 11 resistance 18, being connected by wire between the input terminus of the output terminal of the 11 resistance 18 and the 6th electric capacity 19, the output terminal of the 6th electric capacity 19 is by wire ground connection.The electrode input end of described four-operational amplifier 17 is connected with the input terminus of the 5th electric capacity 16, and the output terminal of the 5th electric capacity 16 is by wire ground connection. The negative input of described four-operational amplifier 17 is connected by wire with between output terminal. The output terminal of described 11 resistance 18 is connected by the 5th resistance 10 of wire and high-pass filtering circuit, the negative input of signal comparator circuit the 3rd operational amplifier 12 or the negative input of comparer.
The present embodiment is in order to cost-saving, two power supply operational amplifier with positive voltage source and negative voltage power supply of high-pass filtering circuit in embodiment one, signal comparator circuit is replaced for single power supply operational amplifier, namely the 2nd operational amplifier 9 and the 3rd operational amplifier 12 all adopt single power supply operational amplifier, now just need to access benchmark level circuit on high-pass filtering circuit and signal comparator circuit. Benchmark level circuit can export a constant intermediate level, the benchmark level of high-pass filtering circuit is exported lift to single power supply operational amplifier can the level of normal operation.
The circuit of the device that tests the speed shown in Fig. 3 forms roughly the same with Fig. 2, and its principle of work is also substantially identical, illustrates no longer in detail herein.
In above-mentioned two embodiments, the 3rd operational amplifier 12 in signal comparator circuit all can adopt comparer to substitute, and its circuit symbol and principle of work are all identical with operational amplifier, and connection relation in the present invention is also identical with the 3rd operational amplifier 12. Namely described signal comparator circuit comprises comparer, and the electrode input end of this comparer is the input terminus of described signal comparator circuit, and the output terminal of comparer is the output terminal of described signal comparator circuit. Being parallel with the 6th resistance 11 between the electrode input end of described comparer and output terminal, the output terminal of comparer is connected with power supply Vcc by one the 7th resistance 13. Described comparer is two power supply comparer or single power supply comparer. When comparer is two power supply comparer, the negative input ground connection of comparer. When comparer is single power supply comparer, the negative input of comparer is connected with benchmark level circuit by wire.
Utilize the brush direct current motor of the present invention test the speed device measure motor rotating speed method comprise the following steps:
The first step, utilizes current sense device to gather the armature current signal of brush direct current motor.
Brush direct current motor realizes commutation when running by the contact of brush and reverser, and its reverser is made up of the sheet mica of commutator segment and insulation, and commutator segment and sheet mica are arranged along the outer weekly interval of motor rotor. Due to the existence of sheet mica, along with the rotation of motor, just have gap when the swiped through commutator segment of brush is switched to another commutator segment, cause the pulsation of armature current accordingly, after motor rotates a circle, then there will be the pulsation of fixed number. Simultaneously, when rotor high-speed rotates, on brush inevitable with high frequency noises such as electric arcs, these high frequency noises can be mixed in armature current so that much irregular burr occur in the both sides up and down of the pulsation waveform of the electric current signal that current sense device gathers.
The armature current signal of the brush direct current motor that current sense device collects is as shown in Figure 4.
2nd step, utilizes that electric current signal is filtered by filter amplification circuit, amplification process.
Described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit.
Described low-pass filtering circuit can by the high frequency noise target signal filter in electric current signal, i.e. burr composition in elimination electric current signal pulsation waveform so that the pulsation waveform of this electric current signal is in the zig-zag of rule.
Current signal waveform after low-pass filtering circuit filters is as shown in Figure 5.
Electric current signal can be carried out amplification process by described signal amplification circuit. Owing to the rotor of brush direct current motor is mostly in the state of high speed rotating in use, and the thickness of commutator segment and sheet mica is all very little in reverser, therefore the armature current of its reality is a galvanic current being mixed with pulsation waveform, and this galvanic current is relevant with the size of motor load. Compared with galvanic current, the amplitude of pulsation waveform is very little, it is very difficult to directly process. Electric current signal can be amplified to suitable numerical value by signal amplification circuit, use for late-class circuit.
Current signal waveform after signal amplification circuit amplifies is as shown in Figure 6.
Described high-pass filtering circuit can direct current composition in elimination electric current signal, obtain the pulsation component of brush direct current motor armature current signal. Direct current component in brush direct current motor armature current is relevant with the size of motor load, belongs to uncertain factor, and this uncertain factor elimination is conducive to the process of late-class circuit.
As shown in Figure 7, the current signal waveform after the high-pass filtering circuit containing single power supply operational amplifier filters is as shown in Figure 8 for current signal waveform after the high-pass filtering circuit containing two power supply operational amplifier filters.
The process effect of electric current signal is all independent separately by above-mentioned low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit, there is not mutual synergy between them. Therefore, electric current signal is filtered or amplification process by low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three with any sequencing. Namely can be electric current signal first through low-pass filtering circuit, then through signal amplification circuit, eventually pass high-pass filtering circuit process; Or electric current signal is first through low-pass filtering circuit, then through high-pass filtering circuit, eventually pass signal amplification circuit process; Or electric current signal is first through signal amplification circuit, then through low-pass filtering circuit, eventually pass high-pass filtering circuit process; Or electric current signal is first through signal amplification circuit, then through high-pass filtering circuit, eventually pass low-pass filtering processing of circuit; Or electric current signal is first through high-pass filtering circuit, then through low-pass filtering circuit, eventually pass signal amplification circuit process; Or electric current signal is first through high-pass filtering circuit, then through signal amplification circuit, eventually pass low-pass filtering processing of circuit. The method of the present embodiment is by electric current signal first through low-pass filtering circuit filter away high frequency noise, then amplifies through signal amplification circuit, eventually passes high-pass filtering circuit elimination direct current component.
3rd step, utilizes signal comparator circuit that the pulsation component of armature current signal is carried out square wave process.
By signal comparator circuit the pulsation component of armature current signal is transformed into height alternation, there is the fixed cycle and shape is the speed signal of square wave.
The speed signal waveform of electric current signal after signal comparator circuit processes is as shown in Figure 9.
4th step, the speed signal of square wave is carried out calculation process by controller, and is converted into the speed of rotation of brush direct current motor.
Controller receives the speed signal of square wave after signal comparator circuit is changed, and the cycle of this speed signal or frequency are measured by its built-in logical operation unit, and the cycle of the party's ripple speed signal, frequency are cycle of fluctuation, the frequency of armature current. Owing in the reverser of each brush direct current motor, the quantity of commutator segment and sheet mica is specific, therefore logical operation unit is according to the cycle of fluctuation of armature current or frequency, in conjunction with the quantity of commutator segment in reverser and sheet mica, the speed of rotation of brush direct current motor can be conversed.
Claims (9)
1. brush direct current motor tests the speed device, it is characterised in that comprise current sense device, filter amplification circuit, signal comparator circuit and controller, and current sense device, filter amplification circuit, signal comparator circuit and controller are successively in being connected in series;Described controller logic built computing unit.
2. brush direct current motor as claimed in claim 1 tests the speed device, it is characterised in that described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit; Described low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three are that any sequencing is sequentially connected in series.
3. brush direct current motor as claimed in claim 2 tests the speed device, it is characterized in that described low-pass filtering circuit comprises the first resistance (1), the input terminus of this first resistance (1) is the input terminus of described low-pass filtering circuit, the output terminal of the first resistance (1) is the output terminal of described low-pass filtering circuit, and the output terminal of the first resistance (1) is by one first electric capacity (2) ground connection.
4. brush direct current motor as claimed in claim 2 tests the speed device, it is characterized in that described signal amplification circuit comprises the first operational amplifier (4), the electrode input end of this first operational amplifier (4) is the input terminus of described signal amplification circuit, the output terminal of the first operational amplifier (4) is the output terminal of described signal amplification circuit, the 2nd resistance (3) it is parallel with, and the negative input of the first operational amplifier (4) is by one the 3rd resistance (5) ground connection between the negative input of the first operational amplifier (4) and output terminal.
5. brush direct current motor as claimed in claim 2 tests the speed device, it is characterized in that described high-pass filtering circuit comprises the 2nd electric capacity (6), 3rd electric capacity (7) and the 2nd operational amplifier (9), the input terminus of the 2nd electric capacity (6) is the input terminus of described high-pass filtering circuit, the output terminal of the 2nd electric capacity (6) is connected by wire with the input terminus of the 3rd electric capacity (7), the output terminal of the 3rd electric capacity (7) is connected by wire with the electrode input end of the 2nd operational amplifier (9), the output terminal of the 2nd operational amplifier (9) is the output terminal of described high-pass filtering circuit, it is connected by wire between the output terminal of described 2nd electric capacity (6) with the output terminal of the 2nd operational amplifier (9), and this section lead has the 4th resistance (8), the negative input of described 2nd operational amplifier (9) is connected by wire with between output terminal, and the electrode input end of the 2nd operational amplifier (9) is connected with the 5th resistance (10) by wire, described 2nd operational amplifier (9) is two power supply operational amplifier or single power supply operational amplifier, when the 2nd operational amplifier (9) is two power supply operational amplifier, described 5th resistance (10) is by wire ground connection, when the 2nd operational amplifier (9) is single power supply operational amplifier, described 5th resistance (10) is connected with benchmark level circuit by wire.
6. brush direct current motor as claimed in claim 1 tests the speed device, it is characterized in that described signal comparator circuit comprises the 3rd operational amplifier (12), the electrode input end of the 3rd operational amplifier (12) is the input terminus of described signal comparator circuit, and the output terminal of the 3rd operational amplifier (12) is the output terminal of described signal comparator circuit; Being parallel with the 6th resistance (11) between the electrode input end of described 3rd operational amplifier (12) and output terminal, the output terminal of the 3rd operational amplifier (12) is connected with power supply (Vcc) by one the 7th resistance (13); Described 3rd operational amplifier (12) is two power supply operational amplifier or single power supply operational amplifier;When the 3rd operational amplifier (12) is two power supply operational amplifier, the negative input ground connection of the 3rd operational amplifier (12); When the 3rd operational amplifier (12) is single power supply operational amplifier, the negative input of the 3rd operational amplifier (12) is connected with benchmark level circuit by wire.
7. brush direct current motor as claimed in claim 1 tests the speed device, it is characterized in that described signal comparator circuit comprises comparer, the electrode input end of this comparer is the input terminus of described signal comparator circuit, and the output terminal of comparer is the output terminal of described signal comparator circuit; Being parallel with the 6th resistance (11) between the electrode input end of described comparer and output terminal, the output terminal of comparer is connected with power supply (Vcc) by one the 7th resistance (13); Described comparer is two power supply comparer or single power supply comparer; When comparer is two power supply comparer, the negative input ground connection of comparer; When comparer is single power supply comparer, the negative input of comparer is connected with benchmark level circuit by wire.
8. brush direct current motor as according to any one of claim 5 to 7 tests the speed device, it is characterised in that described benchmark level circuit comprises the 9th resistance (14), the tenth resistance (15), the 11 resistance (18), the 5th electric capacity (16), the 6th electric capacity (19) and four-operational amplifier (17); The input terminus of described 9th resistance (14) is connected with power supply (Vcc) by wire, is connected by wire between the input terminus of the output terminal of the 9th resistance (14) and the tenth resistance (15), and the output terminal of the tenth resistance (15) is by wire ground connection; The described output terminal of the 9th resistance (14) is connected by wire with between the electrode input end of four-operational amplifier (17), it is connected by wire between the input terminus of the output terminal of four-operational amplifier (17) and the 11 resistance (18), being connected by wire between the input terminus of the output terminal of the 11 resistance (18) and the 6th electric capacity (19), the output terminal of the 6th electric capacity (19) is by wire ground connection; The electrode input end of described four-operational amplifier (17) is connected with the input terminus of the 5th electric capacity (16), and the output terminal of the 5th electric capacity (16) is by wire ground connection; The negative input of described four-operational amplifier (17) is connected by wire with between output terminal; The output terminal of described 11 resistance (18) is connected by the 5th resistance (10) of wire and high-pass filtering circuit, the negative input of signal comparator circuit the 3rd operational amplifier (12) or the negative input of comparer.
9. brush direct current motor speed-measuring method, it is characterised in that comprise the following steps:
The first step, utilizes current sense device to gather the armature current signal of brush direct current motor;
Brush direct current motor realizes commutation when running by the contact of brush and reverser, and its reverser is made up of the sheet mica of commutator segment and insulation, and commutator segment and sheet mica are arranged along the outer weekly interval of motor rotor; Due to the existence of sheet mica, along with the rotation of motor, just have gap when the swiped through commutator segment of brush is switched to another commutator segment, cause the pulsation of armature current accordingly, after motor rotates a circle, then there will be the pulsation of fixed number; Simultaneously, when rotor high-speed rotates, on brush inevitable with high frequency noises such as electric arcs, these high frequency noises can be mixed in armature current so that much irregular burr occur in the both sides up and down of the pulsation waveform of the electric current signal that current sense device gathers;
2nd step, utilizes that electric current signal is filtered by filter amplification circuit, amplification process;
Described filter amplification circuit comprises low-pass filtering circuit, signal amplification circuit and high-pass filtering circuit;
Described low-pass filtering circuit can by the high frequency noise target signal filter in electric current signal, i.e. burr composition in elimination electric current signal pulsation waveform so that the pulsation waveform of this electric current signal is in the zig-zag of rule;
Electric current signal can be carried out amplification process by described signal amplification circuit; Owing to the rotor of brush direct current motor is mostly in the state of high speed rotating in use, and the thickness of commutator segment and sheet mica is all very little in reverser, therefore the armature current of its reality is a galvanic current being mixed with pulsation waveform, and this galvanic current is relevant with the size of motor load; Compared with galvanic current, the amplitude of pulsation waveform is very little, it is very difficult to directly process; Electric current signal can be amplified to suitable numerical value by signal amplification circuit, use for late-class circuit;
Described high-pass filtering circuit can direct current composition in elimination electric current signal, obtain the pulsation component of brush direct current motor armature current signal; Direct current component in brush direct current motor armature current is relevant with the size of motor load, belongs to uncertain factor, and this uncertain factor elimination is conducive to the process of late-class circuit;
Electric current signal is filtered or amplification process by above-mentioned low-pass filtering circuit, signal amplification circuit, high-pass filtering circuit three with any sequencing;
3rd step, utilizes signal comparator circuit that the pulsation component of armature current signal is carried out square wave process;
By signal comparator circuit the pulsation component of armature current signal is transformed into height alternation, there is the fixed cycle and shape is the speed signal of square wave;
4th step, the speed signal of square wave is carried out calculation process by controller, and is converted into the speed of rotation of brush direct current motor;
Controller receives the speed signal of square wave after signal comparator circuit is changed, and the cycle of this speed signal or frequency are measured by its built-in logical operation unit, and the cycle of the party's ripple speed signal, frequency are cycle of fluctuation, the frequency of armature current; Owing in the reverser of each brush direct current motor, the quantity of commutator segment and sheet mica is specific, therefore logical operation unit is according to the cycle of fluctuation of armature current or frequency, in conjunction with the quantity of commutator segment in reverser and sheet mica, the speed of rotation of brush direct current motor can be conversed.
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| CN201610129773.9A CN105675906A (en) | 2016-03-08 | 2016-03-08 | Direct current brushed motor speed measurement device and speed measurement method |
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