A Method of Detecting Motor Kinematics Parameters Based on Pulse Feedback

Abstract

The invention discloses a method for detecting motor kinematics parameters based on pulse feedback. The method comprises the following steps: by continuously collecting the pulse count of N times before the signal reading time, linearly fitting the collected N pulse count and the corresponding time thereof to an N-1 order function, so as to obtain a relational function of a motor position and the time; solving a first-order derivative of the relational function of the motor position and the time to obtain a relational function of motor speed and the time; solving the first-order derivative of the relational function of the motor speed and the time to obtain a relational function of accelerated speed of a motor and the time; judging whether the signal reading time and the pulse count time are synchronous, and putting corresponding constraint conditions to obtain the detection results of the position, the speed and the accelerated speed of the motor. According to the method, the position, the speed and the accelerated speed of the motor as well as the speed range of expanded speed measurement at the signal reading time are calculated at the same time, so that the calculation accuracy and instantaneity of the position, the speed and the accelerated speed of the motor are improved.

Description

technical field [0001] The invention belongs to the technical field of motor kinematics parameter detection, and more specifically relates to a method for detecting motor kinematics parameters based on pulse feedback. Background technique [0002] Continuous pulse signals are used as feedback signals to measure motor kinematic parameters, such as displacement, speed and acceleration during linear motor motion or rotary motion, and are increasingly used in various control occasions. With the development of advanced manufacturing technologies such as precision manufacturing technology and microelectronics technology, motion control systems have higher and higher requirements for speed measurement accuracy and real-time performance of moving objects, which puts forward higher requirements for speed calculation algorithms. However, due to some shortcomings in the general motion algorithm, it is difficult to meet such requirements. [0003] Commonly used speed measurement calcul...

AI Technical Summary

Problems solved by technology

However, no matter which of the above algorithms, since the instantaneous speed value is replaced by the average speed value over a period of time, the instantaneous value at the moment of signal reading cannot be obtained, but only the approximate position value and speed value can be obtained.

Moreover, sometimes the signal measurement time is not synchronized with the signal reading time, which will lead to inaccurate position detection, which in turn will cause a large error in the calculated speed

In addition, if you want to measure the acceleration of the motor movement moment, you need to add other hardware or other complex calculation algorithms

Images