CN114301352B - Motor speed measuring method and device and system - Google Patents
Motor speed measuring method and device and system Download PDFInfo
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- CN114301352B CN114301352B CN202111416724.0A CN202111416724A CN114301352B CN 114301352 B CN114301352 B CN 114301352B CN 202111416724 A CN202111416724 A CN 202111416724A CN 114301352 B CN114301352 B CN 114301352B
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Abstract
The application provides a speed measuring method of a motor, a speed measuring device and a speed measuring system thereof. The speed measuring method of the motor comprises the following steps: acquiring a first voltage signal U output by a first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, θ 1 The estimated electric angle is the estimated electric angle of the motor position at the moment before the first moment; according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 ‑U 2 sinθ 1 The method comprises the steps of carrying out a first treatment on the surface of the Using feedback regulator to let E 1 Adjusted to 0 and then output a first angular velocity w 1 The method comprises the steps of carrying out a first treatment on the surface of the Will w 1 And determining a speed measurement result of the motor at the first moment. The method and the device can rapidly and accurately measure that the speed measurement result of the motor at the first moment is the first angular velocity w 1 And the accuracy of the speed measurement result is improved.
Description
Technical Field
The application relates to the technical field of motor speed measurement, in particular to a speed measurement method of a motor, a speed measurement device and a speed measurement system thereof.
Background
The motor, as a traction power supply device, can supply kinetic energy to a system such as an electric vehicle, an unmanned aerial vehicle, or the like, on which the motor is loaded. In general, a real-time rotational speed or angular velocity of the motor needs to be measured, so that whether the motor is operating normally can be monitored in real time.
However, when the angular speed or the rotating speed of the motor is high, the accuracy of the speed measurement result is low due to the fact that the measuring period is short.
Disclosure of Invention
In view of the above, the present application provides a speed measuring method of a motor, a speed measuring device and a speed measuring system thereof, which can improve the accuracy of a speed measuring result.
A first aspect of the present application provides a method of measuring speed of an electric machine. The speed measuring method of the motor comprises the following steps: acquiring a first voltage signal U output by a first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 AndFirst electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, θ 1 The estimated electric angle is the estimated electric angle of the motor position at the moment before the first moment; according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 The method comprises the steps of carrying out a first treatment on the surface of the Using feedback regulator to let E 1 Adjusted to 0 and then output a first angular velocity w 1 The method comprises the steps of carrying out a first treatment on the surface of the Will w 1 And determining a speed measurement result of the motor at the first moment.
In an embodiment of the present application, the above-mentioned method according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Before, the speed measuring method of the motor further comprises the following steps: u is set to 1 And U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 'A'; wherein the above is according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Comprising: according to U 1 ’、U 2 ' and theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 ’cosθ 1 -U 2 ’sinθ 1 。
In one embodiment of the present application,
in an embodiment of the present application, the method for measuring a speed of a motor further includes: acquiring a second angular velocity w measured by the timer at the first time 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein E is determined by the feedback regulator 1 Adjusted to 0 and then output a first angular velocity w 1 Then, the speed measuring method of the motor further comprises the following steps: will w 1 And w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein w is as described above 1 Determining a speed measurement result of the motor at a first moment, wherein the speed measurement result comprises the following steps: will w 3 And determining a speed measurement result of the motor at the first moment.
In one embodiment of the present application, the upper partThe w is 1 And w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 Comprising: according to w 1 And w 2 Determining w 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 The method comprises the steps of carrying out a first treatment on the surface of the According to w 1 、w 2 、a 1 And a 2 Calculating to obtain a third angular velocity w 3 Wherein w is 3 ＝a 1 ×w 1 +a 2 ×w 2 。
In one embodiment of the present application, w is as described above 1 After determining that the speed measurement result of the motor at the first moment is that the speed measurement method of the motor further comprises the following steps: will w 1 The second electric angle theta is calculated after the integration processing 2 The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a third voltage signal U output by the first Hall sensor at a second moment 3 And a fourth voltage signal U output by the second Hall sensor 4 The second moment is the next moment of the first moment; according to U 3 、U 4 And theta 2 Calculating to obtain a second error value E 2 Wherein E is 2 ＝U 3 cosθ 2 -U 4 sinθ 2 The method comprises the steps of carrying out a first treatment on the surface of the Will E 2 Output fourth angular velocity w after input to feedback regulator 4 The method comprises the steps of carrying out a first treatment on the surface of the Will w 4 And determining a speed measurement result of the motor at the second moment.
In an embodiment of the present application, the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.
A second aspect of the present application provides a speed measuring device for an electric motor. The speed measuring device of the motor comprises: an acquisition module for acquiring a first voltage signal U output by the first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 DEG, theta 1 The estimated electric angle is the estimated electric angle of the motor position at the moment before the first moment; a calculation module for according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Which is provided withIn (E) 1 ＝U 1 cosθ 1 -U 2 sinθ 1 The method comprises the steps of carrying out a first treatment on the surface of the An output module for using a feedback regulator to output E 1 Adjusted to 0 and then output a first angular velocity w 1 The method comprises the steps of carrying out a first treatment on the surface of the A determining module for determining w 1 And determining a speed measurement result of the motor at the first moment.
A third aspect of the present application provides a speed measurement system for an electric machine. The speed measuring system of the motor comprises a first Hall sensor for detecting a first back electromotive force of the motor at a first moment to output a first voltage signal U 1 The first electrical angle of the motor is theta 1 ，θ 1 The estimated electric angle is the estimated electric angle of the motor position at the moment before the first moment; a second Hall sensor for detecting a second back electromotive force of the motor at the first moment to output a second voltage signal U 2 The included angle between the connecting lines of the first Hall sensor and the second Hall sensor and the axle center of the motor is 90 degrees; a feedback regulator for regulating the output voltage according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Adjusted to 0 and then output a first angular velocity w 1 The method comprises the steps of carrying out a first treatment on the surface of the And the controller is electrically connected with the first Hall sensor, the second Hall sensor and the feedback regulator and is used for realizing the speed measuring method of any motor provided in the first aspect of the application.
A fourth aspect of the present application provides an electronic device. The electronic device comprises a memory and a processor, wherein executable instructions of a computer are stored in the memory, and the processor realizes the speed measuring method of any motor provided in the first aspect of the application when executing the executable instructions.
A fifth aspect of the present application provides a computer-readable storage medium. The computer readable storage medium has stored thereon computer executable instructions which when executed by a processor implement a method of measuring speed of any motor as provided in the first aspect of the present application.
According to the technical scheme provided by the embodiment of the application, through setting the two Hall sensors with the included angle of 90 degrees with the axis connecting line of the motor, the error value is obtained according to the voltage signal output by the two Hall sensors at the first moment and the estimated electric angle of the motor at the last moment, and the feedback regulator is utilized to regulate the error value to 0 and then output the angular velocity of the motor, so that the speed of the motor at the first moment can be measured rapidly and accurately, and the defect that the speed measurement precision is low due to the fact that the period of measurement is small in the traditional speed measurement method is overcome.
Drawings
Fig. 1 is a flow chart of a speed measuring method of a motor according to an embodiment of the present application.
Fig. 2A is a flow chart of a speed measurement method of a motor according to another embodiment of the present application.
Fig. 2B is a schematic diagram of normalized output voltages of a first hall sensor and a second hall sensor according to an embodiment of the present application.
Fig. 3A is a flow chart illustrating a speed measurement method of a motor according to another embodiment of the present application.
Fig. 3B is a schematic diagram showing a comparison between a speed measurement result of a speed measurement method of a motor and a measurement result measured by a timer according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a speed measuring device of a motor according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a speed measurement system of a motor according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
A servo system is an automatic control system that allows the position, orientation, state, etc. of an object such as a motor, etc. to be output, and can accurately follow any change in the input amount (or given value), and may also be referred to as a follower system. In the process of measuring the rotating speed of the motor by using the servo system, one mode is to measure the speed of the electric angle change quantity or the signal change quantity by using the Hall sensor, and the other mode is to measure the speed of the motor by using the time required by measuring a certain fixed electric angle change quantity or a fixed signal change quantity by using the timer, however, the accuracy of the speed measurement result of the two modes is lower when the rotating speed of the motor is higher.
Fig. 1 is a flow chart of a speed measuring method of a motor according to an embodiment of the present application. The method of measuring the speed of the motor can be executed by a controller or a processor on the electronic device. Take the controller as an example. As shown in fig. 1, the method of measuring the speed of the motor may include the following steps.
S110: acquiring a first voltage signal U output by a first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, θ 1 Is the estimated electrical angle of the motor's position at the time prior to the first time.
The motor may be a motor having a sinusoidal back emf, such as a permanent magnet synchronous motor or the like. When the time before the first time is the starting time of the motor, the first electric angle theta of the motor 1 The estimated electric angle can be a preset estimated electric angle of the position of the motor, for example, the estimated electric angle can be 0 degrees, 30 degrees or the like, and the specific value of the estimated electric angle can be determined according to experience, the type of the motor or the like. When the time before the first time is any time in the rotation process of the motor, the first electric angle theta of the motor 1 The estimated electric angle may be obtained by integrating the angular velocity measured at the time immediately preceding the first time.
The first hall sensor and the second hall sensor may be hall effect based sensors, for example may be linear hall sensors. First voltage signal U output by first Hall sensor 1 And a second voltage signal U output by a second Hall sensor 2 Proportional to, i.e. varying with, the magnetic field strength of the motor air gap, thus U 1 And U 2 The magnitude of the magnetic field strength can be reflected.
The included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees. For example, the first hall sensor may be mounted on the stator of the motor along the α -axis, the second hall sensor may be mounted along the β -axis, and the α -axis and the β -axis are perpendicular to each other, that is, the angle between the α -axis and the β -axis is 90 °, and at this time, the intersection point of the α -axis and the β -axis is the axis of the motor.
S120: according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 。
At theta 1 The value of E is the true electrical angle of the motor at the first moment 1 Is 0. Since the application sets theta 1 To the estimated electrical angle of the motor at the position at the time prior to the first time, thus E 1 May not be equal to 0.
S130: using feedback regulator to let E 1 Adjusted to 0 and then output a first angular velocity w 1 。
In some embodiments, the controller may send E 1 The target error value is set as 0 in the feedback regulator, and the feedback regulator adopts methods such as proportional method, proportional integral method or proportional integral differential method, etc. by continuously regulating angular velocity and replacing the first electric angle theta with the electric angle corresponding to the angular velocity 1 Substitution into E 1 Up to E in the calculation formula of (C) 1 Adjusted to a target error value of 0, after which the feedback regulator will E 1 An angular velocity output (corresponding to the first angular velocity w) corresponding to the electrical angle input when adjusted to the target error value 0 1 ). It will be appreciated that the purpose of the feedback regulator to constantly adjust the angular velocity is to set E 1 The adjustment is 0, but the motor is not controlled to run at the adjusted angular velocity.
Because the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, at the same moment, a phase difference is necessarily present between the voltage signal output by the first Hall sensor and the voltage signal output by the second Hall sensor, and further, the phase difference can be used for calculating and adjusting the angular velocity by combining the concept of a phase-locked loop.
The phase-locked loop works by detecting the phase difference between the input signal and the output signal, converting the detected phase difference signal into a voltage signal by a phase discriminator, outputting the voltage signal, filtering the voltage signal by a low-pass filter to form the control voltage of a voltage-controlled oscillator, controlling the frequency of the output signal of the oscillator, and feeding back the frequency and the phase of the output signal of the oscillator to the phase discriminator by a feedback path. The concept of the phase-locked loop utilized in the application is based on the working principle of the phase-locked loop, the error value of the phase-locked loop is obtained by utilizing the phase difference between the voltage signal output by the first Hall sensor and the voltage signal output by the second Hall sensor and combining the estimated electric angle of the motor, the error value is sent to the feedback regulator through the forward path, and the feedback regulator continuously adjusts the angular speed of the motor so as to lock the error value to be 0 and then output the angular speed of the motor.
S140: will w 1 And determining a speed measurement result of the motor at the first moment.
Specifically, w may be outputted in a form, a graph, or the like 1 And the corresponding relation with the first moment. I can, for example, let w 1 Directly outputs the speed measurement result of the motor at the first moment, or can output w 1 Substituting the formula w=2n to obtain the rotating speed of the motor at the first moment, and outputting the rotating speed of the motor at the first moment as a speed measurement result of the motor.
According to the technical scheme provided by the embodiment of the application, through setting the two Hall sensors with the included angle of 90 degrees with the axis connecting line of the motor, the error value is obtained according to the voltage signal output by the two Hall sensors at the first moment and the estimated electric angle of the motor at the last moment, and the feedback regulator is utilized to regulate the error value to 0 and then output the angular velocity of the motor, so that the speed of the motor at the first moment can be measured rapidly and accurately, and the defect that the speed measurement precision is low due to the fact that the period of measurement is small in the traditional speed measurement method is overcome.
In addition, compared with the traditional motor speed measuring method, the angular speed or the rotating speed of the motor can be measured in real time without using two voltage signals output by the first Hall sensor and the second Hall sensor, so that the calculation process can be reduced, and the defect that the calculated motor electric angle variation error is larger due to the surrounding magnetic field environment, the installation position deviation and the like of the first Hall sensor and the second Hall sensor can be avoided.
In an embodiment of the present application, the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.
The feedback regulator may be a proportional integral regulator (also referred to as PI (Proportion Integration) regulator), a proportional integral derivative regulator (also referred to as PID (Proportion Integration Differential) regulator), or the like.
The PI controller is a linear controller that forms a control deviation from a given value and an actual output value, and forms a control quantity by linearly combining the proportional and integral of the deviation to control a controlled object. The proportional and integral parts of the PI regulator may be operated simultaneously or separately. Wherein the proportion part can quickly take E 1 The integral part can play a role in eliminating steady state deviation, thereby adjusting E 1 Accurately adjusted to 0.
The PID regulator also includes a differentiating section, in comparison with the PI regulator, which when activated can be based on E 1 The change trend of (2) is given a larger adjustment amplitude in advance, so that the adjustment time can be shortened, and the defect of recovery lag caused by too long integration time is overcome.
In the embodiment of the application, by adopting the proportional integral PI regulator or the proportional integral derivative PID regulator as the feedback regulator, the E can be more accurately and rapidly carried out than the mode of adopting only the proportional P regulator 1 Adjusting to 0, improving accuracy of measured angular velocity。
Fig. 2A is a flow chart of a speed measurement method of a motor according to another embodiment of the present application. Fig. 2B is a schematic diagram of normalized output voltages of a first hall sensor and a second hall sensor according to an embodiment of the present application. The embodiment shown in fig. 2A is a modification of the embodiment shown in fig. 1. As shown in fig. 2A, the method for measuring the speed of the motor may further include step S115 before step S120, which is different from the embodiment shown in fig. 1.
S110: acquiring a first voltage signal U output by a first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, θ 1 Is the estimated electrical angle of the motor's position at the time prior to the first time.
S115: u is set to 1 And U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 ’。
In step S115, U is set 1 And U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 ' can be the absolute value U 1 And U 2 Converted into relative values. Normalized U 1 ' and U 2 ' may be in the numerical range of [0,1 ]]Between, can also be at [ -1,1]Between other values, as long as U can be reflected 1 And U 2 The relative values of (2) are not particularly limited in the range of values after normalization and the normalization method.
S120': according to U 1 ’、U 2 ' and theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 ’cosθ 1 -U 2 ’sinθ 1 。
According to the technical scheme provided by the embodiment of the application, U is used for processing the data 1 And U 2 Respectively normalized, so that motors or speeds operating from different angular speeds or speeds can be usedU in different ranges acquired from different types of motors 1 And U 2 Normalization is same numerical range, and then makes the motor of different angular velocities or rotational speed operation or the speed measurement method of motor that this application provided all can be used to measure the speed to motor or different grade type, and then has expanded the range of application of the speed measurement method of motor of this application.
In one embodiment of the present application,(refer to FIG. 2B)
In the embodiment of the application, throughU is set to 1 And U 2 Respectively carrying out normalization processing so as to lead the normalized U 1 ' and U 2 ' located at [ -1,1]The voltage signal output by the first Hall sensor and the waveform of the voltage signal output by the second Hall sensor which changes along with time are more matched, so that U can be ensured to be utilized 1 ' and U 2 ' calculation E 1 Accuracy in time.
In an embodiment of the present application, the method for measuring a speed of the motor may further include step S132, where step S134 may further be included after step S130.
S130: using feedback regulator to let E 1 Adjusted to 0 and then output a first angular velocity w 1 。
In step S130, the first angular velocity w of the output is adjusted by the feedback regulator 1 The second angular velocity w measured by the timer in step S132 is compared with the second angular velocity w measured by the timer when the motor is running at low speed 2 Low accuracy and relative to the second angular velocity w during high-speed operation 2 The precision is higher. The low speed operation may be at a rotational speed below 1000 revolutions per minute (revolutions per minute, rpm) and the high speed operation may be at a rotational speed above 3000rpm, it being understood that the specific numerical ranges for the low speed operation and the high speed operation may be adjusted as appropriate.
S132: the acquisition timer is at the first timeSecond angular velocity w measured at the time of etching 2 。
Assume that at a time preceding the first time, the electrical angle of the motor is r 1 At the first moment, the electrical angle of the motor is r 2 Measuring motor slave r using timer 1 Run to r 2 The time DeltaT required between the two can be measured to obtain a second angular velocity
Step S132 may follow, or precede, or coincide with any of the steps preceding step S134, as long as it precedes step S134.
S134: will w 1 And w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 。
In an embodiment of the present application, step S134 may include 1 And w 2 Determining w 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 The method comprises the steps of carrying out a first treatment on the surface of the According to w 1 、w 2 、a 1 And a 2 Calculating to obtain a third angular velocity w 3 Wherein w is 3 ＝a 1 ×w 1 +a 2 ×w 2 。
In some embodiments, at w 1 And w 2 W is in different numerical ranges 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 Set to different weighting values. For example, when w 1 And w 2 When the corresponding rotation speeds are all lower than 1000rpm, a can be preset 1 ＝0，a 2 =1. When w is 1 And w 2 When the corresponding rotating speed is higher than 3000rpm, a can be preset 1 ＝1，a 2 =0. When w is 1 And w 2 The corresponding rotation speed between 1000rpm and 3000rpm can be divided into more specific numerical ranges, a in different numerical ranges 1 And a 2 Set to different values.
In other embodiments, a velocimeter may be employedMeasuring in real time the fourth angular velocity w of the motor at any instant 4 Let w 4 ＝a 1 ×w 1 +a 2 ×w 2 Thereby presetting w 1 Corresponding first weighted value a 1 And w 2 Corresponding second weighting value a 2 . When according to w 1 And w 2 Determining w 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 In the time, the motor can be directly operated according to the moment or w 1 And w 2 The numerical range where w is located is called 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 。
In the embodiment of the application, by the method according to w 1 And w 2 Determining w 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 Thus, the formula w can be utilized 3 ＝a 1 ×w 1 +a 2 ×w 2 Calculating a third angular velocity w 3 So that the third angular velocity w 3 Closer to the true angular velocity of the motor at the first moment.
S140': will w 3 And determining a speed measurement result of the motor at the first moment.
According to the technical scheme provided by the embodiment of the application, by combining w 1 And w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 Will w 3 The speed measurement result of the motor at the first moment is determined, so that the speed measurement method of the motor is not only suitable for the situation of high-speed operation of the motor, but also suitable for the situation of low-speed operation of the motor, the application range of the speed measurement method of the motor is expanded, and the accuracy of the speed measurement result can be ensured no matter the motor runs at a low speed or runs at a high speed.
Fig. 3A is a flow chart illustrating a speed measurement method of a motor according to another embodiment of the present application. Fig. 3B is a schematic diagram showing a comparison between a speed measurement result of a speed measurement method of a motor and a measurement result measured by a timer according to an embodiment of the present application. The embodiment shown in fig. 3A is a modification of the embodiment shown in fig. 1. As shown in fig. 3A, the embodiment shown in fig. 1 is different in that, after step S140, the method for measuring a speed of a motor further includes steps S310 to S350.
S310: will w 1 The second electric angle theta is calculated after the integration processing 2 。
In step S310, a formula may be utilizedCalculating a second electrical angle theta 2 . Wherein t is 0 T represents the time immediately preceding the first time 1 Representing the first moment.
S320: acquiring a third voltage signal U output by the first Hall sensor at a second moment 3 And a fourth voltage signal U output by the second Hall sensor at a second moment 4 The second time is the next time to the first time.
Any two adjacent moments among the last moment of the first moment, the first moment and the second moment may have the same time interval.
S330: according to U 3 、U 4 And theta 2 Calculating to obtain a second error value E 2 Wherein E is 2 ＝U 3 cosθ 2 -U 4 sinθ 2 。
S340: will E 2 Output fourth angular velocity w after input to feedback regulator 4 。
S350: will w 4 And determining a speed measurement result of the motor at the second moment.
Steps S320 to S350 are similar to steps S110 to S140, and are not repeated here.
Referring to fig. 3B, in the case of high-speed (3000 rpm) operation of the motor, after the continuous cyclic speed measurement in steps S310-S350 is adopted, a comparison chart of the speed measurement result adjusted by the feedback regulator and the measurement result measured by the timer is shown in fig. 3B, wherein the abscissa indicates time (unit: ms) and the ordinate indicates rotational speed (unit: rpm). As can be seen from fig. 3B, under the condition that the motor runs at a high speed, the fluctuation of the measurement result measured by the timer along with the time is strong, the precision of the measurement result is low, the speed measurement result of the speed measurement method of the motor provided by the application is relatively stable, and the precision of the measurement result is high.
According to the technical scheme provided by the embodiment of the application, by combining w 1 The second electric angle theta is calculated after the integration processing 2 And according to U 3 、U 4 And theta 2 Calculating to obtain a second error value E 2 So that at the second moment, using theta 2 Instead of theta 1 The error value is calculated due to comparison with theta 1 ，θ 2 The real electric angle of the motor is closer to the real electric angle of the motor at the second moment, so that the second error value can be quickly reduced, and the E of the feedback regulator can be further improved 2 The speed was adjusted to 0.
Fig. 4 is a schematic structural diagram of a speed measuring device of a motor according to an embodiment of the present application. As shown in fig. 4, the speed measuring device 400 of the motor includes an acquisition module 410, a calculation module 420, an output module 430 and a determination module 440. The acquisition module 410 is configured to acquire a first voltage signal U output by the first hall sensor at a first time 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 DEG, theta 1 Is the estimated electrical angle of the motor's position at the time prior to the first time. The calculation module 420 is used for calculating the U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 . The output module 430 is used to output E using a feedback regulator 1 Adjusted to 0 and then output a first angular velocity w 1 . The determination module 440 is used to determine w 1 And determining a speed measurement result of the motor at the first moment.
The image matching device in the embodiment of the application not only can realize the speed measuring method of the motor shown in fig. 1, but also can realize the speed measuring method of any motor in fig. 2A and 3A, and can also realize the speed measuring of the motor after the equivalent replacement or obvious modification of the speed measuring method of any motor in fig. 1 to 3A.
According to the technical scheme provided by the embodiment of the application, through setting the two Hall sensors with the included angle of 90 degrees with the axis connecting line of the motor, the error value is obtained according to the voltage signal output by the two Hall sensors at the first moment and the estimated electric angle of the motor at the last moment, and the feedback regulator is utilized to regulate the error value to 0 and then output the angular velocity of the motor, so that the speed of the motor at the first moment can be measured rapidly and accurately, and the defect that the speed measurement precision is low due to the fact that the period of measurement is small in the traditional speed measurement method is overcome.
In some embodiments, the computing module 420 is further configured to, when in accordance with U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Before U is set 1 And U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 ' and the calculation module 420 is based on U 1 ’、U 2 ' and theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 ’cosθ 1 -U 2 ’sinθ 1 。
In some embodiments, the obtaining module 410 is further configured to obtain a second angular velocity w measured by the timer at the first time 2 The method comprises the steps of carrying out a first treatment on the surface of the The calculation module 420 is also used for calculating w 1 And w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 The method comprises the steps of carrying out a first treatment on the surface of the The determination module 440 is also used to determine w 3 And determining a speed measurement result of the motor at the first moment.
In some embodiments, the calculation module 420 is further configured to calculate a value according to w 1 And w 2 Determining w 1 Corresponding first weighting value a 1 And w 2 Corresponding second weighting value a 2 The method comprises the steps of carrying out a first treatment on the surface of the According to w 1 、w 2 、a 1 And a 2 Calculating to obtain a third angular velocity w 3 Wherein w is 3 ＝a 1 ×w 1 +a 2 ×w 2 。
In some embodiments, the determination module 440 alsoFor at w 1 After determining the speed measurement result of the motor at the first moment, w is determined 1 The second electric angle theta is calculated after the integration processing 2 The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a third voltage signal U output by the first Hall sensor at a second moment 3 And a fourth voltage signal U output by the second Hall sensor 4 The second moment is the next moment of the first moment; according to U 3 、U 4 And theta 2 Calculating to obtain a second error value E 2 Wherein E is 2 ＝U 3 cosθ 2 -U 4 sinθ 2 The method comprises the steps of carrying out a first treatment on the surface of the Will E 2 Output fourth angular velocity w after input to feedback regulator 4 The method comprises the steps of carrying out a first treatment on the surface of the Will w 4 And determining a speed measurement result of the motor at the second moment.
In some embodiments, the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.
Fig. 5 is a schematic structural diagram of a speed measurement system of a motor according to an embodiment of the present application. As shown in fig. 5, the motor's speed measurement system 500 includes a first hall sensor 510, a second hall sensor 520, a feedback regulator 530, and a controller 540. The first hall sensor 510 is used for detecting a first counter electromotive force of the motor at a first moment to output a first voltage signal U 1 The first electrical angle of the motor is theta 1 ，θ 1 Is the estimated electrical angle of the motor's position at the time prior to the first time. A second Hall sensor 520 for detecting a second back electromotive force of the motor at a first moment to output a second voltage signal U 2 The included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees. A feedback regulator 530 for regulating the output according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Adjusted to 0 and then output a first angular velocity w 1 . The controller 540 is electrically connected to the first hall sensor 510, the second hall sensor 520, and the feedback regulator 530, and is used for implementing the speed measurement method of the motor according to any one of the embodiments shown in fig. 1 to 3A.
The speed measuring method of the embodiment of the invention can also be a speed measuring method of a motor based on the equivalent replacement or obvious modification of the speed measuring method of any one of the motors shown in the embodiments of fig. 1 to 3A.
According to the technical scheme provided by the embodiment of the application, through setting the two Hall sensors with the included angle of 90 degrees with the axis connecting line of the motor, the error value is obtained according to the voltage signal output by the two Hall sensors at the first moment and the estimated electric angle of the motor at the last moment, and the feedback regulator is utilized to regulate the error value to 0 and then output the angular velocity of the motor, so that the speed of the motor at the first moment can be measured rapidly and accurately, and the defect that the speed measurement precision is low due to the fact that the period of measurement is small in the traditional speed measurement method is overcome.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 6, an electronic device 600 includes a processor 610 that further includes one or more processors and memory resources represented by memory 620 for storing instructions, such as applications, executable by the processor 610. The application program stored in memory 620 may include one or more modules each corresponding to a set of instructions. Further, the processor 610 is configured to execute instructions to perform any of the motor speed measurement methods described above.
The electronic device 600 may also include a power component configured for power management of the electronic device 600, a wired or wireless network interface configured to connect the electronic device 600 to a network, and an input output (I/O) interface. The electronic device 600 may operate an operating system, such as Windows Server, based on data stored in the memory 620 TM ，Mac OS X TM ，Unix TM ，Linux TM ，FreeBSD TM Or the like.
A non-transitory computer readable storage medium, which when executed by a processor of the electronic device 600, causes the electronic device 600 to perform a method of measuring speed of a motor. The method for measuring the speed of the motor can be executed by an agent program. The speed measuring method of the motor comprises the steps of obtaining a first voltage signal U output by a first Hall sensor at a first moment 1 Second Hall sensorThe second voltage signal U output by the device at the first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, θ 1 The estimated electric angle is the estimated electric angle of the motor position at the moment before the first moment; according to U 1 、U 2 And theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 The method comprises the steps of carrying out a first treatment on the surface of the Using feedback regulator to let E 1 Adjusted to 0 and then output a first angular velocity w 1 The method comprises the steps of carrying out a first treatment on the surface of the Will w 1 And determining a speed measurement result of the motor at the first moment.
Those of ordinary skill in the art will appreciate that the algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus, and system may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program verification codes.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working processes of the apparatus and system described above may refer to corresponding processes in the foregoing method embodiments, which are not described herein again.
It should be noted that, the combination of the technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all the technical features described in the present application may be freely combined or combined in any manner unless contradiction occurs between them.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A method of measuring speed of an electric motor, comprising:
acquiring a first voltage signal U output by a first Hall sensor at a first moment 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, and the theta is as follows 1 The estimated electric angle is the estimated electric angle of the position of the motor at the moment before the first moment;
according to the U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 ；
Using a feedback regulator to adjust the E 1 Adjusted to 0 and then output a first angular velocity w 1 ；
And (c) setting the w 1 Determining a speed measurement result of the motor at the first moment;
wherein the second angular velocity w measured by the timer at the first time is obtained 2 ；
At the utilization of feedback regulator to divide the E 1 Adjusted to 0 and then output a first angular velocity w 1 Thereafter, the method further comprises: and (c) setting the w 1 And said w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 ；
Said bringing said w 1 Determining a speed measurement result of the motor at the first moment, including: and (c) setting the w 3 Determining a speed measurement result of the motor at the first moment;
wherein, in said U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Before, the speed measuring method of the motor further comprises the following steps:
the U is set up 1 And said U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 ’；
Wherein said is according to said U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Comprising:
according to the U 1 ' said U 2 ' and the θ 1 Calculating the first error value E 1 Wherein E is 1 ＝U 1 ’cosθ 1 -U 2 ’sinθ 1 ；
Wherein,
2. a method of measuring speed according to claim 1, wherein said step of combining said w 1 And said w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 Comprising:
according to said w 1 And said w 2 Determining the w 1 Corresponding first weighting value a 1 And said w 2 Corresponding second weighting value a 2 ；
According to said w 1 The w is 2 The a 1 And said a 2 Calculating the third angular velocity w 3 Wherein w is 3 ＝a 1 ×w 1 +a 2 ×w 2 。
3. A method of measuring speed according to claim 1 or claim 2, wherein, in the step of combining w 1 After determining that the speed measurement result of the motor at the first moment, the method further comprises:
and (c) setting the w 1 The second electric angle theta is calculated after the integration processing 2 ；
Acquiring a third voltage signal U output by the first Hall sensor at a second moment 3 And a fourth voltage signal U output by the second Hall sensor 4 The second time is the next time to the first time;
according to the U 3 Said U 4 And the theta 2 Calculating to obtain a second error value E 2 Wherein E is 2 ＝U 3 cosθ 2 -U 4 sinθ 2 ；
Subjecting said E to 2 Output a fourth angular velocity w after input to the feedback regulator 4 ；
And (c) setting the w 4 And determining a speed measurement result of the motor at the second moment.
4. A method of measuring speed according to claim 1 or claim 2, wherein the feedback regulator comprises a proportional integral PI regulator or a proportional integral derivative PID regulator.
5. A speed measuring device for an electric motor, comprising:
an acquisition module for acquiring a first voltage signal U output by the first Hall sensor at a first time 1 A second voltage signal U output by the second Hall sensor at a first moment 2 First electrical angle θ of motor 1 Wherein, the included angle between the first Hall sensor and the second Hall sensor and the axis connecting line of the motor is 90 degrees, and the theta is as follows 1 The estimated electric angle is the estimated electric angle of the position of the motor at the moment before the first moment;
a calculation module for according to the U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Wherein E is 1 ＝U 1 cosθ 1 -U 2 sinθ 1 ；
An output module for using a feedback regulator to convert the E 1 Adjusted to 0 and then output a first angular velocity w 1 ；
A determining module for determining the w 1 Determining a speed measurement result of the motor at the first moment;
wherein the acquisition module is further configured to acquire a second angular velocity w measured by a timer at the first time 2 ；
The determining module is further configured to, when using the feedback regulator, compare the E 1 After being regulated to 0, the first angular velocity w is output 1 Thereafter, the w 1 And said w 2 The third angular velocity w is obtained by calculation after weighted fusion 3 The method comprises the steps of carrying out a first treatment on the surface of the And (c) setting the w 3 Determining a speed measurement result of the motor at the first moment;
wherein the calculation module is further configured to, when the calculation module is based on the U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Before, the U is 1 And said U 2 Respectively carrying out normalization treatment to obtain U 1 ' and U 2 ’；
Wherein said is according to said U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Comprising:
according to the U 1 ' said U 2 ' and the θ 1 Calculating the first error value E 1 Wherein E is 1 ＝U 1 ’cosθ 1 -U 2 ’sinθ 1 ；
Wherein,
6. a speed measurement system for an electric motor, comprising:
a first Hall sensor for detecting a first counter electromotive force of the motor at a first moment to output a first voltage signal U 1 The first electric angle of the motor is theta 1 The θ is 1 The estimated electric angle is the estimated electric angle of the position of the motor at the moment before the first moment;
a second Hall sensor for detecting a second counter electromotive force of the motor at the first moment to output a second voltage signal U 2 The included angle between the connecting lines of the first Hall sensor and the second Hall sensor and the axle center of the motor is 90 degrees;
a feedback regulator for regulating the output voltage according to the U 1 Said U 2 And the theta 1 Calculating to obtain a first error value E 1 Adjusted to 0 and then output a first angular velocity w 1 ；
And the controller is electrically connected with the first Hall sensor, the second Hall sensor and the feedback regulator and is used for realizing the speed measuring method of the motor according to any one of claims 1-4.
7. An electronic device comprising a memory and a processor, wherein the memory has stored thereon computer executable instructions that when executed by the processor implement a method of measuring speed of an electric motor according to any one of claims 1-4.
8. A computer readable storage medium having stored thereon computer executable instructions which when executed by a processor implement a method of measuring speed of an electric machine according to any of claims 1-4.
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