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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 63, NO. 5, MAY 2014
I. I NTRODUCTION
0018-9456 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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Fig. 1. Sensing arrangement and principle of the rotational speed measurement system.
Fig. 2. Typical signals from the electrostatic sensors and resulting correlation
function.
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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 63, NO. 5, MAY 2014
Fig. 3.
Structure of the electrostatic sensor. (a) Electrode on one side of the PCB. (b) Preamplifier circuit on the other side of the PCB.
Fig. 4.
Given a pair of signals Si (t) and S j (t) with zero mean, their
corresponding raw correlation function Ri j (t) between them
is given by
Ri j (m) =
1
N
N|m|1
Si (k)S j (k + m)
(1)
k=0
Si (k)S j (k + m)
=
.
ri j (m) =
Rii (0) R j j (0)
N1
N1
2
2
Si (k)
S j (k)
Ri j (m)
The angular speed between the two signals Si (t) and S j (t)
is given by
i j =
n1
k=0
(2)
This normalized cross correlation is preferred to other forms
in this study to obtain the correlation coefficient, which is
the peak value in the correlation function within the range
[1, 1] as a measure of the similarity between the
two signals [13], [14]. Fig. 2 shows a typical example of the signals and resulting correlation function with
the dominant peak marked out by an arrow on the time
axis. In this example, the correlation coefficient is 0.92.
The other major peaks in the correlation function (Fig. 2)
are due to the periodic nature of the rotational motion
(Fig. 1).
(3)
k=0
k=0
( j i )2
ni j
n
i=1 j =i+1
n1
ri j i j
n
i=1 j =i+1
(4)
ri j
(5)
With this measurement principle, the direction of the rotation motion can also be identified from the location of the
RPM =
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TABLE I
T EST P ROGRAM
Fig. 5.
Fig. 7.
Fig. 6.
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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 63, NO. 5, MAY 2014
Fig. 8. Correlation functions between the four original signals. (a) S1 and S2 . 12 = 0.005 s. r12 = 0.9797. (b) S2 and S3. 23 = 0.005 s. r23 = 0.9687.
(c) S3 and S4. 34 = 0.005 s. r34 = 0.9723. (d) S1 and S3. 13 = 0.0102 s. r13 = 0.9358. (e) S2 and S4. 24 = 0.0100 s. r24 = 0.9342. (f) S1 and S4.
14 = 0.0150 s. r14 = 0.9200.
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Fig. 9. Comparison between the measured and reference speed. (a) Measured
speed from 60-mm shaft. (b) Measured speed from 120-mm shaft.
Fig. 10.
Relative error of the measured rotational speed. (a) Relative
error: 60-mm shaft. (b) Relative error: 120-mm shaft.
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Fig. 11.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 63, NO. 5, MAY 2014
100%
(7)
=
RPM
where and RPM are the standard deviation and average
value of the measured speed, respectively. The reason to
normalize the absolute standard deviation ( ) to the average
value (RPM) is to achieve a percentage-wise representation of
the repeatability, regardless of the magnitude of the measurand.
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Fig. 13.
Fig. 12. Normalized standard deviation of the measured speed for the two
different sized shafts. (a) Normalized standard deviation: 60-mm-diameter
shaft. (b) Normalized standard deviation: 120-mm-diameter shaft.
Fig. 14.
S4 (t).
H. Correlation Coefficient
The correlation coefficient usually depends on the spacing of
the electrodes and the signal-to-noise ratio. A shorter spacing
gives rise to a better similarity between the two signals and
hence higher correlation coefficient. Due to the continuous
rotational motion especially at a higher speed and the presence
of the metal shield, the electrostatic field due to air friction is
relatively stable and hence the signals have a high similarity.
As shown in Fig. 14, the correlation coefficients between
S1 (t) and S2 (t), S1 (t) and S3 (t), and S1 (t) and S4 (t) are
all greater than 0.85. As expected, the closer the sensor
pair, the greater the correlation coefficient. In addition, a
higher rotational speed yields consistently higher correlation
coefficient due to the increased air friction. The correlation
coefficient for the 120-mm shaft is consistently greater than
0.96 and under such conditions, the speed measurement is very
reliable and accurate.
IV. C ONCLUSION
The experimental investigations into the use of electrostatic sensors and correlation signal processing techniques
for the rotational speed measurement have been conducted.
The results obtained have demonstrated that the measurement
system performs well with a maximum error no greater
than 2% under all test conditions over the speed range
03000 r/min. The results have suggested that a shorter
distance between the electrodes and the surface of the
rotational shaft gives better results. The experimental system
has produced more accurate results under higher rotational
speed conditions due to increased electrostatic charge on the
shaft. A larger rotor has generated more charge on its surface
and hence better results. In general, a higher rotational speed, a
shorter distance between the shaft surface and the electrodes,
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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 63, NO. 5, MAY 2014
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Lijuan Wang received the B.Eng. degree in computer science and technology from Qiqihar University, Heilongjiang, China, in 2010. She is currently pursuing the Ph.D. degree in measurement
and automation with North China Electric Power
University, Beijing, China.
Her current research interests include sensor
design, digital signal processing, and software development.
Yonghui Hu received the B.Eng. degree in automation from the Beijing Institute of Technology, Beijing, China, and the Ph.D. degree in dynamics and
control from Peking University, Beijing, in 2004 and
2009, respectively.
He was a Post-Doctoral Research Fellow with Beihang University, Beijing, from 2010 to 2012. He is
currently a Lecturer with the School of Control and
Computer Engineering, North China Electric Power
University, Beijing. His current research interests
include on-line particle sizing, electrostatic sensing,
and advanced mechatronics.
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