Method for measuring motor speed at low-speed operation by using pulse coder

A technology of pulse encoder and low-speed operation, which is applied in the direction of motor speed or torque control, speed/acceleration/shock measurement, linear/angular velocity measurement, etc. It can solve the problem of speed measurement error and achieve the effect of accurate control

Active Publication Date: 2005-02-16
桂林星辰科技股份有限公司
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Problems solved by technology

Overcome the speed measurement error caused by the incomplete zero pulse within T time
This speed measurement method is still not applicable to the situation where the encoder pulse cannot be measured within a certain period of time when the speed drops to a certain period.

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  • Method for measuring motor speed at low-speed operation by using pulse coder

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Embodiment Construction

[0011] The specific embodiment of the speed measurement method using pulse encoder when the motor is running at low speed in the present invention is as follows figure 1 As shown, the abscissa represents the time t, and the ordinate represents the motor rotation speed V. The arrival time of the first encoder pulse is 0, the arrival time of the second encoder pulse is t1, and the computer measures the time interval between the two pulses as T, then the motor shaft can be calculated during the period from 0 to t1 The average rotation speed is V 1-2 =C / T, C is a constant determined according to the number of pulses sent by the encoder per revolution.

[0012] If the rotation speed of the motor remains unchanged after t1, the third pulse will arrive at time 2T, and the computer takes time 2T as the expected arrival time of the third pulse, that is, the maximum possible speed estimated by the computer during the time period from t1 to 2T is the first, The average velocity V betwe...

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Abstract

The present invention relates to a speed measuring method by using pulse encode when the motor is run at low-speed. According to the time interval T between first and second encoder pulses calculating and obtaining the everage speed C / T of motor shaft in this period of time, C is constant, when the rotating speed of the motor is slowed and third pulse is not arrived at the moment of 2T+delta T, computer can estimate that current speed posible maximum value is Vimax=Cl(T+delta ti), according to the experience of speed change selecting value IV, N is greater than or equal to I, using V=Vimax / N as measured result estimation value and giving out, and using it to implement motor speed control. the selection of N is related to the rotating inertia of motor rotating component, resistance condition of rotating system and torsional force for driving rotation.

Description

(1) Technical field [0001] The invention relates to a motor speed measurement method, in particular to a speed measurement method using a pulse encoder when the motor is running at a low speed. (2) Technical background [0002] A pulse encoder is a commonly used device for motor speed measurement. A pulse encoder mounted on the motor shaft sends out a pulse when it turns a certain angle. For high-speed measurement, due to the high pulse frequency, the method of counting the number of pulses at a fixed period is usually used to measure the speed. The number of pulses in some periods is zero, so the measurement error is relatively large. Therefore, when measuring low speed, the method of measuring the time interval between two pulses is usually used to measure the speed. But at a very low speed, the pulse interval is long, and the time interval for calculating the speed value is also long. When the previous pulse has passed but the second pulse has not arrived, because the ...

Claims

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Application Information

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IPC IPC(8): G01P3/481
Inventor 吕虹
Owner 桂林星辰科技股份有限公司
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