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M/T speed measurement system and method realized by using hardware gate circuit

A gate circuit and speed measurement technology, applied in logic circuits, motor generator testing, linear/angular velocity measurement, etc., can solve problems such as difficult operation, large measurement, and difficulty

Pending Publication Date: 2020-11-10
深圳市蓝德欧智能控制技术有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the traditional M / T speed measurement method, there is a time difference between the measurement signal and the encoder quadrature signal. The measurement of this deviation time △t(k) is difficult, and it is not easy to operate in some low-end MCU or complex programs.

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  • M/T speed measurement system and method realized by using hardware gate circuit
  • M/T speed measurement system and method realized by using hardware gate circuit
  • M/T speed measurement system and method realized by using hardware gate circuit

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Embodiment 1

[0043] Embodiment 1 of the present invention provides an M / T speed measuring system realized by using a hardware gate circuit, see figure 1 , including: encoder module: used to detect the position and speed of the motor; peripheral module: used to provide input and output interfaces for the device, and provide a timer for the system; gate circuit module: used to receive input signals from peripherals to achieve time synchronization , and output signals to the MCU; MCU module: used to calculate and output the calculation speed based on the measurement data of the gate circuit using the M / T method.

[0044] The encoder module uses an incremental encoder to output two orthogonal signals: A channel signal and B channel signal. Encoders are essential sensors in modern servo motors. The role of the encoder is to detect the position and speed of the motor, and the information it feeds back plays a very important role in the servo algorithm. Among them, the quadrature signal is the ...

Embodiment 2

[0050] Embodiment 2 of the present invention provides an M / T speed measurement method implemented using a hardware gate circuit, such as Figure 4 shown, including the following steps:

[0051] Step 1: IO pin initialization;

[0052] Step 2: capture initialization;

[0053] Step 3: Encoding timer initialization;

[0054] Step 4: Read the data sending flag;

[0055] Step 5: Determine whether to send data, if it is judged to be no, then return to step 4, re-read the data sending flag, if it is judged to be yes, then perform step 6;

[0056] Step 6: Send data, after step 6 is executed, execute step 7 and step 8 respectively;

[0057] Step 7: Clear the data sending flag, and return to Step 4 after Step 7 is completed;

[0058] Step 8: Enter the capture timer interrupt;

[0059] Step 9: Read the count value of the timer;

[0060] Step 10: Read the encoder count value;

[0061] Step 11: Calculate the speed. After the execution of step 11 is completed, on the one hand, execute ...

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Abstract

According to the M / T speed measurement system and method achieved through the hardware gate circuit, the hardware gate circuit is used, a measurement signal is triggered through the orthogonal signaledge of an encoder, the synchronization time t (k) is measured in a hardware mode, the M / T speed measurement system and method are simple and practical, the defects of a traditional M / T speed measurement method are overcome. A traditional M / T speed measurement method has a time difference between a measurement signal and an encoder orthogonal signal, but the measurement of the deviation time t (k)has great difficulty and is not easy to operate in some low-end MCUs or complex programs, and the M / T speed measurement system and method implemented by using the hardware gate circuit can be easilyimplemented on the low-end MCUs, and the programs are not complex. According to the method, few external hardware resources are utilized, and the occupied space and the cost are very low.

Description

technical field [0001] The invention relates to the field of motor speed measurement, in particular to an M / T speed measurement system and method realized by using a hardware gate circuit. Background technique [0002] Encoders are essential sensors in modern servo motors. The role of the encoder is to detect the position and speed of the motor, and the information it feeds back plays a very important role in the servo algorithm. Among them, the quadrature signal is the most common signal sent by the encoder to the MCU. The M / T method is an algorithm to extract the motor speed from the quadrature signal. The M / T method is a speed algorithm combining the M method and the T method. Using the M / T method can improve the accuracy and smoothness of the calculated speed. However, in the traditional M / T speed measurement method, there is a time difference between the measurement signal and the encoder quadrature signal. The measurement of this deviation time △t(k) is difficult, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H03K19/01G01P3/489G01R31/34
CPCG01P3/489G01R31/34H03K19/01
Inventor 孙让林静伟艾伟
Owner 深圳市蓝德欧智能控制技术有限公司