Velocity-measuring system and method for ultrahigh speed linear motor
阅读说明：本技术 用于超高速直线电机的测速系统和方法 (Velocity-measuring system and method for ultrahigh speed linear motor ) 是由 季旭 毛凯 张艳清 马逊 韦克康 张庆杰 康颖 王岩 于 2018-05-16 设计创作，主要内容包括：本发明涉及电机测速技术领域,公开了一种用于超高速直线电机的测速系统和方法。该系统包括：多个检测装置,设置在超高速直线电机中双列排布的超导线圈两侧,每一侧的检测装置用于检测对应列超导线圈中各超导线圈的运动距离,并在所检测的超导线圈的运动距离超过预定距离的情况下,产生与检测的超导线圈对应的脉冲,针对每一列超导线圈,对应列的每个检测装置输出一组脉冲；控制器,用于接收多个检测装置输出的多组脉冲,基于超导线圈的极距和超导线圈先后经过的两个检测装置之间的距离对多组脉冲进行多次差分迭代运算,并基于多次差分迭代运算后得到的脉冲和计算脉冲时间差计算超高速直线电机的速度。由此可实现超高速直线电机的非接触式高精度测速。(The present invention relates to motor speed measuring technical fields, disclose a kind of velocity-measuring system and method for ultrahigh speed linear motor.The system includes: multiple detection devices, the superconducting coil two sides that biserial is arranged in ultrahigh speed linear motor are set, the detection device of every side is used to detect the move distance of each superconducting coil in respective column superconducting coil, and in the case where the move distance of superconducting coil detected is more than preset distance, generate pulse corresponding with the superconducting coil of detection, for each column superconducting coil, each detection device of respective column exports a set of pulses；Controller, for receiving the multiple groups pulse of multiple detection device outputs, the distance between two detection devices that the pole span and superconducting coil of based superconductive coil successively pass through carry out multi-difference interative computation to multiple groups pulse, and the speed of ultrahigh speed linear motor is calculated based on the pulse and calculating burst length difference obtained after multi-difference interative computation.Thus it can realize that the non-contact type high-precision of ultrahigh speed linear motor tests the speed.)
1. a kind of velocity-measuring system for ultrahigh speed linear motor, which is characterized in that the system includes:
The superconducting coil two sides that biserial is arranged in the ultrahigh speed linear motor, the inspection of every side is arranged in multiple detection devices The move distance that device is used to detect each superconducting coil in respective column superconducting coil is surveyed, and in the movement of superconducting coil detected In the case that distance is more than preset distance, corresponding with superconducting coil detected pulse is generated, for each column superconducting coil, Each detection device of respective column exports a set of pulses；
Controller, for receiving the multiple groups pulse of the multiple detection device output, the pole span and superconducting line of based superconductive coil It encloses the distance between two detection devices successively passed through and multi-difference interative computation is carried out to multiple groups pulse, and be based on Multiple Differential Divide the pulse obtained after interative computation and calculates the speed that burst length difference calculates the ultrahigh speed linear motor.
2. system according to claim 1, which is characterized in that the number for carrying out Different iterative operation to multiple groups pulse is two It is secondary, and Different iterative operation twice is carried out to multiple groups pulse and includes:
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration subpulses.
3. system according to claim 2, which is characterized in that carry out first time difference to multiple groups pulse by following formula Interative computation obtains multiple first difference iteration subpulses:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate that superconducting coil is first Afterwards by the set of pulses that exports respectively of two detection devices, Φ (t) is the time letter of P1n and P1 (n+1) rising edge of a pulse Number, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successively passed through for superconducting coil The distance between two detection devices crossed.
4. system according to claim 3, which is characterized in that by following formula to multiple first difference iteration subpulses It carries out second of Different iterative operation and obtains multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that second order difference iteration subpulse, Φ ' (t) are the function of time of V1n and V1 (n+1) rising edge of a pulse, ω’(s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2Successively pass through for superconducting coil The distance between two detection devices.
5. system described in any one of -4 according to claim 1, which is characterized in that the multiple detection device is exported and examined The corresponding pulse of the superconducting coil of survey includes:
In the case where superconducting coil detected is the pole N, high level pulse corresponding with superconducting coil detected is exported；
In the case where superconducting coil detected is the pole S, low level pulse corresponding with superconducting coil detected is exported.
6. system described in any one of -4 according to claim 1, which is characterized in that the detection device is current vortex sensing Device.
7. a kind of speed-measuring method for ultrahigh speed linear motor, which is characterized in that this method comprises:
It is each in multiple detection devices of the superconducting coil two sides of biserial arrangement using being arranged in the ultrahigh speed linear motor The move distance of each superconducting coil in the detection device detection respective column superconducting coil of side, and in the fortune of superconducting coil detected In the case that dynamic distance is more than preset distance, pulse corresponding with superconducting coil detected is generated, for each column superconducting line Each detection device of circle, respective column exports a set of pulses；
The multiple groups pulse of the multiple detection device output, the pole span and superconducting coil of based superconductive coil are received using controller The distance between two detection devices successively passed through carry out multi-difference interative computation to multiple groups pulse, and are based on multi-difference The pulse and calculating burst length difference that obtain after interative computation calculate the speed of the ultrahigh speed linear motor.
8. the method according to the description of claim 7 is characterized in that the number for carrying out Different iterative operation to multiple groups pulse is two It is secondary, and Different iterative operation twice is carried out to multiple groups pulse and includes:
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration subpulses.
9. according to the method described in claim 8, it is characterized in that, carrying out first time difference to multiple groups pulse by following formula Interative computation obtains multiple first difference iteration subpulses:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate that superconducting coil is first Afterwards by the set of pulses that exports respectively of two detection devices, Φ (t) is the time letter of P1n and P1 (n+1) rising edge of a pulse Number, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successively passed through for superconducting coil The distance between two detection devices crossed.
10. according to the method described in claim 9, it is characterized in that, by following formula to multiple sub- arteries and veins of first difference iteration It rushes in second of Different iterative operation of row and obtains multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that first difference iteration subpulse, Φ ' (t) are the function of time of V1n and V1 (n+1) rising edge of a pulse, ω’(s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2Successively pass through for superconducting coil The distance between two detection devices.
Technical field
The present invention relates to motor speed measuring technical field more particularly to a kind of velocity-measuring system for ultrahigh speed linear motor and Method.
Background technique
In linear motor High-speed Control, velocity-measuring system is very crucial, is related to converting the real time position of mover to Electrical angle required for linear motor controls, and then drive control is carried out to linear motor using control strategies such as vector controlleds.
Currently, high-speed LEM is mainly used in the fields such as magnetic suspension traffic, electromagnetic propulsion, conventional contactless survey Fast method include inductive line intersected speed-measuring method, " pole span detection+beacon " method for locating speed measurement, Microwave Velocity localization method, It counts sleeper to test the speed with relative positioning speed-measuring method, ground laser distance speed-measuring method etc., but the above method tests the speed in ultrahigh speed There are the following problems in field:
Above-mentioned speed-measuring method is mostly that car body tests the speed, that is, tests the speed resolving in mobile target, need to wait modes by wireless communication The result that will test the speed is transmitted to ground linear electric motor controller, is resolved, and testing the speed in ultrahigh speed, there are larger delays in field, uncomfortable For high-speed LEM drive control；
The speed-measuring methods such as microwave are mostly that positional tests the speed, and rate accuracy is limited, are not suitable for high-speed LEM driving control System；
Ground laser distance speed-measuring method is out of office outer there are laser light scattering, tests the speed apart from limited, is not suitable for linear motor The problems such as bend tests the speed.
Summary of the invention
It is an object of the invention to overcome the shortage of prior art, provides and a kind of be for testing the speed for ultrahigh speed linear motor System and method, are able to solve that above-mentioned transmission delay in the prior art is big, rate accuracy is low and tests the speed apart from limited problem.
A kind of technical solution of the invention: velocity-measuring system for ultrahigh speed linear motor, wherein the system packet It includes:
The superconducting coil two sides that biserial is arranged in the ultrahigh speed linear motor, every side is arranged in multiple detection devices Detection device be used to detect the move distance of each superconducting coil in respective column superconducting coil, and in superconducting coil detected In the case that move distance is more than preset distance, pulse corresponding with superconducting coil detected is generated, for each column superconduction Each detection device of coil, respective column exports a set of pulses；
Controller, for receiving the multiple groups pulse of the multiple detection device output, the pole span of based superconductive coil and super The distance between two detection devices that loop is successively passed through carry out multi-difference interative computation to multiple groups pulse, and based on more The pulse and calculating burst length difference that obtain after secondary Different iterative operation calculate the speed of the ultrahigh speed linear motor.
Preferably, to multiple groups pulse carry out Different iterative operation number be twice, and to multiple groups pulse carry out it is poor twice Point interative computation includes:
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration Pulse.
Preferably, multiple first differences are obtained to multiple groups pulse progress first time Different iterative operation by following formula to change For subpulse:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate superconducting line Enclose the set of pulses that two detection devices successively passing through export respectively, Φ (t) be P1n and P1 (n+1) rising edge of a pulse when Between function, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2For superconducting coil elder generation Afterwards by the distance between two detection devices.
Preferably, second of Different iterative operation is carried out to multiple first difference iteration subpulses by following formula to obtain Multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that first difference iteration subpulse, Φ ' (t) are the time letter of V1n and V1 (n+1) rising edge of a pulse Number, ω ' (s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successive for superconducting coil The distance between two detection devices passed through.
Preferably, the multiple detection device exports pulse corresponding with superconducting coil detected and includes:
In the case where superconducting coil detected is the pole N, high level arteries and veins corresponding with superconducting coil detected is exported Punching；
In the case where superconducting coil detected is the pole S, low level arteries and veins corresponding with superconducting coil detected is exported Punching.
Preferably, the detection device is current vortex sensor.
The present invention also provides a kind of speed-measuring methods for ultrahigh speed linear motor, wherein this method comprises:
Using being arranged in the multiple detection devices for the superconducting coil two sides that biserial in the ultrahigh speed linear motor is arranged The move distance of each superconducting coil in the detection device detection respective column superconducting coil of every side, and in superconducting coil detected Move distance be more than preset distance in the case where, generate corresponding with superconducting coil detected pulse, surpass for each column Each detection device of loop, respective column exports a set of pulses；
The multiple groups pulse of the multiple detection device output, the pole span of based superconductive coil and superconduction are received using controller The distance between two detection devices that coil successively passes through carry out multi-difference interative computation to multiple groups pulse, and based on multiple The pulse and calculating burst length difference that obtain after Different iterative operation calculate the speed of the ultrahigh speed linear motor.
Preferably, to multiple groups pulse carry out Different iterative operation number be twice, and to multiple groups pulse carry out it is poor twice Point interative computation includes:
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration Pulse.
Preferably, multiple first differences are obtained to multiple groups pulse progress first time Different iterative operation by following formula to change For subpulse:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate superconducting line Enclose the set of pulses that two detection devices successively passing through export respectively, Φ (t) be P1n and P1 (n+1) rising edge of a pulse when Between function, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2For superconducting coil elder generation Afterwards by the distance between two detection devices.
Preferably, second of Different iterative operation is carried out to multiple first difference iteration subpulses by following formula to obtain Multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that first difference iteration subpulse, Φ ' (t) are the time letter of V1n and V1 (n+1) rising edge of a pulse Number, ω ' (s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successive for superconducting coil The distance between two detection devices passed through.
It arranges through the above technical solutions, biserial can be arranged in the ultrahigh speed linear motor in multiple detection devices Superconducting coil two sides, using every side detection device detection respective column superconducting coil in each superconducting coil move distance, And in the case where the move distance of superconducting coil detected is more than preset distance, generate corresponding with superconducting coil detected Pulse；Since column superconducting coil each in ultrahigh speed linear motor may include multiple superconducting coils, so being directed to each column Each detection device of superconducting coil, respective column can export a set of pulses；The each group of arteries and veins based on the output of each detection device The speed of ultrahigh speed linear motor can be calculated in punching, controller.Thus, it is possible to realize the non-contact of ultrahigh speed linear motor Formula high precision speed-measuring.
Detailed description of the invention
Included attached drawing is used to provide to be further understood from the embodiment of the present invention, and which constitute one of specification Point, for illustrating the embodiment of the present invention, and come together to illustrate the principle of the present invention with verbal description.It should be evident that below Attached drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creation Property labour under the premise of, be also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of block diagram of the velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention；
Fig. 2 is that a kind of sensor placement of the velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention shows It is intended to；
Fig. 3 is a kind of flow chart of the speed-measuring method for ultrahigh speed linear motor provided in an embodiment of the present invention.
Specific embodiment
Specific embodiments of the present invention are described in detail below in conjunction with attached drawing.In the following description, for solution Purpose and not restrictive is released, elaborates detail, to help to be apparent from the present invention.However, to those skilled in the art It is readily apparent that the present invention can also be practiced in the other embodiments departing from these details for member.
It should be noted that only showing in the accompanying drawings in order to avoid having obscured the present invention because of unnecessary details Gone out with closely related device structure and/or processing step according to the solution of the present invention, and be omitted with relationship of the present invention not Big other details.
Fig. 1 is a kind of block diagram of the velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of velocity-measuring systems for ultrahigh speed linear motor, wherein should System includes:
Multiple detection devices 10, the superconducting coil that biserial is arranged in the ultrahigh speed linear motor, which is arranged in, (can also claim For superconduction magnetic pole, for generating high-intensity magnetic field for linear motor high-speed motion) two sides, the detection device 10 of every side is for detecting pair Should in column superconducting coil each superconducting coil move distance (for example, movement of each superconducting coil relative to each detection device Distance, each detection device can detect each superconducting coil in respective column superconducting coil), and in superconduction detected In the case that the move distance of coil is more than preset distance, pulse corresponding with superconducting coil detected is generated, for each Column superconducting coil, each detection device 10 of respective column export a set of pulses (that is, including each superconducting line in the column superconducting coil Enclose corresponding pulse)；
Controller (controller for example, ground is tested the speed) 20, the multiple groups arteries and veins exported for receiving the multiple detection device 10 Punching, the distance between two detection devices 10 that the pole span and superconducting coil of based superconductive coil successively pass through are (in detection device Position determine in the case where, distance between any two can be known) to multiple groups pulse carry out multi-difference iteration Operation, and based on the pulse obtained after multi-difference interative computation and calculate the burst length difference calculating ultrahigh speed linear motor Speed.
Wherein, burst length difference is calculated to refer in the pulse for participating in Different iterative operation between initial time and finish time Difference.
In Fig. 1, for simplicity purposes, a detection device 10 is illustrated only, but not indicate that the system only includes One detection device 10.
It arranges through the above technical solutions, biserial can be arranged in the ultrahigh speed linear motor in multiple detection devices Superconducting coil two sides, using every side detection device detection respective column superconducting coil in each superconducting coil move distance, And in the case where the move distance of superconducting coil detected is more than preset distance, generate corresponding with superconducting coil detected Pulse；Since column superconducting coil each in ultrahigh speed linear motor may include multiple superconducting coils, so being directed to each column Each detection device of superconducting coil, respective column can export a set of pulses；The each group of arteries and veins based on the output of each detection device The speed of ultrahigh speed linear motor can be calculated in punching, controller.Thus, it is possible to realize the non-contact of ultrahigh speed linear motor Formula high precision speed-measuring.
Also, the velocity amplitude measured for the velocity-measuring system of ultrahigh speed linear motor can be supplied directly through the invention Drive and control of electric machine carries out electrical angle resolving, and avoiding needs wireless transmission bring transmission delay after mobile target tests the speed.
According to an embodiment of the present invention, the number for carrying out Different iterative operation to multiple groups pulse can be and right for twice Multiple groups pulse carries out Different iterative operation twice
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration Pulse.
Thus, it is possible to carry out more wheel Different iterative operations to multiple groups pulse, and then it can use more wheel Different iterative operations Result calculate super high speed motor final speed value.
According to an embodiment of the present invention, the operation of first time Different iterative can be carried out to multiple groups pulse by following formula Obtain multiple first difference iteration subpulses:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate superconducting line Enclose the set of pulses that two detection devices successively passing through export respectively, Φ (t) be P1n and P1 (n+1) rising edge of a pulse when Between function, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2For superconducting coil elder generation Afterwards by the distance between two detection devices 10.
For example, it is four with the quantity of detection device 10 to be illustrated.Four detection devices 10 can export respectively Pulse P1, P2, P3 and P4, by above formula carry out the available three first differences iteration subpulse P11 of first difference operation, P12、P13。
According to an embodiment of the present invention, second can be carried out to multiple first difference iteration subpulses by following formula Secondary Different iterative operation obtains multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that first difference iteration subpulse, Φ ' (t) are the time letter of V1n and V1 (n+1) rising edge of a pulse Number, ω ' (s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successive for superconducting coil The distance between two detection devices 10 passed through.
For example, it is four with the quantity of detection device 10 to be illustrated.By above formula to three first difference iteration Subpulse P11, P12, P13 carry out available three second order differences iteration subpulse V11, the V12 of second of calculus of differences.
It will be appreciated by those skilled in the art that the number of above-mentioned Different iterative operation is only exemplary, it is not intended to Limit the present invention.Those skilled in the art can Different iterative operation determines according to actual conditions number.Similarly, this field Technical staff can detection device 10 determines according to actual conditions quantity.
For example, the different numbers for requiring selection Different iterative operation can be responded according to the motor control of institute's drive control, Preferably to improve rate accuracy while not increasing and testing the speed the response time.
According to an embodiment of the present invention, the multiple detection device 10 exports arteries and veins corresponding with superconducting coil detected Punching may include:
In the case where superconducting coil detected is the pole N, high level arteries and veins corresponding with superconducting coil detected is exported Punching；
In the case where superconducting coil detected is the pole S, low level arteries and veins corresponding with superconducting coil detected is exported Punching.
According to an embodiment of the present invention, the detection device 10 can be for example current vortex sensor (alternatively, magnetic-type connects Nearly switch).
Fig. 2 is that a kind of sensor placement of the velocity-measuring system for ultrahigh speed linear motor provided in an embodiment of the present invention shows It is intended to.
In fig. 2 it is possible to be illustrated with surveyed target highest running speed 200m/s.
As shown in Fig. 2, the superconducting coil that biserial is arranged in ultrahigh speed linear motor for example can be 8 (each column 4), often The pole N, the pole S interlaced arrangement in one column；The quantity of detection device for example can be four (respectively A1, A2, A3 and A4), one Length direction to N/S magnetic pole (superconduction magnetic pole) or so interlaced arrangement (for example, according to operation starting point at a distance from from the near to the distant Motor two sides are disposed alternately at, and on the outside of superconduction magnetic pole between distance and detection device (for example, current vortex sensor magnetic head) Spacing for example can be within 60mm).
In such a way that detection device is set along linear motor side, the generation of linear motor superconduction magnetic pole can make full use of Strong stability magnetic field, suitable for testing the speed under the different operation such as straight line, bend, and limited without test the speed distance, the condition that tests the speed etc..
For example, pass through a detection device preset distance (in this example in the superconduction magnetic pole of ultrahigh speed linear motor In, preset distance can be 60mm) when, which can produce the tachometer pulse of certain level, and the pole N generates high level, S Pole generates low level.Similarly, ultrahigh speed linear motor superconduction magnetic pole is every passes through a detection device, corresponding detection device phase The tachometer pulse of certain level can be generated with answering.For example, being accelerated through four pre- spacings of detection device in all superconduction magnetic poles From in the case where, four detection devices A1, A2, A3 and A4 can successively generate corresponding pulse P1, P2, P3 and P4 respectively.
It will be appreciated by those skilled in the art that the above-mentioned description as described in Fig. 2 is only exemplary, it is not intended to limit this Invention.
Fig. 3 is a kind of flow chart of the speed-measuring method for ultrahigh speed linear motor provided in an embodiment of the present invention.
As shown in figure 3, the embodiment of the invention provides a kind of speed-measuring methods for ultrahigh speed linear motor, wherein should Method may include:
S300 is filled using multiple detections that the superconducting coil two sides that biserial is arranged in the ultrahigh speed linear motor are arranged in The move distance of each superconducting coil in the detection device detection respective column superconducting coil of every side is set, and in superconduction detected In the case that the move distance of coil is more than preset distance, pulse corresponding with superconducting coil detected is generated, for each Each detection device of column superconducting coil, respective column exports a set of pulses；
S302 receives the multiple groups pulse of the multiple detection device output, the pole span of based superconductive coil using controller The distance between two detection devices successively passed through with superconducting coil carry out multi-difference interative computation, and base to multiple groups pulse The pulse and calculating burst length difference that obtain after multi-difference interative computation calculate the speed of the ultrahigh speed linear motor.
It arranges through the above technical solutions, biserial can be arranged in the ultrahigh speed linear motor in multiple detection devices Superconducting coil two sides, using every side detection device detection respective column superconducting coil in each superconducting coil move distance, And in the case where the move distance of superconducting coil detected is more than preset distance, generate corresponding with superconducting coil detected Pulse；Since column superconducting coil each in ultrahigh speed linear motor may include multiple superconducting coils, so being directed to each column Each detection device of superconducting coil, respective column can export a set of pulses；The each group of arteries and veins based on the output of each detection device The speed of ultrahigh speed linear motor can be calculated in punching, controller.Thus, it is possible to realize the non-contact of ultrahigh speed linear motor Formula high precision speed-measuring.
According to an embodiment of the present invention, the number for carrying out Different iterative operation to multiple groups pulse in S302 can be two It is secondary, and Different iterative operation twice is carried out to multiple groups pulse and may include:
The operation of first time Different iterative is carried out to multiple groups pulse and obtains multiple first difference iteration subpulses；
Second of Different iterative operation is carried out to multiple first difference iteration subpulses and obtains multiple second order difference iteration Pulse.
According to an embodiment of the present invention, the operation of first time Different iterative can be carried out to multiple groups pulse by following formula Obtain multiple first difference iteration subpulses:
P1n=[(Pn+1-Pn)/Φ (t)] ω (s1,s2)；
Wherein, n indicates the serial number of detection device, and P1n indicates that first difference iteration subpulse, Pn and Pn+1 indicate superconducting line Enclose the set of pulses that two detection devices successively passing through export respectively, Φ (t) be P1n and P1 (n+1) rising edge of a pulse when Between function, ω (s1,s2) be P1n and P1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2For superconducting coil elder generation Afterwards by the distance between two detection devices.
For example, it is four with the quantity of detection device 10 to be illustrated.Four detection devices 10 can export respectively Pulse P1, P2, P3 and P4, by above formula carry out the available three first differences iteration subpulse P11 of first difference operation, P12、P13。
According to an embodiment of the present invention, second can be carried out to multiple first difference iteration subpulses by following formula Secondary Different iterative operation obtains multiple second order difference iteration subpulses:
V1n=[(P1 (n+1)-P1n)/Φ ' (t)] ω ' (s1,s2)；
Wherein, V1n indicates that first difference iteration subpulse, Φ ' (t) are the time letter of V1n and V1 (n+1) rising edge of a pulse Number, ω ' (s1,s2) be V1n and V1 (n+1) pulse distance function, s1For the pole span of superconducting coil, s2It is successive for superconducting coil The distance between two detection devices passed through.
For example, it is four with the quantity of detection device 10 to be illustrated.By above formula to three first difference iteration Subpulse P11, P12, P13 carry out available three second order differences iteration subpulse V11, the V12 of second of calculus of differences.
The method of above-mentioned Fig. 2 description is corresponding with the system that earlier figures 1 describe, and specific example explanation may refer to aforementioned pass In the explanation of the system of Fig. 1 description, details are not described herein.
From above-described embodiment as can be seen that the velocity-measuring system and method for the present invention for ultrahigh speed linear motor is adopted , can be directly for linear motor drive control with ground speed testing mode, eliminating needs wireless transmission bring after mobile target tests the speed Transmission delay；Also, by different sensor placements, rate accuracy can be improved, for meeting straight line under different high speeds Needed for motor control.
As above it describes for a kind of embodiment and/or the feature that shows can be in a manner of same or similar at one or more It is used in a number of other embodiments, and/or combines or substitute the feature in other embodiments with the feature in other embodiments It uses.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously It is not excluded for the presence or additional of one or more other features, one integral piece, step, component or combinations thereof.
The system and method more than present invention can be by hardware realization, can also be by combination of hardware software realization.The present invention It is related to such computer-readable program, when the program is performed by logical block, the logical block can be made to realize above The device or component parts, or the logical block is made to realize various method or steps described above.The invention further relates to For storing the storage medium of procedure above, such as hard disk, disk, CD, DVD, flash memory.
The many features and advantage of these embodiments are clear according to the detailed description, therefore appended claims are intended to Cover all these feature and advantage of these embodiments fallen into its true spirit and range.Further, since this field Technical staff is readily apparent that many modifications and changes, therefore is not meant to for the embodiment of the present invention to be limited to illustrated and description essence Really structurally and operationally, but all suitable modifications and the equivalent fallen within the scope of its can be covered.
Unspecified part of the present invention is known to the skilled person technology.
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