CN109861598A - System and method for detecting the revolving speed of brushed DC motor - Google Patents
System and method for detecting the revolving speed of brushed DC motor Download PDFInfo
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- CN109861598A CN109861598A CN201711235783.1A CN201711235783A CN109861598A CN 109861598 A CN109861598 A CN 109861598A CN 201711235783 A CN201711235783 A CN 201711235783A CN 109861598 A CN109861598 A CN 109861598A
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Abstract
The invention discloses a kind of systems for detecting the revolving speed of brushed DC motor, comprising: signal processing module, the winding current signal of brushed DC motor is converted rule, periodic reshaping signal by signal processing module, and the frequency of the reshaping signal is identical as the frequency of current of commutation fluctuating signal；Revolving speed obtains module, and revolving speed obtains the revolving speed that module obtains brushed DC motor according to reshaping signal.The invention also discloses a kind of methods for detecting the revolving speed of brushed DC motor.In the present invention, speed probe is not used but the revolving speed of the winding current acquisition brushed DC motor based on brushed DC motor, to realize the direct detection to the real-time revolving speed of brushed DC motor, safety and reliability difference and expensive disadvantage of the speed probe installation difficulty greatly, in liquid environment in traditional technology are overcome.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of system for detecting the revolving speed of brushed DC motor and
Method.
Background technique
Typical on-demand oil supply system for vehicle (such as has used the oil of brushed DC motor by controller, oil pump
Pump), pressure sensor and motor mechanism at.Since pressure sensor is expensive, passed in order to which no pressure can be used in save the cost
The open loop oil pressure control system of sensor.But influenced by factors such as voltage, oil pump abrasion, temperature, in this open-loop control system
The charge oil pressure tolerance of oil pump is larger.In view of oil pump structure and in the work course occur energy conversion, controlling
It, can be using the open loop pressure control based on revolving speed, then (i.e. oily firstly the need of oil pump is obtained under the premise of precision meet demand processed
Brushed DC motor in pump) real-time revolving speed.In the prior art using the revolving speed of speed probe detection brushed DC motor.
However, being had in the prior art using the technical solution of the revolving speed of speed probe detection brushed DC motor as follows
Disadvantage: the difficulty for the brushed DC motor installation speed probe of sealing is big；Operation of oil pump in gasoline or diesel oil environment, this
Kind liquid working environment will affect the safety and reliability of speed probe；Also, speed probe is expensive.
Summary of the invention
Starting point of the invention is, does not use speed probe but the winding current acquisition based on brushed DC motor
The revolving speed of brushed DC motor, to realize the detection to brushed DC motor revolving speed.
The embodiment provides a kind of system for detecting the revolving speed of brushed DC motor, the system packet
It includes:
Signal processing module, the signal processing module obtain commutation electricity based on the winding current signal of brushed DC motor
It flows fluctuating signal and converts rule, periodic reshaping signal for current of commutation fluctuating signal, the reshaping signal
Frequency is identical as the frequency of current of commutation fluctuating signal；
Revolving speed obtains module, and the revolving speed obtains the revolving speed that module obtains brushed DC motor according to the reshaping signal.
Optionally, the reshaping signal is square-wave signal.
Optionally, the system also includes Rotating speed measring condition judgment module and dead zone function module, the Rotating speed measrings
Condition judgment module judges whether to meet Rotating speed measring condition, if meeting Rotating speed measring condition, the dead zone function module will
Revolving speed obtains the revolving speed that module obtains and exports as the real-time revolving speed of the brushed DC motor detected, if being unsatisfactory for Rotating speed measring
Condition, then the dead zone function module using 0 as the brushed DC motor detected real-time revolving speed export.Optionally, revolving speed
Testing conditions are as follows: winding current >=current threshold of brushed DC motor and voltage >=voltage threshold of brushed DC motor.
Optionally, the signal processing module includes:
Filter unit, the filter unit are filtered winding current signal, to obtain current of commutation fluctuating signal；
Differential calculation unit, the differential calculation unit differentiate to be commutated to commutation pulsation of current signal
The slope signal of pulsation of current signal；
The slope signal is changed into the reshaping signal by signal shaping unit, the signal shaping unit.
Optionally, the revolving speed acquisition module includes:
Period computing unit, the period computing unit calculate the period of the reshaping signal；
The period of the reshaping signal is scaled brushed DC motor by revolving speed scaling unit, the revolving speed scaling unit
Revolving speed.
The embodiments of the present invention also provide a kind of method for detecting the revolving speed of brushed DC motor, the method packets
It includes:
Winding current signal based on brushed DC motor obtains current of commutation fluctuating signal and the current of commutation is pulsed
Signal is converted into rule, periodic reshaping signal, the frequency of the reshaping signal and the frequency of current of commutation fluctuating signal
It is identical；
The revolving speed of brushed DC motor is obtained according to the reshaping signal.
Optionally, the reshaping signal is square-wave signal.
Optionally, the method also includes: judge whether to meet Rotating speed measring condition, if meeting Rotating speed measring condition,
The revolving speed that will acquire is exported as the real-time revolving speed of the brushed DC motor detected, if Rotating speed measring condition is unsatisfactory for, with 0
Real-time revolving speed as the brushed DC motor detected exports.Optionally, Rotating speed measring condition are as follows: brushed DC motor around
Voltage >=voltage threshold of group electric current >=current threshold and brushed DC motor.
Optionally, the winding current signal based on brushed DC motor obtains current of commutation fluctuating signal and will commutation electricity
Stream fluctuating signal is converted into rule, periodic reshaping signal
The winding current signal of brushed DC motor is filtered, to obtain current of commutation fluctuating signal；
It differentiates commutation pulsation of current signal to obtain the slope signal of current of commutation fluctuating signal；
The slope signal is changed into the reshaping signal.
Optionally, include: according to the revolving speed that reshaping signal obtains brushed DC motor
Calculate the period of the reshaping signal；
The period of the reshaping signal is scaled to the revolving speed of brushed DC motor.
The system and method for the revolving speed for detecting brushed DC motor of the embodiment of the present invention at least have following excellent
Point: due to not using speed probe but the revolving speed of the winding current acquisition brushed DC motor based on brushed DC motor,
To realize the direct detection to the real-time revolving speed of brushed DC motor, speed probe installation difficulty in traditional technology is overcome
Greatly, the safety and reliability difference and expensive disadvantage in liquid environment.
Detailed description of the invention
The embodiment of the present invention is further described hereinafter with reference to attached drawing, in the accompanying drawings:
Fig. 1-2 shows the revolving speed for detecting brushed DC motor of the first specific embodiment according to the present invention
The schematic diagram of system；
Fig. 3-7 shows the electric for the brushed DC of oil pump for detecting of the second specific embodiment according to the present invention
The schematic diagram of the system of the revolving speed of machine；
Fig. 8 show third specific embodiment according to the present invention for detect be used for oil pump brushed DC motor
Revolving speed method flow diagram.
Specific embodiment
It describes below with reference to accompanying drawings and by embodiment according to the present invention for detecting turning for brushed DC motor
The system and method for speed.In the following description, numerous specific details are set forth to make person of ordinary skill in the field
The present invention is appreciated more fully.But for the technical staff in technical field it is evident that realization of the invention can not
With some in these details.On the contrary, it may be considered that implement this hair with any combination of following feature and element
It is bright, regardless of whether they are related to different embodiments.Therefore, method, feature, embodiment and advantage below for illustrative purposes only it
With and be not construed as the element or restriction of claim, unless clearly proposing in the claims.
Fig. 1-2 shows the revolving speed for detecting brushed DC motor of the first specific embodiment according to the present invention
The schematic diagram of system.
As shown in fig. 1, the system of the revolving speed for detecting brushed DC motor includes signal processing module 10 and revolving speed
Obtain module 20.Signal processing module 10 obtains current of commutation fluctuating signal simultaneously based on the winding current signal of brushed DC motor
And rule, periodic reshaping signal, the frequency and commutation electricity of the reshaping signal are converted by current of commutation fluctuating signal
The frequency for flowing fluctuating signal is identical.Revolving speed obtains the revolving speed that module 20 obtains brushed DC motor according to reshaping signal.
Reshaping signal can be the periodic signal of any kind of rule, and reshaping signal can be square-wave signal, arteries and veins
Wave, triangular wave or sawtooth wave etc. are rushed, and then revolving speed is executed with hopping edge triggering or threshold triggers and obtains module.Reshaping signal is preferred
It can be square-wave signal.
Signal processing module 10 includes filter unit 101, differential calculation unit 102 and signal shaping unit 103.Filtering is single
The winding current signal of first 101 pairs of brushed DC motors is filtered, to obtain current of commutation fluctuating signal.Differential calculation unit
102 pairs of commutation pulsation of current signals are differentiated to obtain the slope signal of current of commutation fluctuating signal.Signal shaping list
Member 103, slope signal is changed into reshaping signal by signal shaping unit 103.
It includes period computing unit 201 and revolving speed scaling unit 202 that revolving speed, which obtains module 20,.Period computing unit 201 is counted
Calculate the period of reshaping signal.The period of reshaping signal is scaled the revolving speed of brushed DC motor by revolving speed scaling unit 202.
As shown in Figure 2, it on the basis of the system of the revolving speed shown in fig. 1 for detecting brushed DC motor, also sets
It is equipped with Rotating speed measring condition judgment module 30 and dead zone function module 40.Rotating speed measring condition judgment module 30 judges whether to meet
Rotating speed measring condition, if meeting Rotating speed measring condition, dead zone function module 40 makees the revolving speed that revolving speed acquisition module 20 obtains
For the real-time revolving speed output of the brushed DC motor detected, if being unsatisfactory for Rotating speed measring condition, dead zone function module 40 is with 0
Real-time revolving speed as the brushed DC motor detected exports.Rotating speed measring condition can be with are as follows: the winding of brushed DC motor
Voltage >=voltage threshold of electric current >=current threshold and brushed DC motor.
Fig. 3-7 shows the electric for the brushed DC of oil pump for detecting of the second specific embodiment according to the present invention
The schematic diagram of the system of the revolving speed of machine.Wherein, Fig. 4,5,6 and 7 respectively illustrate the revolving speed for detecting brushed DC motor
Rotating speed measring condition judgment module, signal processing module, the revolving speed of system obtain the specific structure of module and dead zone function module.
As shown in figure 3, the system of the revolving speed for detecting brushed DC motor includes Rotating speed measring condition judgment module, letter
Number processing module, revolving speed obtain module and dead zone function module.During Rotating speed measring, system is obtained in real time for oil pump
The voltage and winding current of brushed DC motor.Winding current and voltage of the Rotating speed measring condition judgment module based on real-time detection
Judge whether to meet Rotating speed measring condition, and export judging result (logic 1/0) to signal processing module, revolving speed obtain module and
Dead zone function module.
When the judging result of Rotating speed measring condition judgment module output is logic 1, then signal processing module and revolving speed obtain
Modulus block executes its function.Signal processing module obtains current of commutation pulsation letter based on the winding current signal of brushed DC motor
Number and convert rule, periodic reshaping signal, the frequency and commutation electricity of reshaping signal for current of commutation fluctuating signal
The frequency for flowing fluctuating signal is identical.Revolving speed obtains the revolving speed that module obtains brushed DC motor according to reshaping signal.It is examined in revolving speed
When the judging result of survey condition judgment module output is logical zero, then signal processing module and revolving speed obtain module and do not execute its function
Energy.
When the judging result of Rotating speed measring condition judgment module output is logic 1, dead zone function module obtains revolving speed
The revolving speed that module obtains is exported as the real-time revolving speed of the brushed DC motor detected；It is defeated in Rotating speed measring condition judgment module
Judging result out be logical zero when, dead zone function module using 0 as the brushed DC motor detected real-time revolving speed output.
Fig. 4 shows the specific structure of Rotating speed measring condition judgment module.Rotating speed measring condition judgment module is to judge
Whether meet Rotating speed measring condition, that is, judge whether the following conditions are true: winding current >=current threshold of brushed DC motor
And voltage >=voltage threshold of brushed DC motor.If the condition is set up, judgement meets Rotating speed measring condition, Rotating speed measring condition
It is logic 1 that judgment module, which exports judging result,；If the condition is invalid, judgement is unsatisfactory for Rotating speed measring condition, Rotating speed measring
It is logical zero that condition judgment module, which exports judging result,.Rotating speed measring condition judgment module includes threshold value comparison unit will have brush
The winding current and voltage of direct current generator are made comparisons with current threshold and voltage threshold respectively, and provide judging result.
Fig. 5 shows the specific structure of signal processing module.As shown in figure 5, signal processing module include filter unit, it is micro-
Divide computing unit and signal shaping unit.
When Rotating speed measring condition judgment module output judging result is logic 1, signal processing module is enabled.Filtering is single
Winding current and voltage of the member based on brushed DC motor are filtered winding current signal, to obtain current of commutation pulsation letter
Number.Differential calculation unit differentiates to commutation pulsation of current signal to obtain the slope of current of commutation fluctuating signal letter
Number.The slope signal can reflect the variation tendency of current of commutation fluctuating signal, and the frequency of the slope signal and commutation electricity
The slope for flowing fluctuating signal is identical.Slope signal is changed into reshaping signal by signal shaping unit.
Fig. 6 shows the specific structure that revolving speed obtains module.As shown in fig. 6, it includes that wave period calculates that revolving speed, which obtains module,
Unit and revolving speed scaling unit.
When Rotating speed measring condition judgment module output judging result is logic 1, revolving speed obtains module and is enabled.Period meter
Calculate the period that unit calculates reshaping signal based on temporal information.Temporal information can be provided by the timer of single-chip microcontroller, can also be by hard
Part equipment provides, and can also be provided by operating system, and source depends on the application environment of rotary speed detecting system.Revolving speed conversion module
The period of reshaping signal is scaled to the revolving speed of brushed DC motor.The period of the revolving speed and reshaping signal of brushed DC motor
Corresponding relationship is as follows:
Wherein, RPM (n) is the revolving speed of brushed DC motor, and Duration (n) is the period of reshaping signal, and m is to have brush straight
The commutation number of the rotor every revolution electric current of galvanic electricity machine.
Fig. 7 shows the specific structure of dead zone function module.As shown in fig. 7, being exported in Rotating speed measring condition judgment module
Judging result be logic 1 when, dead zone function module using revolving speed obtain module obtain revolving speed as the brushed DC detected
The real-time revolving speed of motor exports；When the judging result of Rotating speed measring condition judgment module output is logical zero, dead zone function module
Using 0 as the brushed DC motor detected real-time revolving speed export.
Fig. 8 show third specific embodiment according to the present invention for detect be used for oil pump brushed DC motor
Revolving speed method flow diagram.This method comprises the following steps:
Step S801 judges whether to meet Rotating speed measring condition.Rotating speed measring condition are as follows: the winding electricity of brushed DC motor
Voltage >=voltage threshold of stream >=current threshold and brushed DC motor.If meeting Rotating speed measring condition, sequence executes step
S802, S803 and S804.If being unsatisfactory for Rotating speed measring condition, directly execution step S804.
Step S802, the winding current signal based on brushed DC motor obtain current of commutation fluctuating signal and will commutations
Pulsation of current signal is converted into rule, periodic reshaping signal, and frequency and the current of commutation pulsation of the reshaping signal are believed
Number frequency it is identical.Step S802 can specifically include: be filtered to the winding current signal of brushed DC motor, to obtain
Current of commutation fluctuating signal；It is differentiated to commutation pulsation of current signal to obtain the slope of current of commutation fluctuating signal letter
Number；And slope signal is changed into reshaping signal.
Step S803 obtains the revolving speed of brushed DC motor according to reshaping signal.Step S803 can specifically include: calculate
The period of reshaping signal；And be scaled to the revolving speed of brushed DC motor the period of reshaping signal.
Step S804 executes dead zone function to obtain and export the real-time revolving speed of the brushed DC motor detected.Specifically
Ground, if the judging result of step S801 is to meet Rotating speed measring condition, using the revolving speed obtained in step S803 as detecting
Brushed DC motor real-time revolving speed output；If the judging result of step S801 is to be unsatisfactory for Rotating speed measring condition, make with 0
For the real-time revolving speed output of the brushed DC motor detected.
In the present invention, do not use speed probe but the winding current based on brushed DC motor and voltage acquisition have brush
The revolving speed of direct current generator overcomes traditional technology transfer to realize the direct detection to the real-time revolving speed of brushed DC motor
Fast sensor installation difficulty is big, safety and reliability in liquid environment is poor and expensive disadvantage.
Each functional module of the system of the revolving speed for detecting brushed DC motor in the present invention, which can integrate, brush
In the controller of direct current generator, so that the controller for having filled up brushed DC motor currently on the market does not have direct Rotating speed measring
The technological gap of function.
In the present invention, by differentiating to commutation pulsation of current signal, frequency and its phase are obtained in this fashion for clarity
Same slope signal, then reshaping signal is converted by slope signal, to obtain, reliability is higher to be believed with current of commutation pulsation
Number the identical reshaping signal of frequency.
The system and method for the revolving speed for detecting brushed DC motor in the present invention can be used for oil supply system for vehicle,
It can be used in the various systems using brushed DC motor.
In this application, it will appreciated by the skilled person that disclosed system can be by another way
It realizes.For example, system embodiment described above is only schematical, for example, the division of the module is only one
Kind of logical function partition, there may be another division manner in actual implementation, for example, multiple modules function can combine or
The function of some module can further be split.It is each in the system of the revolving speed for detecting brushed DC motor of the application
Functional module can integrate in a physical entity, is also possible to modules and physically exists alone, can also be two or two
It is a to be integrated with upper module.Each functional module both can take the form of hardware realization, can also use software function list
The form of member is realized, or the form realization of soft and hardware combination can be used.
If each functional module in the application is realized in the form of hardware function units, modules are using hardware
Logic realizes the circuit-level hardware of specific function, and the connection relationship between each hardware is specific hardware annexation.
The application realizes network connection and electrical connection using above-mentioned hardware, and completes signal transmission and processing operation.
If each functional module in the application is realized in the form of SFU software functional unit and sells as independent product
Or it in use, can store in a computer readable storage medium.Based on this understanding, the technical solution of the application
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software product in other words
Form embody, which is stored in a storage medium, including some instructions use so that one
Computer equipment (can be personal computer, server or the network equipment etc.) or processor (processor) or microcontroller
The all or part of the steps of device (microcontroller unit) execution each embodiment the method for the application.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.In each method embodiment of the present invention, the serial number of each step is simultaneously
The sequencing that cannot be used for limiting each step, for those of ordinary skill in the art, what is do not made the creative labor
Under the premise of, the successive of each step is changed also within protection scope of the present invention.Although the present invention is draped over one's shoulders with preferred embodiment
Dew is as above, but the present invention is not limited to this.Anyone skilled in the art are made without departing from the spirit and scope of the present invention
Various changes and modification, should all be included in protection scope of the present invention, therefore protection scope of the present invention should be wanted with right
It asks subject to limited range.
Although the present invention has been disclosed in the preferred embodiments as above, the present invention is not limited to this.Any those skilled in the art
Member, made various changes and modification, should all be included in protection scope of the present invention without departing from the spirit and scope of the present invention
It is interior, therefore protection scope of the present invention should be defined by the scope defined by the claims..
Claims (12)
1. a kind of system for detecting the revolving speed of brushed DC motor, which is characterized in that the system comprises:
Signal processing module, the signal processing module obtain current of commutation arteries and veins based on the winding current signal of brushed DC motor
It moves signal and converts rule, periodic reshaping signal, the frequency of the reshaping signal for current of commutation fluctuating signal
It is identical as the frequency of current of commutation fluctuating signal；
Revolving speed obtains module, and the revolving speed obtains the revolving speed that module obtains brushed DC motor according to the reshaping signal.
2. system according to claim 1, which is characterized in that the reshaping signal is square-wave signal.
3. system according to claim 1, which is characterized in that the system also includes Rotating speed measring condition judgment module and
Dead zone function module, the Rotating speed measring condition judgment module judges whether to meet Rotating speed measring condition, if meeting Rotating speed measring
Condition, then revolving speed is obtained the revolving speed of module acquisition as the real-time of the brushed DC motor detected by the dead zone function module
Revolving speed output, if being unsatisfactory for Rotating speed measring condition, the dead zone function module is using 0 as the brushed DC motor detected
Real-time revolving speed output.
4. system according to claim 3, which is characterized in that Rotating speed measring condition are as follows: the winding electricity of brushed DC motor
Voltage >=voltage threshold of stream >=current threshold and brushed DC motor.
5. system according to claim 1, which is characterized in that the signal processing module includes:
Filter unit, the filter unit are filtered winding current signal, to obtain current of commutation fluctuating signal；
Differential calculation unit, the differential calculation unit differentiate to obtain the current of commutation to commutation pulsation of current signal
The slope signal of fluctuating signal；
The slope signal is changed into the reshaping signal by signal shaping unit, the signal shaping unit.
6. system according to claim 1, which is characterized in that the revolving speed obtains module and includes:
Period computing unit, the period computing unit calculate the period of the reshaping signal；
The period of the reshaping signal is scaled turning for brushed DC motor by revolving speed scaling unit, the revolving speed scaling unit
Speed.
7. a kind of method for detecting the revolving speed of brushed DC motor, which is characterized in that the described method includes:
Winding current signal based on brushed DC motor obtains current of commutation fluctuating signal and by current of commutation fluctuating signal
It is converted into rule, periodic reshaping signal, the frequency of the reshaping signal is identical as the frequency of current of commutation fluctuating signal；
The revolving speed of brushed DC motor is obtained according to the reshaping signal.
8. the method according to the description of claim 7 is characterized in that the reshaping signal is square-wave signal.
9. the method according to the description of claim 7 is characterized in that the method also includes: judge whether to meet Rotating speed measring
Condition, if meeting Rotating speed measring condition, the revolving speed that will acquire is exported as the real-time revolving speed of the brushed DC motor detected,
If being unsatisfactory for Rotating speed measring condition, using 0 as the brushed DC motor detected real-time revolving speed export.
10. according to the method described in claim 9, it is characterized in that, Rotating speed measring condition are as follows: the winding electricity of brushed DC motor
Voltage >=voltage threshold of stream >=current threshold and brushed DC motor.
11. the method according to the description of claim 7 is characterized in that the winding current signal based on brushed DC motor obtains
Current of commutation fluctuating signal and by current of commutation fluctuating signal be converted into rule, periodic reshaping signal include:
The winding current signal of brushed DC motor is filtered, to obtain current of commutation fluctuating signal；
It differentiates commutation pulsation of current signal to obtain the slope signal of current of commutation fluctuating signal；
The slope signal is changed into the reshaping signal.
12. the method according to the description of claim 7 is characterized in that obtaining the revolving speed of brushed DC motor according to reshaping signal
Include:
Calculate the period of the reshaping signal；
The period of the reshaping signal is scaled to the revolving speed of brushed DC motor.
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| CN201711235783.1A CN109861598B (en) | 2017-11-30 | 2017-11-30 | System and method for detecting rotation speed of brushed direct current motor |
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| CN201711235783.1A CN109861598B (en) | 2017-11-30 | 2017-11-30 | System and method for detecting rotation speed of brushed direct current motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110275043A (en) * | 2019-06-21 | 2019-09-24 | 拉扎斯网络科技（上海）有限公司 | Method and device for detecting rotating speed of direct current motor, storage medium and electronic equipment |
| CN110988381A (en) * | 2019-12-19 | 2020-04-10 | 东莞市深鹏电子有限公司 | Method and device for detecting rotating speed of direct current motor |
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| CN203732558U (en) * | 2014-02-28 | 2014-07-23 | 苏州工业职业技术学院 | Three-phase asynchronous motor speed measuring circuit |
| JP2017070049A (en) * | 2015-09-29 | 2017-04-06 | パナソニックＩｐマネジメント株式会社 | Control method for brushless dc motor and inverter device |
| CN105675906A (en) * | 2016-03-08 | 2016-06-15 | 江苏仁源电气有限公司 | Direct current brushed motor speed measurement device and speed measurement method |
| CN105680744A (en) * | 2016-03-08 | 2016-06-15 | 江苏仁源电气有限公司 | Speed regulation device and speed regulation method of DC brush motor |
| CN106877757A (en) * | 2017-03-15 | 2017-06-20 | 上海理工大学 | DC motor speed-regulating control system and its speed detection method |
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| CN110275043A (en) * | 2019-06-21 | 2019-09-24 | 拉扎斯网络科技（上海）有限公司 | Method and device for detecting rotating speed of direct current motor, storage medium and electronic equipment |
| CN110988381A (en) * | 2019-12-19 | 2020-04-10 | 东莞市深鹏电子有限公司 | Method and device for detecting rotating speed of direct current motor |
| CN110988381B (en) * | 2019-12-19 | 2022-03-08 | 东莞市深鹏电子有限公司 | Method and device for detecting rotating speed of direct current motor |
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