CN108627670B - Method and device for detecting motor rotation speed - Google Patents
Method and device for detecting motor rotation speed Download PDFInfo
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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
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Abstract
The motor rotation speed detecting method is used for detecting the rotation speed of a motor and is implemented by a micro-processing unit, and comprises the following steps: (A) When a pulse signal comprising a plurality of pulses is received from a sensing unit, obtaining a pulse quantity related to the pulses according to the pulse signal; (B) Obtaining a pulse wave interval time related to the last two pulse waves in the pulse wave in the period time according to the pulse wave signal, and obtaining an end interval time related to the last pulse wave in the period time and an end time point of the period time; and (C) obtaining the rotational speed of the motor based at least on the cycle time, the number of pulses, a number of teeth of the wheel required to rotate one revolution with respect to the gear, the pulse interval time, and the end interval time.
Description
Technical Field
The present invention relates to a method for detecting rotational speed, and more particularly, to a method and apparatus for detecting rotational speed of a motor.
Background
The conventional motor rotation speed detecting method is to measure a pulse signal including a plurality of pulses corresponding to a gear of the motor at a measuring time by a rotary encoder (rotary encoder), calculate a pulse number corresponding to the pulses according to the pulse signal, and finally calculate the rotation speed of the motor by the rotary encoder according to the pulse number, the measuring time and a number of gear teeth required for rotating one turn corresponding to the gear. Generally, if the number of pulses is larger, the motor speed is faster, whereas if the motor is at a low speed, the number of pulses is relatively smaller, and the shortage of the number of pulses may occur, so that the calculation error of the motor speed is extremely large, and the motor speed is controlled inaccurately, and the operation efficiency is reduced.
Common methods for improving motor speed calculation errors are, for example, increasing the measurement time or increasing the number of teeth of the gear, i.e. increasing the number of pulses during the same measurement time.
However, if the measurement time is too long, the efficiency of calculating the rotation speed is not good, the rotation speed cannot be calculated in real time, so that the motor cannot be controlled in real time, and the operation efficiency of the motor is affected.
Disclosure of Invention
The object of the present invention is to provide a motor rotation speed detecting method capable of detecting the motor rotation speed in real time and more accurately without replacing any hardware components of the motor.
The invention relates to a motor rotation speed detecting method, which is used for detecting the rotation speed of a motor and is implemented by a micro-processing unit, wherein the micro-processing unit is electrically connected with a sensing unit arranged on the motor, the sensing unit is used for sensing the rotation of a gear of the motor in a period time so as to generate a pulse wave signal comprising a plurality of pulse waves, and the motor rotation speed detecting method comprises the following steps:
(A) When the pulse signal from the sensing unit is received, obtaining a pulse wave number related to the pulse wave according to the pulse wave signal;
(B) Obtaining a pulse wave interval time related to the last two pulse waves in the pulse wave in the period time according to the pulse wave signal, and obtaining an end interval time related to the last pulse wave in the period time and an end time point of the period time; and
(C) Based on at least the cycle time, the number of pulses, a number of teeth required to rotate one revolution relative to the gear, and the pulse interval time, and the end interval time obtains the rotating speed of the motor.
Preferably, in the motor rotation speed detecting method of the present invention, in the step (C), the rotation speed N of the motor is estimated according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Represents the pulse number, T represents the cycle time, M represents the pulse numberNumber of teeth of the wheel, t loc,n Representing the pulse interval time, t β,n Representing the end interval time.
Preferably, the motor rotation speed detecting method of the present invention further comprises the following steps before the step (a):
(D) When a previous pulse signal which is generated by the sensing unit for sensing the rotation of the gear of the motor in a previous period time and comprises a plurality of previous pulses is received, obtaining a previous pulse interval time which is related to the last two previous pulses in the previous period time according to the previous pulse signal;
in step (B), a start time interval between a start time point related to the cycle time and a first pulse wave of the pulses in the cycle time is also obtained, and in step (C), the rotational speed of the motor is also obtained according to the previous pulse wave interval and the start time interval.
Preferably, in the motor rotation speed detecting method of the present invention, in the step (C), the rotation speed N of the motor is estimated according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the end interval time, t loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
Another object of the present invention is to provide a motor rotation speed detecting method capable of detecting the motor rotation speed in real time and more accurately without replacing any hardware components of the motor.
The invention relates to a motor rotation speed detecting method, which is used for detecting the rotation speed of a motor and is implemented by a micro-processing unit, wherein the micro-processing unit is electrically connected with a sensing unit arranged on the motor, the sensing unit is used for sensing the rotation of a gear of the motor in a period time so as to generate a pulse wave signal comprising a plurality of pulse waves, and the motor rotation speed detecting method comprises the following steps:
(A) When a previous pulse signal which is generated by the sensing unit for sensing the rotation of the gear of the motor in a previous period time and comprises a plurality of previous pulses is received, obtaining a previous pulse interval time which is related to the last two previous pulses in the previous period time according to the previous pulse signal;
(B) When the pulse signal from the sensing unit is received, obtaining a pulse wave number related to the pulse wave according to the pulse wave signal;
(C) Obtaining a start time point related to the cycle time and a start interval time between a first pulse wave in the pulse waves in the cycle time according to the pulse wave signal; and
(D) The rotational speed of the motor is obtained based on at least the cycle time, the number of pulses, a number of teeth required to rotate one revolution relative to the gear, the previous pulse interval time, and the start interval time.
Preferably, in the motor rotation speed detecting method of the present invention, in the step (D), the rotation speed N of the motor is estimated according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
It is still another object of the present invention to provide a motor rotation speed detecting device capable of detecting the motor rotation speed in real time and more accurately without replacing any hardware components of the motor.
The motor rotating speed detecting device is used for detecting the rotating speed of a motor and comprises a sensing unit and a micro-processing unit electrically connected with the sensing unit.
The sensing unit is mounted on the motor and is used for sensing rotation of a gear of the motor at a period of time so as to generate a pulse signal comprising a plurality of pulses.
The microprocessor unit receives the pulse signals from the sensing unit, obtains a pulse number related to the pulse waves according to the pulse signals, obtains a pulse interval time related to the last two of the pulse waves in the period time according to the pulse signals, obtains an end interval time related to the last pulse wave in the period time and an end time point of the period time, and finally obtains the rotating speed of the motor according to at least the period time, the pulse number, a number of teeth required for rotating one circle related to the gear, the pulse interval time and the end interval time.
Preferably, in the motor rotation speed detecting device of the present invention, the microprocessor unit further estimates the rotation speed of the motor to be represented as N according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the end interval time.
Preferably, in the motor rotation speed detecting device of the present invention, the sensing unit is further configured to sense rotation of the gear of the motor at a previous cycle time to generate a previous pulse signal including a plurality of previous pulses, and the micro-processing unit is further configured to receive the previous pulse signal from the sensing unit, obtain a previous pulse interval time between last two previous pulses in the previous cycle time according to the previous pulse signal, obtain a start interval time between a start time point related to the cycle time and a first pulse in the pulses of the pulse signal according to the pulse signal, and obtain the rotation speed of the motor according to the cycle time, the number of pulses, a number of gear teeth related to one turn of the gear, the pulse interval time, and the end interval time, and further obtain the rotation speed of the motor according to the previous pulse interval time and the start interval time.
Preferably, in the motor rotation speed detecting device of the present invention, the microprocessor unit further estimates the rotation speed of the motor to be represented as N according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time , t is t t β,n Representing the end interval time, t loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
It is still another object of the present invention to provide a motor rotation speed detecting device capable of detecting the motor rotation speed in real time and more accurately without replacing any hardware components of the motor.
The motor rotating speed detecting device is used for detecting the rotating speed of a motor and comprises a sensing unit and a micro-processing unit electrically connected with the sensing unit.
The sensing unit is mounted on the motor and is used for sensing rotation of a gear of the motor at a period of time so as to generate a pulse signal comprising a plurality of pulses.
The micro-processing unit receives a previous pulse signal which is generated by the sensing unit during a previous period and comprises a plurality of previous pulses, receives the pulse signal from the sensing unit according to the previous pulse signal, obtains a previous pulse interval time which is related to the last two pulses in the previous period, receives the pulse signal from the sensing unit, obtains a pulse quantity which is related to the pulses according to the pulse signal, obtains a starting time interval time which is related to the period and the first pulse in the pulses according to the pulse signal, and finally obtains the rotating speed of the motor according to at least the period, the pulse quantity, a gear number which is related to one circle of the gears, the previous pulse interval time and the starting interval time.
Preferably, in the motor rotation speed detecting device of the present invention, the microprocessor unit further estimates the rotation speed of the motor to be represented as N according to the following formula e ：
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
The invention has the beneficial effects that: the microprocessor unit obtains the pulse interval time and the ending interval time or the previous pulse interval time and the starting interval time according to the pulse signal generated by the sensing unit, and then obtains the rotating speed of the motor according to at least the cycle time, the pulse number, the gear tooth number, the pulse interval time and the ending interval time or at least the cycle time, the pulse number, the gear tooth number, the starting interval time and the previous pulse interval time, thereby obtaining more accurate motor rotating speed in real time without replacing any hardware component of the motor.
Drawings
Other features and advantages of the present invention will become apparent from the following description of the embodiments with reference to the drawings, in which:
FIG. 1 is a schematic diagram illustrating a motor equipped with an embodiment of a motor speed detection apparatus according to the present invention;
FIG. 2 is a block diagram illustrating the embodiment of the motor speed detecting device;
FIG. 3 is a schematic diagram illustrating a pulse signal comprising a plurality of pulses and a previous pulse signal comprising a plurality of previous pulses; and
FIG. 4 is a flowchart illustrating an embodiment of a motor speed detection method according to the present invention.
Detailed Description
Referring to fig. 1, 2 and 3, the motor rotation speed detecting device 100 of the present invention is used for detecting the rotation speed of a motor 11 and comprises a sensing unit 12 and a microprocessor unit 13 electrically connected to the sensing unit 12.
The sensing unit 12 is mounted on the motor 11 and is used for sensing the position of the motor at a periodic time (i.e., T n-1 ～T n And has a value of T) senses the rotation of a gear 111 of the motor 11 to generate a pulse signal 21 including a plurality of pulses 211, and at a previous period of time (i.e., T n-2 ～T n-1 And has a value T) for sensing the rotation of the gear 111 of the motor 11 to generate a previous pulse signal 22 including a plurality of previous pulses 221, and transmitting the pulse signal 21 and the previous pulse signal 22 to the microprocessor unit 13. In the present embodiment, the sensing unit 12 is, for example, a speed sensor (speed sensor).
Referring to fig. 1, 3 and 4, an embodiment of how the motor rotation speed detecting device 100 of the present invention performs the motor rotation speed detecting method of the present invention is described, which includes the following steps.
In step 301, when the microprocessor unit 13 receives the previous pulse signal 22 from the sensing unit 12, a correlation is obtained between the previous period time (T n-2 ～T n-1 ) A previous pulse interval time t between the last two previous pulses 221 of the previous pulses 221 loc,n-1 。
In step 302, when the microprocessor 13 receives the pulse signal 21 from the sensing unit 12, a pulse number corresponding to the pulse 211 is obtained according to the pulse signal 21.
In step 303, the microprocessor 13 obtains a correlation based on the pulse signal 21At the cycle time (T n-1 ～T n ) The pulse interval time t between the last two pulses 211 of the pulses 211 loc,n And obtaining a correlation value (T) associated with the cycle time (T n-1 ～T n ) The last pulse 211 of the pulses 211 and the cycle time (T n-1 ～T n ) A period time end time point (T) n ) End interval time t between β,n And obtaining a correlation value (T) n-1 ～T n ) A cycle time start time point (T) n-1 ) And at the cycle time (T n-1 ～T n ) The start interval time t between the first pulse wave 211 in the pulse waves 211 α,n 。
In step 304, the microprocessor 13 determines the number of teeth of the gear 111 based on the cycle time (T), the number of pulses, the number of teeth of the gear, and the previous pulse interval time T loc,n-1 The pulse interval time t loc,n The end interval time t β,n And the start interval time t α,n The rotational speed of the motor 11 is obtained, and the rotational speed of the motor 11 is represented by, for example, the following formula:
wherein N is e Represents the rotational speed (RPM) of the motor 11, N p,int Representing the number of pulses, M represents the number of teeth, and in other embodiments, the number of teeth can be converted to different units of rotational speed according to requirements.
It should be noted that, in other embodiments of the present invention, step 301 is not required to be performed, and in step 303, the micro-processing unit 13 does not need to obtain a value related to the cycle time (T n-1 ～T n ) Within the cycle time start time point (T n-1 ) And at the cycle time (T n-1 ～T n ) The start interval time t between the first pulse 211 of the pulses 211 α,n In step 304, the microprocessor unit 13 may determine the pulse interval based on the cycle time (T), the number of teeth, and the pulse intervalTime t loc,n And the end interval time t β,n The rotational speed of the motor 11 is obtained, and the rotational speed of the motor 11 is represented by, for example, the following formula:
in yet other embodiments, the micro-processing unit 13 does not have to obtain information related to the time period (T n-1 ～T n ) The pulse interval time t between the last two pulses 211 of the pulses 211 loc,n And is related to the time (T) n-1 ～T n ) The last pulse 211 of the pulses 211 and the cycle time (T n-1 ～T n ) The end interval time t between the end time points of the cycle time of (a) β,n And in step 304, the microprocessor 13 may determine the start interval time T based on the cycle time (T), the number of teeth, and the start interval time T α,n And the previous pulse interval time t loc,n-1 The rotational speed of the motor 11 is obtained, and the rotational speed of the motor 11 is represented by, for example, the following formula:
it should be further noted that, in the present embodiment, the microprocessor unit 13 calculates the interval time by setting a measurement period, wherein the measurement period time (T) of the measurement period is smaller than the period time (T), and the microprocessor unit 13 calculates the interval time T with the previous pulse loc,n-1 The number of measurements included in the pulse signal is multiplied by the measurement cycle time (t) to represent the previous pulse interval time t loc,n-1 The pulse interval time t is similarly represented by the number of measurements included times the measurement cycle time (t) loc,n The end interval time t β,n And the start interval time t α,n . It should be noted that, in calculating the previous pulse interval time t loc,n-1 The pulse interval time t loc,n The start interval time t α,n And the end roomTime interval t β,n Each of (2) is multiplied by the measurement cycle time (t) to calculate N p,dec Due to the fact that the initial interval time t α,n Divided by the previous pulse interval time t loc,n-1 And the end interval time t β,n Divided by the pulse wave interval time t loc,n Therefore, the measurement cycle time (t) is eliminated, so that in other embodiments, to increase the operation speed, the microprocessor unit 13 calculates the previous pulse interval time t loc,n-1 The pulse interval time t loc,n The start interval time t α,n And the end interval time t β,n The step of multiplying the measurement cycle time (t) can be omitted and the starting interval time t can be directly used α,n The number of measurements included is divided by the previous pulse interval time t loc,n-1 The number of measurements included in the measurement is added with the end interval time t β,n The number of measurements included in the pulse is divided by the pulse interval time t loc,n The number of measurements included in the obtained N p,dec 。
In summary, the motor rotation speed detecting method and device of the present invention obtains the previous pulse interval time t by the microprocessor unit 13 according to the previous pulse signal 22 and the pulse signal 21 generated by the sensing unit 12 loc,n-1 The pulse interval time t loc,n The end interval time t β,n And the start interval time t α,n According to the cycle time (T), the pulse number, the number of teeth, the previous pulse interval time T loc,n-1 The pulse interval time t loc,n The end interval time t β,n And the start interval time t α,n To obtain the rotation speed of the motor 11, thereby obtaining more accurate motor rotation speed in real time without replacing any hardware components of the motor 11, and thus, the purpose of the present invention can be achieved.
However, the foregoing is merely illustrative of the present invention and, therefore, it is not intended to limit the scope of the invention, but it is intended to cover modifications and variations within the scope of the present invention as defined by the appended claims and their equivalents.
Claims (8)
1. The motor rotation speed detecting method is used for detecting the rotation speed of a motor and is implemented by a micro-processing unit, the micro-processing unit is electrically connected with a sensing unit arranged on the motor, and the sensing unit is used for sensing the rotation of a gear of the motor in a period time so as to generate a pulse wave signal comprising a plurality of pulse waves, and is characterized in that: the motor rotation speed detection method comprises the following steps
(A) When the pulse signal from the sensing unit is received, obtaining a pulse quantity related to the pulse according to the pulse signal;
(B) Obtaining a pulse wave interval time related to the last two pulse waves in the pulse wave in the period time according to the pulse wave signal, and obtaining an end interval time related to the last pulse wave in the period time and an end time point of the period time; and
(C) The rotational speed of the motor is obtained based on at least the cycle time, the number of pulses, a number of teeth of the wheel required to rotate one revolution relative to the gear, the pulse interval time, and the end interval time.
2. The method for detecting the rotation speed of a motor according to claim 1, wherein: in step (C), the rotational speed N of the motor is also estimated according to the following formula e
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the end interval time.
3. The method for detecting the rotation speed of a motor according to claim 1, wherein: before step (A), the method further comprises the step (D) of obtaining a previous pulse interval time related to the last two previous pulses in the previous period time according to a previous pulse signal generated by the sensing unit sensing the rotation of the gear of the motor in the previous period time when the previous pulse signal comprising a plurality of previous pulses is received;
wherein in step (B) a start interval time between a start time point associated with the cycle time and a first one of the pulses during the cycle time is also obtained, and in step (C) the rotational speed of the motor is obtained based on the cycle time, the number of pulses, a number of teeth associated with one revolution of the gear, the pulse interval time, the end interval time, the previous pulse interval time and the start interval time.
4. The method for detecting the rotation speed of a motor according to claim 3, wherein: in step (C), the rotational speed N of the motor is also estimated according to the following formula e
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the end interval time, t loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
5. The motor rotation speed detecting method is used for detecting the rotation speed of a motor and is implemented by a micro-processing unit, the micro-processing unit is electrically connected with a sensing unit arranged on the motor, and the sensing unit is used for sensing the rotation of a gear of the motor in a period time so as to generate a pulse wave signal comprising a plurality of pulse waves, and is characterized in that: the motor rotation speed detection method comprises the following steps
(A) When a previous pulse signal which is generated by the sensing unit for sensing the rotation of the gear of the motor in a previous period time and comprises a plurality of previous pulses is received, obtaining a previous pulse interval time which is related to the last two previous pulses in the previous period time according to the previous pulse signal;
(B) When the pulse signal from the sensing unit is received, obtaining a pulse quantity related to the pulse according to the pulse signal;
(C) Obtaining a start time point related to the cycle time and a start interval time between a first pulse wave in the pulse waves in the cycle time according to the pulse wave signal;
(D) The rotational speed of the motor is obtained based at least on the cycle time, the number of pulses, a number of teeth of the wheel required to rotate one revolution relative to the gear, the previous pulse interval time, and the start interval time.
6. The method of claim 5, wherein: in step (D), the rotational speed N of the motor is also estimated according to the following formula e
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
7. The utility model provides a motor rotation speed detection device which characterized in that: for detecting the rotation speed of a motor and comprising
A sensing unit mounted on the motor for sensing rotation of a gear of the motor during a cycle time to generate a pulse signal including a plurality of pulses; and
A microprocessor unit electrically connected to the sensing unit and receiving the pulse signals from the sensing unit, obtaining a pulse number related to the pulses according to the pulse signals, obtaining a pulse interval time related to the last two of the pulses in the cycle time according to the pulse signals, obtaining an end interval time related to the last pulse in the pulses in the cycle time and an end time point of the cycle time, finally obtaining the rotation speed of the motor according to at least the cycle time, the pulse number, a number of wheels required for one rotation relative to the gear, the pulse interval time, and the end interval time,
the microprocessor unit also estimates the rotational speed of the motor as N according to the following formula e
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the time of the end interval,
the sensing unit is further configured to sense rotation of the gear of the motor at a previous cycle time to generate a previous pulse signal including a plurality of previous pulses, and the microprocessor unit is further configured to receive the previous pulse signal from the sensing unit, obtain a previous pulse interval time between a last two previous pulses of the previous pulses during the previous cycle time according to the previous pulse signal, obtain a start time interval between a start time point associated with the cycle time and a first pulse of the pulses according to the pulse signal, and obtain a rotational speed of the motor according to not only the cycle time, the number of pulses, a number of teeth associated with a turn of the gear, the pulse interval time, and the end interval time, but also the previous pulse interval time and the start interval time.
8. The motor speed detecting device according to claim 7, wherein: the microprocessor unit also estimates the rotational speed of the motor as N according to the following formula e
Wherein N is e Represents the rotation speed per minute, N p,int Representing the pulse number, T representing the cycle time, M representing the number of teeth of the wheel, T loc,n Representing the pulse interval time, t β,n Representing the end interval time, t loc,n-1 Representing the previous pulse interval time, t α,n Representing the start interval.
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