A method for correcting the speed measurement error of a motor

Abstract

The present invention discloses a method for correcting the speed measurement error of a motor, which relates to the technical field of motor speed measurement correction. In the case of multiple motors running, first, a speed measurement environment is set up. The specific method is to first arrange the corresponding number of motors according to the working environment, and during actual testing, simulate the motors to run and restore according to the actual working mode. Then, a test simulation device is set up, and the calculated rotational speed is obtained according to the test simulation device. After that, the output speed of the first gear is automatically calculated through the transmission ratio feedback based on the calculated rotational speed; according to the obtained simulated output speed and the actual output speed, the conversion relationship between the two is obtained; during subsequent actual measurement, the actual motor is speed-measured, and the highest rotational speed of the actual motor is obtained, which is marked as the actual rotational speed to be verified. According to the conversion relationship, it is converted into the measured speed value; through the present invention, the speed measurement error of the motor can be well corrected; the present invention is simple and effective and is easy to use.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor speed measurement error correction, and specifically relates to a method for correcting motor speed measurement errors. Background Art

[0002] In the process of motor speed measurement, Hall components are usually used. Hall devices are based on the principle of magnetoelectric conversion. When the motor rotates one circle, the Hall device senses the magnetic field change and outputs an electrical pulse. By measuring the pulse period, the motor speed can be calculated. When using Hall devices to detect the motor speed, it is common to set the interruption of the IO pin. For example, set the rising edge interruption. The interval time between two interruptions corresponds to the current pulse period. This method is simple and effective when measuring the speed of a single motor. Because for a single motor, its noise / burrs are few and its value is small. Usually, a simple RC filtering circuit can be used on the hardware circuit to obtain a clean waveform.

[0003] However, in some scenarios, due to various reasons, various errors will occur when using the traditional method for testing. How to correct the existing speed measurement method is a problem. Especially when multiple motors are tested simultaneously, the probability of generating errors will increase.

[0004] To solve this problem, a method for correcting motor speed measurement errors is provided. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; for this purpose, the present invention proposes a method for correcting motor speed measurement errors, which specifically includes the following steps:

[0006] Step 1: When it is not a single motor, set the speed measurement environment. The specific method is to first arrange the corresponding number of motors according to the working environment, and during actual testing, simulate the motors to run and restore according to the actual working method.

[0007] Select any one motor and set a test simulation device. The test simulation device includes a motor. The motor is connected with a first gear through an output rotating shaft. The first gear is in transmission connection with a calculation gear through a transmission unit, and the transmission ratio between the calculation gear and the first gear is obtained synchronously.

[0008] On one tooth section of the calculation gear, a flexible flap is also fixed. A fixed rod is also arranged at the upper end of the calculation gear. A pressure sensing block is arranged at the lower end of the fixed rod. The pressure sensing block can contact the flexible flap when the calculation gear rotates, and the flexible flap can pass over the pressure sensing block.

[0009] When the accounting gear rotates one full turn, the flexible tapping block passes over the pressure sensing block, giving a pressure signal to the pressure sensing block. When the first pressure signal is detected, it indicates the start of timing for the first turn. When the second pressure signal is detected, it indicates that one turn has passed, and the time interval between the two pressure signals is obtained.

[0010] Based on the time interval, the accounting rotation speed of the corresponding accounting gear can be obtained, and through the transmission ratio feedback, the output rotation speed of the first gear can be automatically calculated according to the accounting rotation speed.

[0011] Step 2: Use the mimetic output rotation speed obtained by the test simulation device in Step 2, and simultaneously use the speed measurement technology to measure the speed of the motor, and mark it as the actual output rotation speed. Based on the mimetic output rotation speed and the actual output rotation speed, the conversion relationship between the two is obtained.

[0012] During the subsequent actual measurement process, the speed of the live motor is measured, and the highest rotation speed of the live motor is obtained, which is marked as the live speed to be verified. According to the conversion relationship, it is converted into the measured speed value.

[0013] Further, before performing Step 2, the following steps need to be carried out:

[0014] Obtain the speed measurement environment. When it is a single-set motor, directly use a Hall device to measure the speed of the motor to obtain the motor speed.

[0015] Further, for the conversion relationship between the mimetic output rotation speed and the actual output rotation speed obtained in Step 2, the method for confirming the measured speed value according to the conversion relationship is as follows:

[0016] Simultaneously use the speed measurement technology to measure the speed of the motor, and mark it as the actual output rotation speed. Synchronization means restarting the test simulation device and actually measuring the speed of the motor.

[0017] Obtain the highest value of the actual output rotation speed, and obtain the mimetic output rotation speed at the same time. Subtract the actual output rotation speed from the mimetic output rotation speed at this time, and mark the obtained value as the revised error.

[0018] Step 4: Measure the speed of the live motor working under the same conditions, and obtain the highest rotation speed of the live motor, which is marked as the live speed to be verified.

[0019] Add the live speed to be verified and the revised error, and mark the obtained value as the measured rotation speed.

[0020] Further, for the conversion relationship between the mimetic output rotation speed and the actual output rotation speed obtained in Step 2, the method for confirming the measured speed value according to the conversion relationship is as follows:

[0021] The mimetic output speed obtained through testing synchronously uses a speed measurement technology to measure the speed of the motor, and marks it as the actual output speed; the speed measurement technology here is the existing technology for measuring the speed of the working motor.

[0022] Obtain the minimum and maximum values of the actual output speed. Starting from the minimum value, continuously take values at intervals of the set speed until the maximum value is reached, and equally divide the minimum and maximum values to obtain several values, which are marked as speed measurement point values.

[0023] At the nodes of each speed measurement point value, obtain the mimetic output speed, subtract the corresponding speed measurement point value from the mimetic output speed to obtain the speed measurement point difference, and mark it as Di, where i = 1,..., n, indicating that there are n speed measurement point differences.

[0024] Similarly, divide the mimetic output speed by the speed measurement point value to obtain several measured conversion ratios Bi, where i = 1,..., n.

[0025] Obtain Di and its mean value P, and use the formula to calculate the deviation value one W1 of Di. The specific calculation formula is:

[0026]

[0027] Calculate the deviation value two W2 of Bi in the same way.

[0028] According to the relationship between W1 and W2, perform different treatments on the actual speed to be verified to obtain the measured speed.

[0029] Furthermore, the method for determining the measured speed according to the relationship between W1 and W2 is as follows:

[0030] When both W1 and W2 are greater than X1, no treatment is performed, and the maximum speed is obtained in the manner of Embodiment 1.

[0031] Otherwise, obtain the smaller value of W1 and W2. If it is W1, mark the mean value of the corresponding Di as the conversion difference.

[0032] Subsequently, during actual operation, measure the speed of the actual motor, mark the obtained speed of the actual motor as the actual speed to be verified, and add the conversion difference to obtain the measured speed.

[0033] If it is W2, mark the mean value of the corresponding Bi as the conversion ratio.

[0034] Subsequently, during actual operation, measure the speed of the actual motor, mark the obtained speed of the actual motor as the actual speed to be verified, and multiply it by the conversion ratio to obtain the measured speed.

[0035] Complete the error correction of the motor speed measurement.

[0036] Further, the transmission unit is to slow down the rotational speed of the first gear to a set range through a certain transmission ratio with the first gear.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] In the present invention, in the case of multiple motors running, first, a speed measurement environment is set up. The specific method is to arrange the corresponding number of motors in the way of the working environment first, and during the actual test, simulate the motors to run and restore according to the actual working mode. Then, a test simulation device is set up, and the calculated rotational speed is measured according to the test simulation device. After that, the output rotational speed of the first gear is automatically calculated according to the calculated rotational speed through the transmission ratio feedback;

[0039] According to the obtained simulated output rotational speed and the actual output rotational speed, the conversion relationship between the two is obtained; during the subsequent actual measurement process, the actual situation of the motor is speed-measured, and the highest rotational speed of the actual situation motor is obtained and marked as the actual situation rotational speed to be verified. According to the conversion relationship, it is converted into the measured speed value; through the present invention, the speed measurement error of the motor can be corrected well; the present invention is simple and effective and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic structural diagram of the test simulation device of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0042] The present application provides a method for correcting the speed measurement error of a motor,

[0043] As Embodiment 1 of the present invention, the method specifically includes the following steps:

[0044] Step 1: First, obtain the speed measurement environment, that is, the number of motors. When it is a single-set motor, directly use a code disk to measure the rotational speed of the motor to obtain the rotational speed of the motor. Of course, other conventional methods can also be used here to obtain the rotational speed of the motor;

[0045] Step 2: When it is not a single motor, set up the speed measurement environment. The specific method is to arrange the corresponding number of motors in the way of the working environment first, and during the actual test, simulate the motors to run and restore according to the actual working mode;

[0046] Select any one motor and set up a test simulation device, such asFigure 1 As shown in Figure 1 , the test simulation device includes a motor 1. The motor 1 is connected with a first gear 3 through an output rotating shaft 2. The first gear 3 is in transmission connection with an accounting gear 5 through a transmission unit 4. The transmission unit 4 is to slow down the rotation speed of the first gear 3 to a certain range through a certain transmission ratio, rotate through the accounting gear 5, and synchronously obtain the transmission ratio between the accounting gear 5 and the first gear 3. Here, the transmission ratio can be flexibly set according to needs to facilitate data collection.

[0047] On a tooth pitch of the accounting gear 5, a flexible flap 6 is also fixed. A fixed rod 8 is also provided at the upper end of the accounting gear 5. A pressure sensing block 7 is provided at the lower end of the fixed rod 8. The pressure sensing block 7 can contact the flexible flap 6 when the accounting gear rotates, and the flexible flap 6 can pass over the pressure sensing block 7.

[0048] When the accounting gear 5 rotates one circle, the flexible flap 6 passes over the pressure sensing block 7, giving a pressure signal to the pressure sensing block 7. When the first pressure signal is detected, it indicates the start of timing for the first circle. When the second pressure signal is detected, it indicates that one circle has passed, and the time interval between the two pressure signals is obtained.

[0049] According to the time interval, the accounting rotation speed corresponding to the accounting gear 5 can be obtained, and through the transmission ratio feedback, the output rotation speed of the first gear 3 can be automatically calculated according to the accounting rotation speed.

[0050] The rest of the motors rotate synchronously during this process.

[0051] Step three: According to the mimetic output rotation speed obtained from the test in step two, synchronously use a speed measurement technology to measure the speed of the motor and mark it as the actual output rotation speed. Here, the speed measurement technology is the existing technology for measuring the speed of the working motor, and synchronization refers to restarting the test simulation device and actually measuring the speed of the motor.

[0052] Obtain the highest value of the actual output rotation speed, and obtain the mimetic output rotation speed at the same moment. Subtract the actual output rotation speed from the mimetic output rotation speed at this time, and mark the obtained value as the revision error.

[0053] Step four: Measure the speed of the actual working live motor under the same conditions, obtain the highest rotation speed of the live motor, and mark it as the live speed to be verified.

[0054] Add the revision error to the live speed to be verified, and mark the obtained value as the measured rotation speed.

[0055] As the second embodiment of the present invention, this embodiment is carried out on the basis of the first embodiment. The difference is that

[0056] After step two in this embodiment, the processing method is different from that in Embodiment 1. After completing step two of Embodiment 1 in this embodiment, the following steps need to be carried out:

[0057] Step three: Test the obtained mimic output speed. Synchronously, use the speed measurement technology to measure the speed of the motor and mark it as the actual output speed. The speed measurement technology here is the existing technology for measuring the speed of the working motor;

[0058] Step four: Obtain the minimum value and the maximum value of the actual output speed. Starting from the minimum value, continuously take values at intervals of the set speed until the maximum value is reached. Divide the minimum value and the maximum value equally to obtain several values, and mark them as speed measurement point values;

[0059] At the nodes of each speed measurement point value, obtain the mimic output speed, subtract the corresponding speed measurement point value from the mimic output speed to obtain the speed measurement point difference, and mark it as Di, i = 1,..., n, indicating that there are n speed measurement point differences;

[0060] Similarly, divide the mimic output speed by the speed measurement point value to obtain several measured conversion ratios Bi, i = 1,..., n;

[0061] Step five: Obtain Di and its mean value P, and use the formula to calculate the deviation value one W1 of Di. The specific calculation formula is:

[0062]

[0063] Calculate the deviation value two W2 of Bi in the same way;

[0064] When both W1 and W2 are greater than X1, no processing is done, and the maximum speed is obtained in the way of Embodiment 1;

[0065] Otherwise, obtain the smaller value of W1 and W2. If it is W1, mark the mean value of the corresponding Di as the conversion difference;

[0066] At this time, subsequently, in actual work, measure the speed of the live motor, obtain the speed of the live motor, mark it as the live speed to be verified, and add the conversion difference to obtain the measured speed;

[0067] If it is W2, mark the mean value of the corresponding Bi as the conversion ratio;

[0068] At this time, subsequently, in actual work, measure the speed of the live motor, obtain the speed of the live motor, mark it as the live speed to be verified, and multiply it by the conversion ratio to obtain the measured speed;

[0069] Step six: Complete the error correction of the motor speed measurement.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for correcting the speed measurement error of a motor, characterized in that, The method specifically includes the following steps: Step 1: When there are multiple motors, set the speed measurement environment. Specifically, first arrange the corresponding number of motors according to the working environment, and during actual testing, simulate the operation of the motors to restore them according to the actual working mode; Select any one motor and set up a test simulation device. The test simulation device includes a motor, the motor is connected with a first gear through an output rotating shaft, the first gear is in transmission connection with a calculation gear through a transmission unit, and the transmission ratio between the calculation gear and the first gear is obtained synchronously; On one tooth section of the calculation gear, there is also a flexible flap fixed. At the upper end of the calculation gear, there is also a fixed rod, and at the lower end of the fixed rod, there is a pressure sensing block. The pressure sensing block can contact the flexible flap when the calculation gear rotates, and the flexible flap can pass over the pressure sensing block; When the calculation gear rotates one full circle, the flexible flap passes over the pressure sensing block, which will give a pressure signal to the pressure sensing block. When the first pressure signal is detected, it indicates the start of the first lap timing. When the second pressure signal is detected, it indicates that one lap has passed, and the time interval between the two pressure signals is obtained; Based on the time interval, the calculated speed of the corresponding calculation gear can be obtained, and the output speed of the first gear can be automatically calculated according to the transmission ratio feedback based on the calculated speed; Step 2: Use the simulated output speed obtained from the test simulation device in Step 2, and simultaneously use speed measurement technology to measure the speed of the motor, and mark it as the actual output speed. According to the simulated output speed and the actual output speed, the conversion relationship between the two is obtained; During subsequent actual measurements, measure the speed of the actual motor, obtain the maximum speed of the actual motor, mark it as the actual speed to be verified, and convert it to the measured speed value according to the conversion relationship; 2. The motor speed measurement error correction method according to claim 1, characterized in that, Before performing Step 2, the following steps need to be carried out: Obtain the speed measurement environment. When there is a single motor set, directly use a Hall device to measure the speed of the motor to obtain the motor speed; 3. A method for correcting the speed measurement error of a motor according to claim 1, characterized in that, The conversion relationship between the simulated output speed and the actual output speed obtained in Step 2. The method for confirming the measured speed value according to the conversion relationship is: Simultaneously use speed measurement technology to measure the speed of the motor, and mark it as the actual output speed. Synchronously refers to restarting the test simulation device and actually measuring the speed of the motor; Obtain the maximum value of the actual output speed, and obtain the simulated output speed at the same moment. Subtract the actual output speed from the simulated output speed at this time, and mark the obtained value as the revised error; Step 4: Measure the speed of the actual motor working under the same conditions, obtain the maximum speed of the actual motor, and mark it as the actual speed to be verified; Add the revised error to the actual speed to be verified, and mark the obtained value as the measured speed; 4. A method for correcting the speed measurement error of a motor according to claim 1, characterized in that, The conversion relationship between the simulated output speed and the actual output speed obtained in Step 2. The method for confirming the measured speed value according to the conversion relationship is: The simulated output speed obtained by testing, simultaneously use speed measurement technology to measure the speed of the motor, and mark it as the actual output speed; The minimum and maximum values of the actual output speed are obtained. Starting from the minimum value, continuous values are taken at intervals of the set speed until the maximum value is reached. Several values are equally divided between the minimum and maximum values and marked as the measured speed point values; At the nodes of each measured speed point value, the mimic output speed is obtained. The mimic output speed is subtracted from the corresponding measured speed point value to obtain the measured speed point difference, which is marked as Di, where i = 1,..., n, indicating that there are n measured speed point differences; Similarly, the mimic output speed is divided by the measured speed point value to obtain several measured conversion ratios Bi, where i = 1,..., n; The deviation value one W1 of Di is calculated using the formula by obtaining Di and its mean value P. The specific calculation formula is: The deviation value two W2 of Bi is calculated in the same way; According to the relationship between W1 and W2, different treatments are performed on the actual speed to be verified to obtain the measured speed.

5. A method for correcting the speed measurement error of a motor according to claim 1, characterized in that, The transmission unit is to slow down the speed of the first gear to the set range through a certain transmission ratio by the first gear.

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