CN105526954A - Reluctance-type rotary transformer signal processing method - Google Patents
Reluctance-type rotary transformer signal processing method Download PDFInfo
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- CN105526954A CN105526954A CN201610029321.3A CN201610029321A CN105526954A CN 105526954 A CN105526954 A CN 105526954A CN 201610029321 A CN201610029321 A CN 201610029321A CN 105526954 A CN105526954 A CN 105526954A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a reluctance-type rotary transformer signal processing method, which is used for processing two output signals of two output windings of a reluctance-type rotary transformer. The signal processing method comprises the following steps: to begin with, ensuring that the two output signals synchronize in specified shaking; then, carrying out correction on extracted two low-frequency signals, correcting phase deviation of two correction signals through cos(theta) trigonometric function operation and finally obtaining an electrical angle instantaneous value in electrical angle period; obtaining a specific angle from the electrical angle instantaneous value according to a mechanical angle zero position reference point signal, and converting the specific angle into a corresponding rotor position mechanical angle; carrying out negative feedback on the mechanical angle and system angle error compensation amount to generate an angle th; and obtaining angular velocity omega by carrying out velocity calculation on the angle th. The method can improve the precision of the angle th and the precision of the angular velocity omega of the reluctance-type rotary transformer.
Description
Technical field
The present invention relates to a kind of signal processing method, particularly relate to a kind of signal processing method of magnetoresistance transformer.
Background technology
Rotary transformer is that one is stablized and efficient sensor, is often built in servomotor afterbody, as Position And Velocity sensor; The position sensing of drive motor and generator, the position of electric boosted bearing circle motor and velocity pick-up, gas valve measurement of angle, the position measurement of vacuum chamber forwarder angle etc. in electric automobile are all adopt rotary transformer.
Field copper and the output winding of magnetoresistance transformer are placed in same set of stator slot, maintain static.But the form of field copper and output winding is different.The output signal of two phase windings, makes sinusoidal variations with corner, differs 90 ° of electrical angles each other.Compared with having the rotary transformer of brush rotary transformer, toroidal transformer type, reliability, the manufacturability of magnetoresistance transformer, structural, cost, length dimension are little is all best, is thus widely used.But also can produce output signal deviation because of following factors: installation deviation causes stator and rotor eccentricity; Rotor core shape or material uneven; Magnetic hysteresis or saturated; The impact of machinery radial force; Electromagnetic interference (EMI); Limited winding quantity; Slot effect; Temperature variation.Therefore other two kinds of rotary transformers of ratio of precision are low.
The signals of rotating transformer deviation produced because of intrinsic factors such as installation deviation, manufacture deviation, material are uneven, radial force, winding quantity, slot effects systematic bias; Because the probabilistic deviation of signal of rotary transformer that causes of magnetic hysteresis or saturated, order dishes interference, temperature variation etc. is deviation from randomness.Correct system deviation, carry out real-Time Compensation to deviation from randomness, the precision improving the output signal of magnetoresistance transformer expands the key used.
Summary of the invention
The present invention proposes a kind of signal processing method of magnetoresistance transformer, it is used for processing the output signal of magnetoresistance transformer, improves angle precision and the velocity accuracy of magnetoresistance transformer.
The present invention realizes by the following technical solutions: a kind of signal processing method of magnetoresistance transformer, it exports two of windings to output signal, with the precision of the precision and angular velocity omega that improve the angle th of magnetoresistance transformer for the treatment of two of magnetoresistance transformer; This signal processing method comprises the following steps:
Trajectory signal sinalA and trajectory signal sinalB is obtained by the extraction outputed signal this two couple;
Angle th and angular velocity omega is exported after processing two trajectory signals;
Wherein, the process of two trajectory signals comprises:
Receive an interrupt request singal IRQ, generate a recovered carrier signal sign, a square-wave signal with adjustable phase position; This square-wave signal imports the field copper (8) of magnetoresistance transformer (3) on the one hand into, is digital signal on the other hand and is affected output trajectory signal sinalA and trajectory signal sinalB by over-sampling by analog to digital conversion; This square-wave signal guarantees that this two couple output signal is all synchronized with the shake of regulation;
From trajectory signal sinalA and trajectory signal sinalB, low frequency signal is extracted respectively according to recovered carrier signal sign;
Two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with a corrected value, being multiplied to realize offseting with the correction of gain, also by correcting the phase deviation of two correction signals to the trigonometric function operation of cos (θ), the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle;
From electrical angle instantaneous value th_inc, a special angle is obtained according to a mechanical angle zero position reference point signal zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech, a mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th, and angle th calculates angular velocity omega through speed.
As the further improvement of such scheme, the acquisition of two trajectory signals: this two couple being outputed signal analog to digital conversion is respectively two pairs of digital signals; Over-sampling two pairs of digital signals obtain output trajectory signal sinalA and trajectory signal sinalB respectively.
Further, before analog to digital conversion, respectively two to output signal, low-pass filtering is done to this.
As the further improvement of such scheme, this square-wave signal is by resupplying field copper after filtering, operation amplifier.
As the further improvement of such scheme, when extracting low frequency signal, after reinsertion of carrier sign is multiplied respectively with two trajectory signals, extract low frequency signal respectively again.
As the further improvement of such scheme, when displacement gain-phase compensates, first two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with this corrected value, being multiplied to realize offseting with the correction of gain; Then under correction signal cos (θ) and correction signal sin (θ) being transformed into polar coordinate system from rectangular coordinate system; Then under polar coordinate system, calculate compensation rate i.e. this corrected value of electrical angle instantaneous value th_inc; Finally adopt the trigonometric function operation to trajectory signal cos (θ) according to this corrected value, correct the phase deviation of its contrast trajectory signal sin (θ).
Further, in the step that correction signal cos (θ) and correction signal sin (θ) obtain, after cutting this corrected value from the low frequency signal of trajectory signal sinalA extraction by negative feedback, input carries out rectangular coordinate to polar conversion on the one hand, exports a particular value after being multiplied by this corrected value on the other hand; The low frequency signal extracted from trajectory signal sinalB cuts this corrected value by negative feedback, and after being multiplied by this corrected value, then carry out rectangular coordinate again to polar conversion after cutting this particular value by negative feedback.
Further, rectangular coordinate adopts Coordinate Rotation Digital computing method the point (x, y) under the rectangular coordinate system of standard to be converted to (r, θ) under polar coordinate system to polar conversion; The Coordinate Rotation Digital computing method completed by the equally spaced scan mode of the anglec of rotation calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).
Again further, the equally spaced scan mode of the anglec of rotation is: the sampling zones in the electrical angle cycle is n district, segments again m community in each subregion, and be divided into n × m subregion in electrical angle cycle 360 °, n, m are positive integer.
As the further improvement of such scheme, during system perspective error correction, from electrical angle instantaneous value th_inc, obtain a special angle according to zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech; A mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th; Angular velocity omega is calculated through speed according to angle th; This system perspective error compensation amount is adjusted according to angular velocity omega and mechanical angle th_mech.
The present invention, by the correction to system deviation, to the real-Time Compensation of deviation from randomness, improves the precision of the output signal of magnetoresistance transformer, namely improves angle precision and the velocity accuracy of magnetoresistance transformer.
Accompanying drawing explanation
Fig. 1 is the signal processing method process flow diagram of magnetoresistance transformer of the present invention.
Fig. 2 is the process flow figure of two trajectory signals in Fig. 1.
Fig. 3 is the structural representation of the signal processing system of the magnetoresistance transformer realizing method in Fig. 1.
Fig. 4 is one of them output signal of magnetoresistance transformer in Fig. 3 and the relation schematic diagram adopting time point.
Fig. 5 is the signal conversion of signal processing system in Fig. 3 and the circuit diagram of over-sampling, and its output signal to magnetoresistance transformer does process in early stage.
Fig. 6 is the circuit diagram of the synchronous detection of signal processing system in Fig. 3 and skew, gain, phase adaptation, and it does deviation from randomness process to the output signal of magnetoresistance transformer.
Fig. 7 is the differentiation schematic diagram of coordinate transformation circuit for electrical angle of signal processing system in Fig. 6.
Fig. 8 is the rear portion circuit diagram of signal processing system in Fig. 1, and it does deviation from randomness process to the output signal of magnetoresistance transformer.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The signal processing method of magnetoresistance transformer of the present invention exports two of windings to output signal, with the precision of the precision and angular velocity omega that improve the angle th of magnetoresistance transformer for the treatment of two of magnetoresistance transformer.Refer to Fig. 1, signal processing method comprises the following steps.
Step S1, two made low-pass filtering to output signal to this respectively before analog to digital conversion.
Step S2, this two couple being outputed signal analog to digital conversion is respectively two pairs of digital signals.In other embodiments, also directly can carry out analog to digital conversion, and omit low-pass filtering step.In addition, when analog to digital conversion, process fully differential anti-aliasing filter can be coordinated.
Step S3, over-sampling two pairs of digital signals obtain output trajectory signal sinalA and trajectory signal sinalB respectively.
Step S4, exports angle th and angular velocity omega after processing two trajectory signals.
For the process of two trajectory signals of step S4, incorporated by reference to Fig. 2, the process of two trajectory signals comprises the following steps.
Step S5, receives an interrupt request singal IRQ, generates a recovered carrier signal sign, a square-wave signal with adjustable phase position; This square-wave signal imports the field copper of magnetoresistance transformer on the one hand into, is digital signal on the other hand and is affected output trajectory signal sinalA and trajectory signal sinalB by over-sampling by analog to digital conversion; This square-wave signal guarantees that this two couple output signal is all synchronized with the shake of regulation.Wherein, this square-wave signal is by resupplying field copper after filtering, operation amplifier.
Step S6, extracts low frequency signal according to recovered carrier signal sign respectively from trajectory signal sinalA and trajectory signal sinalB.Wherein, when extracting low frequency signal, after reinsertion of carrier sign can being multiplied respectively with two trajectory signals, low frequency signal is extracted respectively again.
Step S7, two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with a corrected value, being multiplied to realize offseting with the correction of gain, also by correcting the phase deviation of two correction signals to the trigonometric function operation of cos (θ), the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle.Wherein, when displacement gain-phase compensates, first two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with this corrected value, being multiplied to realize offseting with the correction of gain; Then under correction signal cos (θ) and correction signal sin (θ) being transformed into polar coordinate system from rectangular coordinate system; Then under polar coordinate system, calculate compensation rate i.e. this corrected value of electrical angle instantaneous value th_inc; Finally adopt the trigonometric function operation to trajectory signal cos (θ) according to this corrected value, correct the phase deviation of its contrast trajectory signal sin (θ).In the step that correction signal cos (θ) and correction signal sin (θ) obtain, after cutting this corrected value from the low frequency signal of trajectory signal sinalA extraction by negative feedback, input carries out rectangular coordinate to polar conversion on the one hand, exports a particular value after being multiplied by this corrected value on the other hand; The low frequency signal extracted from trajectory signal sinalB cuts this corrected value by negative feedback, and after being multiplied by this corrected value, then carry out rectangular coordinate again to polar conversion after cutting this particular value by negative feedback.Rectangular coordinate adopts Coordinate Rotation Digital computing method the point (x, y) under the rectangular coordinate system of standard to be converted to (r, θ) under polar coordinate system to polar conversion; The Coordinate Rotation Digital computing method completed by the equally spaced scan mode of the anglec of rotation calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).The equally spaced scan mode of the anglec of rotation is: the sampling zones in the electrical angle cycle is n district, segments again m community in each subregion, and be divided into n × m subregion in electrical angle cycle 360 °, n, m are positive integer.
Step S8, from electrical angle instantaneous value th_inc, a special angle is obtained according to a mechanical angle zero position reference point signal zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech, a mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th, and angle th calculates angular velocity omega through speed.Wherein, during system perspective error correction, from electrical angle instantaneous value th_inc, obtain a special angle according to zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech; A mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th; Angular velocity omega is calculated through speed according to angle th; This system perspective error compensation amount is adjusted according to angular velocity omega and mechanical angle th_mech.
For the signal processing method of above-mentioned magnetoresistance transformer, the signal processing system that the present invention devises corresponding magnetoresistance transformer gives corresponding enforcement.
Incorporated by reference to Fig. 3, magnetoresistance transformer 3 comprises two and exports winding 9, field copper 8.Two export winding 9 and have two to output signal, refer to the trajectory signal of difference in the present embodiment, and this two couple output signal exports angle th and the angular velocity omega with better precision after signal processing method process of the present invention.
Signal processing system comprises two low-pass filters, 4, two signal A/D change-over circuits, 5, two over-sampling circuits, 6, signal processing circuit.Two low-pass filters, 4, two signal A/D change-over circuits, 5, two over-sampling circuits 6 one_to_one corresponding respectively, to realize respectively to the process in early stage of this two couple output signal.Two low-pass filters 4 are electrically connected at two respectively and export between winding 9 and corresponding A/D change-over circuit 5.Two low-pass filters 4 two carry out low-pass filtering to output signal to this respectively, are resent to two A/D change-over circuits 5 respectively to be converted to two pairs of digital signals.Low-pass filter 4 can be fully differential frequency overlapped-resistable filter.Two pairs of digital signals are respectively through two over-sampling circuit 6 output trajectory signal sinalA and trajectory signal sinalB, and two trajectory signals export angle th and angular velocity omega after this signal processing circuit process.
As shown in Figure 4, two over-sampling circuits 6 are the resolution for improving whole system, and the curve I in Fig. 4 is one of them output signal of magnetoresistance transformer 3, and lines region II is oversampled points.
Incorporated by reference to Fig. 5, two couples output signal sin/COS of magnetoresistance transformer 3, successively respectively through two low-pass filters, 4, two A/D converters 5 (such as 12bit), two over-sampling circuits 6 (to improve resolution, such as increasing line counting 3bit).Two couples output signal processing procedure of magnetoresistance transformer 3: first use A/D converter 5 that the output signal receiving corresponding output winding 9 is converted to digital value, resolution is herein higher, obtains magnetic resistance angular resolution better; Then use oversampling technique that is quick, Multiple-Scan, improve the resolution of signal significantly.
This signal processing circuit comprises high stability oscillator 7, synchro detection circuit 10, displacement gain-phase compensating circuit 12, system perspective error correction circuit.Design of the present invention needs trajectory signal sinalA and trajectory signal sinalB Complete Synchronization.But for the chip that over-sampling circuit 6 uses, such as FPGA, its clock is asynchronous operation.Therefore, the present invention designs oscillator 7 (numeral _ PLL) and guarantees that all signals are all synchronized with the shake of regulation.
Oscillator 7 receives an interrupt request singal IRQ, generates a recovered carrier signal sign, a square-wave signal with adjustable phase position.This square-wave signal imports the field copper 8 of magnetoresistance transformer 3 on the one hand into, on the other hand input signal A/D change-over circuit 5, then imports over-sampling circuit 6 on the one hand, this square-wave signal oscillator 7 is guaranteed this two couple output signal is all synchronized with the shake of regulation.This square-wave signal is supplied to field copper 8 preferably by a wave filter, an operational amplifier.Before use A/D change-over circuit 5, fully differential frequency overlapped-resistable filter can be equipped with, exceed the frequency content of ADC scope with filtering.
Therefore, numeral _ PLL can generate a square-wave signal with adjustable phase position, and this square-wave signal can be supplied to the field copper 8 of magnetoresistance transformer 3 by wave filter and operational amplifier, and control excitation, this excitation can be converted into sinusoidal excitation.
After signal conversion and over-sampling, the output signal of magnetoresistance transformer 3 is converted into the output signal identical with the incremental encoder of standard: A+B+Z, z=sign, can carry out follow-up signal transacting with the incremental encoder signal treating apparatus of standard.
Incorporated by reference to Fig. 6, synchro detection circuit 10 extracts low frequency signal according to recovered carrier signal sign respectively from trajectory signal sinalA and trajectory signal sinalB.At above-mentioned described signaling conversion circuit (as A/D change-over circuit 5) and over-sampling circuit 6, the output signal of original magnetoresistance transformer 3 there will be through input amplifier and A/D converter offset, the electromagnetic interference (EMI) that experiences can make the amplitude of signal, phase place distorts.Therefore trajectory signal sinalA and sinalB is needed to be adjusted to synchronous regime.Therefore, can synchronous detection be carried out after signal converts, then just can correct with the signal with continuous self-regulation skew, gain compensation and phase compensation function.The present invention is different from the general method of synchronization, more special: synchro detection circuit 10 of the present invention adopts Type Multiplicative synchro detection circuit, and under the positive cooperation of oscillator 7, synchro detection circuit 10 extracts low frequency signal after reinsertion of carrier sign is multiplied respectively with two trajectory signals more respectively.Two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with a corrected value, being multiplied to realize offseting with the correction of gain by displacement gain-phase compensating circuit 12, also by correcting the phase deviation of two correction signals to the trigonometric function operation of cos (θ), the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle.
Displacement gain-phase compensating circuit 12 comprises main compensation circuit 11, compensation rate counting circuit 14, coordinate transformation circuit 13, multiplier 1.Two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with this corrected value, being multiplied to realize offseting with the correction of gain by main compensation circuit 11.Under correction signal cos (θ) and correction signal sin (θ) are transformed into polar coordinate system by coordinate transformation circuit 13 from rectangular coordinate system.Compensation rate counting circuit 14 calculates compensation rate i.e. this corrected value of electrical angle instantaneous value th_inc under polar coordinate system.
Multiplier 1 adopts the trigonometric function operation of cos (θ) to correct the phase deviation brought by two correction signals according to this corrected value, and this is also one of key of the present invention.Particularly, multiplier 1 adopts the trigonometric function operation to trajectory signal cos (θ) according to this corrected value, corrects the phase deviation of its contrast trajectory signal sin (θ).Because sin and cos phase differential difference 90 degree, and there is great possibility and no longer keep phase differential to be just in time 90 degree in sin and cos after some column circuits process, may be advanced also likely delayed, be present in phase differential between sin and cos, and advanced or delayed degree is also Uncertainty.
Main compensation circuit 11 is main circuits of displacement gain-phase compensating circuit 12, comprises negative feedback subtracter one, negative feedback subtracter two, negative feedback subtracter three, multiplier two, multiplier three.The low frequency signal extracted from trajectory signal sinalA to cut after this corrected value input coordinate change-over circuit on the one hand by negative feedback subtracter one, exports a particular value after being multiplied by this corrected value on the other hand by multiplier two.The low frequency signal extracted from trajectory signal sinalB cuts this corrected value by negative feedback subtracter two, and after being multiplied by this corrected value by multiplier three, then to cut after this particular value input coordinate change-over circuit 13 again by negative feedback subtracter three.
Coordinate transformation circuit 13 is the change-over circuit of rectangular coordinate and polar coordinate system, by Coordinate Rotation Digital computing method the point (x under the rectangular coordinate system of standard, y) (the r under polar coordinate system is converted to, θ), the Coordinate Rotation Digital computing method completed by the equally spaced scan mode of the anglec of rotation calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).The equally spaced scan mode of the anglec of rotation is: the sampling zones in the electrical angle cycle is n district, segments again m community in each subregion, and be divided into n × m subregion in electrical angle cycle 360 °, n, m are positive integer.As, in the present embodiment, n=16, m=8, the sampling zones in the electrical angle cycle is 16 districts, segments again 8 communities in each subregion, is divided into 16 × 8=128 subregion in electrical angle cycle 360 °.
In sum, the function of displacement gain-phase compensating circuit 12 is applicable to the process of the signal of the incremental encoder to any standard.The input signal of this circuit: sinalA, sinalB, sign, wherein sinalA, sinalB are from signaling conversion circuit and over-sampling circuit, and sign is from numeral _ PLL wherein.The input signal of this circuit: intermittent angle displacement value th_inc.
Type Multiplicative synchronous detection directly local recovery carrier wave sign is multiplied with Received signal strength sinalA and sinalB, extracted by low frequency signal with low-pass filter.Require that reinsertion of carrier sign and Received signal strength sinalA and sinalB is with frequency homophase.Reinsertion of carrier sign is the signal of the frequency stabilization adopting high stability oscillator 7 (i.e. numeral _ PLL) to produce.
In displacement gain-phase compensating circuit 12, can realize offseting and gain calibration by being added with corrected value, being multiplied.By correcting the phase deviation of cos (θ) and sin (θ) to the trigonometric function operation of cos (θ), updating formula is: cos (θ+Δ θ) ≈ cos (θ)-Δ θ sin (θ).Wherein, Δ θ is approximately positive dimensionless.The little error that approximate value causes can carry out calculation compensation by compensation rate counting circuit 14.
Participate in the corrected value of computing from the displacement in circuit, gain, the automatic computing unit of phase deviation and compensation rate counting circuit 14.The input signal of compensation rate counting circuit 14 is controlled oneself and is converted complete pole coordinate parameter value, and displacement, gain, the automatic computing unit of phase deviation complete the calculating of the undulate quantity of trajectory signal to obtain corrected value.In the present embodiment, the method for Fourier analysis is used to calculate the corrected value of skew, gain and phase place.
Relation between rotor mechanical angle and Electron Angular: Electron Angular=360 ° × rotor pole logarithm, as the rotary transformer of 6 pole rotors, electrical angle=360 ° × 3=1080 °.
In the change-over circuit and coordinate transformation circuit 13 of rectangular coordinate and polar coordinate system, with cordic algorithm, (CoordinateRotationDigitalComputer) algorithm and Coordinate Rotation Digital computing method, the point (x under the rectangular coordinate system of standard, y) (r, the θ) under polar coordinate system is converted to.The cordic algorithm completed by the scan mode that the anglec of rotation is equally spaced calculates arc tangent, calculates
θ＝ATN(sin(θ)/cos(θ))。As shown in Figure 7, the sampling zones in the electrical angle cycle, Fen16Ge district, segments again 8 communities in each subregion, be divided into 16 × 8=128 subregion in electrical angle cycle 360 °.Rational partition boundaries should avoid tangent, arctangent computation angle, and the integer multiple angle of such as 0 °, 45 °, 90 ° and these angles, these angular arrangements in subregion, will not be arranged on the border of subregion.The corrected value of skew, gain and phase place has calculated under polar coordinate system, completes after rectangular coordinate converts polar coordinates to.
That so far introduces all relates to the process of signal processing circuit to deviation from randomness, especially the auto-compensation of skew, gain, much only rest on the basis of phase automatic compensating at present, even if phase automatic compensating also compares shallow hierarchy, subsequently introduce the process of signal processing circuit to corrective system angular error.
Incorporated by reference to Fig. 8, this system perspective error correction circuit obtains a special angle according to a mechanical angle zero position reference point signal zero_ref from electrical angle instantaneous value th_inc, this special angle is converted to a corresponding rotor-position mechanical angle th_mech, a mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th, and angle th calculates angular velocity omega through speed.
This system perspective error correction circuit comprises mechanical angle counting circuit 17, system perspective error compensation amount counting circuit 19, speed counting circuit 18.Mechanical angle counting circuit 17 obtains a special angle according to zero_ref from electrical angle instantaneous value th_inc, this special angle is converted to a corresponding rotor-position mechanical angle th_mech.Speed counting circuit 18 calculates angular velocity omega according to angle th through speed.System perspective error compensation amount counting circuit 19 calculates this system perspective error compensation amount according to angular velocity omega and mechanical angle th_mech.
The velocity perturbation measured by magnetoresistance transformer 3 is all because angle error caused.System perspective error makes measuring accuracy deviate from required precision band.Therefore, these errors must be corrected.This angular error can be represented as θ=ω
0t+ ∑
k(θ
ksink ω
0(t+ Ψ)).
Dominant harmonic component herein can be judged by EEPROM, and is stored in EEPROM.In the present embodiment, a form is compiled into according to a point Division of Fig. 7---table of corrections, is stored in EEPROM.In normal course of operation, use and be stored in table of corrections in EEPROM corrects magnetoresistance transformer system perspective mistake specific to the correction data of scrambler.Obtain absolute position by means of revolution counter, a certain special angle obtained from trajectory signal th_inc can be converted into some rotor-position mechanical angle th_mech.Th_mech and each cycle calculate the system perspective error compensation numerical value of generation automatically, carry out negative feedback, and the angle th of generation is instantaneous, desirable angle angle value, and the angular velocity omega simultaneously produced through velocity transformation is instantaneous, desirable angular velocity.Form the above-mentioned compensation calculation of speed according to the angle corrected look into table of corrections by software checking book method and obtain.
In sum, the present invention can realize the correction to system deviation, to the real-Time Compensation of deviation from randomness, thus improves the precision of the output signal of magnetoresistance transformer, makes the angle of magnetoresistance transformer and speed have preferably precision.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the signal processing method of a magnetoresistance transformer, it exports two of winding (9) to output signal, to improve the precision of angle th and the precision of angular velocity omega of magnetoresistance transformer (3) for the treatment of two of magnetoresistance transformer (3); This signal processing method comprises the following steps:
Trajectory signal sinalA and trajectory signal sinalB is obtained by the extraction outputed signal this two couple;
Angle th and angular velocity omega is exported after processing two trajectory signals;
It is characterized in that: the process of two trajectory signals comprises the following steps:
Receive an interrupt request singal IRQ, generate a recovered carrier signal sign, a square-wave signal with adjustable phase position; This square-wave signal imports the field copper (8) of magnetoresistance transformer (3) on the one hand into, is digital signal on the other hand and is affected output trajectory signal sinalA and trajectory signal sinalB by over-sampling by analog to digital conversion; This square-wave signal guarantees that this two couple output signal is all synchronized with the shake of regulation;
From trajectory signal sinalA and trajectory signal sinalB, low frequency signal is extracted respectively according to recovered carrier signal sign;
Two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with a corrected value, being multiplied to realize offseting with the correction of gain, also by correcting the phase deviation of two correction signals to the trigonometric function operation of cos (θ), the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle;
From electrical angle instantaneous value th_inc, a special angle is obtained according to a mechanical angle zero position reference point signal zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech, a mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th, and angle th calculates angular velocity omega through speed.
2. the signal processing method of magnetoresistance transformer as claimed in claim 1, is characterized in that: the acquisition of two trajectory signals: this two couple being outputed signal analog to digital conversion is respectively two pairs of digital signals; Over-sampling two pairs of digital signals obtain output trajectory signal sinalA and trajectory signal sinalB respectively.
3. the signal processing method of magnetoresistance transformer as claimed in claim 2, is characterized in that: before analog to digital conversion, two make low-pass filtering to output signal respectively to this.
4. the signal processing method of magnetoresistance transformer as claimed in claim 1, is characterized in that: this square-wave signal is by resupplying field copper (8) after filtering, operation amplifier.
5. the signal processing method of magnetoresistance transformer as claimed in claim 1, is characterized in that: when extracting low frequency signal, extract low frequency signal respectively again after reinsertion of carrier sign is multiplied respectively with two trajectory signals.
6. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterized in that: when displacement gain-phase compensates, first two low frequency signals are obtained correction signal cos (θ) and correction signal sin (θ) by being added with this corrected value, being multiplied to realize offseting with the correction of gain; Then under correction signal cos (θ) and correction signal sin (θ) being transformed into polar coordinate system from rectangular coordinate system; Then under polar coordinate system, calculate compensation rate i.e. this corrected value of electrical angle instantaneous value th_inc; Finally adopt the trigonometric function operation to trajectory signal cos (θ) according to this corrected value, correct the phase deviation of its contrast trajectory signal sin (θ).
7. the signal processing method of magnetoresistance transformer as claimed in claim 6, it is characterized in that: in the step that correction signal cos (θ) and correction signal sin (θ) obtain, after cutting this corrected value from the low frequency signal of trajectory signal sinalA extraction by negative feedback, input carries out rectangular coordinate to polar conversion on the one hand, exports a particular value after being multiplied by this corrected value on the other hand; The low frequency signal extracted from trajectory signal sinalB cuts this corrected value by negative feedback, and after being multiplied by this corrected value, then carry out rectangular coordinate again to polar conversion after cutting this particular value by negative feedback.
8. the signal processing method of magnetoresistance transformer as claimed in claim 6, it is characterized in that: rectangular coordinate adopts Coordinate Rotation Digital computing method the point (x under the rectangular coordinate system of standard to polar conversion, y) (r, the θ) under polar coordinate system is converted to; The Coordinate Rotation Digital computing method completed by the equally spaced scan mode of the anglec of rotation calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).
9. the signal processing method of magnetoresistance transformer as claimed in claim 8, it is characterized in that: the equally spaced scan mode of the anglec of rotation is: the sampling zones in the electrical angle cycle is n district, m community is segmented again in each subregion, be divided into n × m subregion in electrical angle cycle 360 °, n, m are positive integer.
10. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterized in that: during system perspective error correction, from electrical angle instantaneous value th_inc, obtain a special angle according to zero_ref, this special angle is converted to a corresponding rotor-position mechanical angle th_mech; A mechanical angle th_mech and system perspective error compensation amount carries out negative feedback to produce angle th; Angular velocity omega is calculated through speed according to angle th; This system perspective error compensation amount is adjusted according to angular velocity omega and mechanical angle th_mech.
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