CN107332565A - Rotation based on DSADC becomes software decoding system and method - Google Patents
Rotation based on DSADC becomes software decoding system and method Download PDFInfo
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- CN107332565A CN107332565A CN201710678964.5A CN201710678964A CN107332565A CN 107332565 A CN107332565 A CN 107332565A CN 201710678964 A CN201710678964 A CN 201710678964A CN 107332565 A CN107332565 A CN 107332565A
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/124—Sampling or signal conditioning arrangements specially adapted for A/D converters
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F38/00—Adaptations of transformers or inductances for specific applications or functions
- H01F38/18—Rotary transformers
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Abstract
Become software decoding system and method the present invention relates to a kind of rotation based on DSADC, software decoding is carried out using the DSADC modules carried in main MCU, extra chip or MCU is not needed, DSADC modular units based on over-sampling principle realize the delayed phase for meeting generation system of accurately being sampled to the high frequency of analog signal, delay correction can be added in systems to compensate, rectification building-out can be automatically adjusted during loop parameter condition varying time delay.The demodulation of carrier signal for being included in data signal realizes that the information after demodulation has carried out the real-time resolving of rotor angle signal by last observer algorithm again by reverse shaping and integral operation.The coding/decoding method has pinpoint accuracy and high dynamic and static state performance, can save hardware development cost, it is to avoid the waste of resource, so that more preferable economic benefit is createed, it is achieved thereby that the angular transformation of the low cost of rotary transformer, high-performance, high integration.
Description
Technical field
The present invention relates to the codec domain in AC Servo Control field, more particularly to rotary transformer, one is specifically referred to
Plant the rotation based on DSADC and become software decoding system and method.
Background technology
In AC servo control system, only obtaining accurately and reliably rotor-position and velocity information can just realize pair
The high performance control of motor.Rotary transformer as a kind of very common induction position sensor, because it is simple in construction,
The distinguishing features such as precision height, strong interference immunity are widely used in various occasions.The two-way output signal of rotary transformer is
Amplitude with its change in location analog signal, it is necessary to by digital conversion process into digital angle signal could by computer or
Other controllers are used.The analog signal for becoming output to rotation carries out the technology of digital conversion process comparative maturity in the market
It is exactly to use special decoding chip, the use of special chip can obtain higher decoding precision and preferable performance, still
Its is expensive, is difficult to widely use in the occasion for having strict demand to cost.
In commercial Application, how to allow system control reaches high precision is a problem inquired into always.Hand over
Motor is flowed as the execution unit of AC servo, is needed to obtain the position of rotor during operation and is sent to control
Device, to improve the control performance of closed-loop system.Permanent magnet synchronous AC machine and sensing asynchronous AC motor are current electronic owners
The two big types wanted, wherein permanent magnet synchronous AC machine have very good low-speed performance, weak magnetic High-speed Control can be realized,
Broad speed adjustable range and high efficiency, therefore become primary selection in AC servo.Electronic
The drive system field of automobile, permagnetic synchronous motor with development obtains synchronous quick hair also with the popularization of new-energy automobile
Exhibition.Understand its stable and reliable operation according to permanent magnetic synchronous motor structure, but as brushless motor it is a kind of it there is no reversing machine
Structure, it is therefore desirable to the parameter such as position, the rotating speed of position sensor to determine rotor.The output result of system passes through sensor
A negative-feedback is produced afterwards to controller, and then the input quantity with system so as to send control command with by being compared, using
To indicate the action of driving machine and actuating motor, because the input of the presence system of negative-feedback will be adjusted with output error
Become less and less.Whether reponse system can reach perfect effect, and the sensor of selection high-accuracy high-resolution is very
Important.Rotor rotation position is important feedback fraction in motor control link, and it directly affects the work of motor
Performance.It is main permanent magnet synchronous AC machine rotor position and rate signal measurement member that current photoelectric encoder and rotation, which become,
Part.
Photoelectric encoder is mainly characterized by that small volume, resolution ratio are high, installation is simple, precision is high, due to directly with
Data signal is as output, therefore the process circuit of data is fairly simple, but in order to obtain preferable optical signalling, photoelectricity is compiled
Code device portrays technological requirement height to grating, while more sensitive to environment, impact resistance and freedom from vibration are poor, working environment
Receive a definite limitation.Comparatively speaking, except being become the features such as possessing relatively smaller error and higher precision with outward turning
Also there are simple structure, sturdy and durable, the outstanding advantages such as strong antijamming capability.Because rotary transformer has numerous photoelectric encoders
The advantage not possessed, except in addition to general sensor application occasion, some special occasions, especially in shock resistance, anti-vibration, easily
Fire such as military, Aeronautics and Astronautics under the severe environmental conditions such as explosive and require that the field of high reliability application has also been obtained widely
Using.In addition, at present except industry, in addition to transportation industry rotary transformer also begin to civil area be used widely as
The fields such as new-energy automobile, Digit Control Machine Tool, electric power, metallurgy, weaving.
The two-way output of rotary transformer is analog signal, requires that high structure is relative complex to output data process circuit
It is its disadvantage in the application.Become as research object to discuss using the rotation of sine and cosine type, its two paths of signals exported is equal
The sinusoidal signal all the way and another road cosine signal of the positional information of rotor are contained, rotor position how is calculated therefrom
Put, the high-accuracy digital signal for acquiring rotor-position is less susceptible to, therefore how analysis and research suitably handle this
Two-way cosine and sine signal is highly important quickly and accurately to obtain high-precision positional information.For this problem, at present
Many companies all research and develop be proposed a series of special rotations become AD2S80 that decoding chip such as U.S. AD companies in position develop,
AD2S80A, AD2S1200 series and Au6802, Au6802N1, Au6803 series of Duo Mo rivers company of Japan etc..Special chip solution
Code Technical comparing is ripe, but the price of this chip is general costly, it will greatly increase system cost.In order to save into
This, makes up this shortcoming, and this research is intended carrying out the position decoding of rotary transformer by software algorithm.By using based on
The Delta Sigma ADC of sampling principle realize the delayed phase for meeting generation system of accurately being sampled to the high frequency of analog signal, need
To add delay correction in the algorithm to compensate, rectification building-out can be automatically adjusted during loop parameter condition varying time delay.It is right
The demodulation of the carrier signal included in data signal is main to realize that the information after demodulation is again by reverse shaping and integral operation
The real-time resolving of rotor angle signal has been carried out by last observer algorithm.The coding/decoding method has pinpoint accuracy and height dynamic
Static properties, can save hardware development cost, it is to avoid the waste of resource, so that more preferable economic benefit is createed, so that
Realize the angular transformation of the low cost, high-performance, high integration of rotary transformer.
The form mainly decoded at present to rotary transformer using hardware, i.e., realized decoding using special chip, seldom made
Use software decoding process.In the patent that can search for, on software decode have " it is a kind of based on rotary transformer software decode
Electric boosting steering system ", its software decoding process is broadly divided into two parts, is that the signal that rotary transformer is exported is entered first
Row signal transacting, mainly handled by way of hardware circuit, obtain comprising motor rotor position just, cosine letter
Number, the position of rotor is then calculated by cordic algorithm.
The process of implementing is as shown in figure 1, the difference cosine and sine signal exported to rotary transformer is filtered, then is passed through
Cross direct current it is bigoted and scaling after be converted to unipolar signal, then calculate rotor-position using cordic algorithm.
Assuming that the anglec of rotation θ that the rotation of a certain moment becomes, is obtained after the corresponding sine and cosine values of the θ, by different algorithms from
Intuitively angle value is obtained in sine and cosine value." different algorithms " are in addition to demarcating look-up table, in addition to cutting method anyway, anyway
Cutting method is that rotation more typical at present becomes calculation method, obtains this by trigonometric function calculation formula tan θ=sin θ/cos θ first
When anglec of rotation θ tangent value, then by further arctangent cp cp operation θ=arctan θ be that can obtain specific angle value, obtain
By differentiating with regard to the rotating speed n of motor can be obtained after to angle information value.Anyway cutting method requires relatively low to hardware configuration, required
Peripheral hardware circuit it is simple, the requirement that software is calculated to processor is not also high, but is due to that the output signal that rotation becomes is general all
Containing noise and higher hamonic wave, there is the shortcomings of computationally intensive, anti-interference is poor, it is decoded precision not high.
The hardware decoding scheme of existing comparative maturity needs individually to buy special decoding chip, the price of this chip
Costly, system cost can be greatly improved, and precision is limited.
Existing software decoding scheme mentioned above using single MCU, it is necessary to carry out software decoding, while needing list
Solely design hardware circuit is handled output signal of rotary transformer, also extra to add cost.In signal processing stage,
In order to obtain required cosine and sine signal, low-pass filtering treatment has been carried out to sampled signal, but not to filtered result
The compensation of amplitude and phase is carried out, the result so obtained has deviation.
The content of the invention
The purpose of the present invention is to overcome above-mentioned shortcoming of the prior art there is provided a kind of inexpensive based on DSADC's
Rotation becomes software decoding system and method.
In order to realize above-mentioned purpose, it is specific such as that the rotation of the invention based on DSADC becomes software decoding system and method
Under：
The rotation based on DSADC becomes software decoding system, and it is mainly characterized by, and described rotation becomes software decoding system and is based on
DSADC modules in main MCU, including with lower unit：
The accurate sampling unit of high frequency, the analog signal to be exported to rotary transformer carries out high frequency and accurately sampled, and obtains
The data signal that the analog signal of described rotary transformer output is generated after accurately being sampled through high frequency；
Demodulation module, the data signal to the rotary transformer output to the described accurate sampling unit output of high frequency is entered
Row demodulation, obtains the carrier signal that data signal includes, and exports the anglec of rotation θ of rotary transformer sine curve and cosine
Curve；
Observer module, the sine value to the anglec of rotation θ of the rotary transformer according to described demodulation module output
The real-time resolving of rotor angle signal is carried out with cosine value, observation angle is obtainedAnd angular speedAlso missed to obtain observation
Difference.
It is preferred that the accurate sampling unit of described high frequency is the accurate sampling unit of high frequency based on over-sampling, its over-sampling
The setting scope of rate is 4 to 512, and its A/D modulus sampling rates scope is 10MHz~20MHz.
It is preferred that described demodulation module includes reverse shaping unit and the product being connected with described reverse shaping unit
Point arithmetic element, and described demodulation module is connected to described high frequency by described reverse shaping unit and accurately samples list
Member, described observer module is connected to by described integral arithmetic unit, and
Described reverse shaping unit is used for the reversion for carrying out positive and negative half axis signal；
Described integral arithmetic unit is used for the Integral Processing to completing the signal after reversion, to obtain anglec of rotation θ's
Sine curve and cosine curve.
It is preferred that described observer module is an angular observation device module based on phaselocked loop, its input connection institute
The output end for the demodulation module stated, to the anglec of rotation θ of rotary transformer inputted to input sine value and cosine value
Handled, obtain observation angleAnd angular speedDescribed observer module is always according to observation angleWith described demodulation
The anglec of rotation θ of the rotary transformer of module output sine value, cosine value obtains observation error ε.
More preferably, the transmission function of described angular observation device module is：
Wherein, KpFor proportionality coefficient, KiFor integral coefficient, and described KiBy the intrinsic frequency of described rotary transformer
ωnIt is determined that, described KpBy the natural frequency ω of described rotary transformernAnd the damping factor ξ of described rotary transformer
It is determined that.
It is particularly preferred that described KiWith described KpRespectively：
Kp=2 ξ ωn；
Wherein, described ωnFor the intrinsic frequency of rotary transformer, described ξ is the damping of described rotary transformer
The factor.
The above-mentioned rotation based on DSADC becomes the method that software decoding system realizes decoding, and it is mainly characterized by, described method
Comprise the following steps：
(1) high frequency is carried out to the analog signal that described rotary transformer is exported by the described accurate sampling unit of high frequency
Accurate sampling；
(2) data signal obtained after accurately being sampled through high frequency is demodulated by demodulation module, obtains corresponding carry
Ripple signal, so as to obtain the anglec of rotation θ of described rotary transformer sine curve and cosine curve；
(3) by observing module to the anglec of rotation θ obtained in step (2) sine value and cosine value progress rotor angle
The real-time resolving of signal, obtains the observation angle of rotary transformerAnd angular speed
It is preferred that described demodulation module includes reverse shaping unit and the product being connected with described reverse shaping unit
Point arithmetic element, and described demodulation module is connected to described high frequency by described reverse shaping unit and accurately samples list
Member, described observer module is connected to by described integral arithmetic unit, and described reverse shaping unit is used to carry out
The reversion of positive and negative half axis signal；Described integral arithmetic unit is used for the Integral Processing to completing the signal after reversion, to obtain
Anglec of rotation θ sine curve and cosine curve, and described step (2) is：
The number that described demodulation module is exported by described reverse shaping unit to the described accurate sampling unit of high frequency
Word signal carries out reverse shaping, and is integrated fortune to the data signal through reverse shaping by described integral arithmetic unit
Calculate, obtain carrier signal, so that the anglec of rotation θ of described rotary transformer sine curve and cosine curve is obtained, so that
Obtain corresponding sine value and cosine value.
It is preferred that observer module is an angular observation device module based on phaselocked loop, the described solution of its input connection
The output end of mode transfer block, to the anglec of rotation θ of rotary transformer inputted to input sine value sin θ and cosine value cos
θ obtains observation angleAnd angular speedDescribed step (3) is：
The anglec of rotation θ for the rotary transformer that described observer module is inputted to input sine value and cosine value enters
Row processing, obtains observation angleAnd angular speedDescribed observer module is always according to observation angleWith described solution mode transfer
The anglec of rotation θ of the rotary transformer of block output sine value, cosine value obtains observation error ε.
Software decoding system and method are become using the rotation based on DSADC of the present invention, directly using being carried in main MCU
DSADC modules carry out software decoding, it is not necessary to extra chip or MCU, due to using the Delta based on over-sampling principle
Sigma ADC to analog signal carry out high frequency accurately sample can generation system delayed phase, in systems add delay correction
To compensate, rectification building-out can be automatically adjusted during loop parameter condition varying time delay.For the carrier wave included in data signal
The demodulation of signal is main to be realized by reverse shaping and integral operation, and the information after demodulation is entered by last observer module again
Go the real-time resolving of rotor angle signal, and the compensation of phase error is also realized by described observer module, with high-precision
The characteristics of exactness and high dynamic and static state performance, hardware development cost can be saved, it is to avoid the waste of resource, so as to create more preferably
Economic benefit, it is achieved thereby that the angular transformation of the low cost of rotary transformer, high-performance, high integration, it is not necessary to extra
MCU exclusively carry out software decoding, it is not necessary to oneself individually designed hardware circuit is handled signal, in signal transacting
Filtering etc. obtains rotor-position when compensating, calculating rotor-position by the Structure Calculation of second-order PLL, can be quickly accurate
Rotor-position really is obtained, dynamic response performance is good, strong antijamming capability can eliminate deviation, hence it is evident that be better than during stable state
Cordic algorithm.
Brief description of the drawings
Fig. 1 revolves the method flow schematic diagram for becoming software decoding to realize in the prior art.
Fig. 2 for the present invention single-chip microcomputer in Delta Sigma ADC units workflow schematic diagram.
The signal curve that Fig. 3 becomes after the filtered extraction of output signal for rotation.
Fig. 4 is second order angle tracking observer theory diagram.
Fig. 5 becomes the method flow schematic diagram that software decodes system for the rotation based on DSADC of the present invention.
Embodiment
In order to be more clearly understood that this practical technique content, described in detail especially exemplified by following examples.
The rotation based on DSADC becomes software decoding system, and it is mainly characterized by, and described rotation becomes software decoding system and is based on
DSADC modules in main MCU, including with lower unit：
The accurate sampling unit of high frequency, the analog signal to be exported to rotary transformer carries out high frequency and accurately sampled, and obtains
The data signal that the analog signal of described rotary transformer output is generated after accurately being sampled through high frequency；
Demodulation module, the data signal to the rotary transformer output to the described accurate sampling unit output of high frequency is entered
Row demodulation, obtains the carrier signal that data signal includes, and exports the anglec of rotation θ of rotary transformer sine curve and cosine
Curve；
Observer module, the sine value to the anglec of rotation θ of the rotary transformer according to described demodulation module output
The real-time resolving of rotor angle signal is carried out with cosine value, observation angle is obtainedAnd angular speedAlso missed to obtain observation
Difference.
In a kind of preferred embodiment, the accurate sampling unit of described high frequency is that the high frequency based on over-sampling is accurately sampled
Unit, the setting scope of its over-sampling rate is 4 to 512, and its A/D modulus sampling rates scope is 10MHz~20MHz.
In a kind of preferred embodiment, described demodulation module include reverse shaping unit and with described reverse shaping
The integral arithmetic unit that unit is connected, and described demodulation module is connected to described height by described reverse shaping unit
The accurate sampling unit of frequency, described observer module is connected to by described integral arithmetic unit, and
Described reverse shaping unit is used for the reversion for carrying out positive and negative half axis signal；
Described integral arithmetic unit is used for the Integral Processing to completing the signal after reversion, to obtain anglec of rotation θ's
Sine curve and cosine curve.
In a kind of preferred embodiment, described observer module is an angular observation device module based on phaselocked loop,
The output end of the described demodulation module of its input connection, to the anglec of rotation θ's of rotary transformer that is inputted to input
Sine value and cosine value are handled, and obtain observation angleAnd angular speedDescribed observer module is always according to observation angleThe anglec of rotation θ of the rotary transformer exported with described demodulation module sine value, cosine value obtains observation error ε.
In a kind of more preferably embodiment, the transmission function of described angular observation device module is：
Wherein, KpFor proportionality coefficient, KiFor integral coefficient, and described KiBy the intrinsic frequency of described rotary transformer
ωnIt is determined that, described KpBy the natural frequency ω of described rotary transformernAnd the damping factor ξ of described rotary transformer
It is determined that.
In a kind of preferred embodiment, described KiWith described KpRespectively：
Kp=2 ξ ωn；
Wherein, described ωnFor the intrinsic frequency of rotary transformer, described ξ is the damping of described rotary transformer
The factor.
The above-mentioned rotation based on DSADC becomes the method that software decoding system realizes decoding, and it is mainly characterized by, described method
Comprise the following steps：
(1) high frequency is carried out to the analog signal that described rotary transformer is exported by the described accurate sampling unit of high frequency
Accurate sampling；
(2) data signal obtained after accurately being sampled through high frequency is demodulated by demodulation module, obtains corresponding carry
Ripple signal, so as to obtain the anglec of rotation θ of described rotary transformer sine curve and cosine curve；
(3) by observing module to the anglec of rotation θ obtained in step (2) sine value and cosine value progress rotor angle
The real-time resolving of signal, obtains the observation angle of rotary transformerAnd angular speed
In a kind of preferred embodiment, described demodulation module include reverse shaping unit and with described reverse shaping
The integral arithmetic unit that unit is connected, and described demodulation module is connected to described height by described reverse shaping unit
The accurate sampling unit of frequency, described observer module, and described reverse shaping are connected to by described integral arithmetic unit
Unit is used for the reversion for carrying out positive and negative half axis signal；Described integral arithmetic unit is used for the integration to completing the signal after reversion
Processing, to obtain the anglec of rotation θ sine curve and cosine curve, and described step (2) is：
The number that described demodulation module is exported by described reverse shaping unit to the described accurate sampling unit of high frequency
Word signal carries out reverse shaping, and is integrated fortune to the data signal through reverse shaping by described integral arithmetic unit
Calculate, obtain carrier signal, so that the anglec of rotation θ of described rotary transformer sine curve and cosine curve is obtained, so that
Obtain corresponding sine value and cosine value.
In a kind of preferred embodiment, described observer module is an angular observation device module based on phaselocked loop,
The output end of the described demodulation module of its input connection, to the anglec of rotation θ's of rotary transformer that is inputted to input
Sine value sin θ and cosine value cos θ obtain observation angleAnd angular speedDescribed step (3) is：
The anglec of rotation θ for the rotary transformer that described observer module is inputted to input sine value and cosine value enters
Row processing, obtains observation angleAnd angular speedDescribed observer module is always according to observation angleWith described solution mode transfer
The anglec of rotation θ of the rotary transformer of block output sine value, cosine value obtains observation error ε.
Referring to Fig. 4, in a kind of specific embodiment, observation error ε acquisition is by two in described observer module
Individual multiplication unit and subtrator realization, wherein the rotary transformer that the first multiplication unit exports described demodulation module
Anglec of rotation θ sine value sin θ and described observation angleCosine valueIt is multiplied and obtainsSecond multiplies
Cosine value and described observation angle that method unit exports demodulation moduleSine value be multiplied obtainSubtraction
Unit subtracts each other the output and the output of the second multiplication unit of the first described multiplication unit, by the output valve of the first multiplication unit
The output valve of the second multiplication unit is subtracted, observation error is obtained(note,In the case of infinitesimal, have
The transmission function of described angular observation device module is：
Wherein, KiFor integral coefficient, KpFor proportionality coefficient, and described KiBy the intrinsic frequency of described rotary transformer
ωnIt is determined that, described KpBy the natural frequency ω of described rotary transformernAnd the damping factor ξ of described rotary transformer
It is determined that.
Described KiWith described KpRespectively：
Kp=2 ξ ωn；
Wherein, described ωnFor the intrinsic frequency of rotary transformer, described ξ is the damping of described rotary transformer
The factor.
In a kind of embodiment, the system is based on integrated on Infineon AURIX series TC275 single-chip microcomputers, piece
Delta Sigma ADCs, replace traditional ADC, be mainly used in the analog signal of the output of rotary transformer sampling and
Processing, it is not necessary to extra special chip or hardware circuit, and concrete structure such as Fig. 2 of Delta Sigma ADC units
It is shown.
It is to be based on Delta Sigma ADC when accurately being sampled using Delta Sigma ADCs unit progress high frequency
The high frequency that the over-sampling function of modular unit is carried out accurately is sampled, and over-sampling rate OSR is often doubled, and signal to noise ratio snr can increase
Plus 3dB, i.e. resolution ratio add 0.5bit, therefore, over-sampling rate OSR size directly affects the significance bit of module samples
Number.And in a kind of specific embodiment, the modulus sampling rate of Delta Sigma ADC units is configured in 10MHz extremely
Between 20MHz, by being configured to filter parameter different in module, its internal filtering and extraction part to adopt
OSR is between 4 to 512 for sample rate, so that sampling rate is reduced to suitable data result output speed.Determined at one
Under the conditions of OSR, the module will not produce loss of data.Under conditions of input signal bandwidth 30kHz~100kHz, its signal to noise ratio
Up to 74~80dB, the number of significant digit sampled to input signal is up to 12~13.
The pumping signal of rotary transformer is the sinusoidal signal of a high frequency in itself, it can be seen from the operation principle that rotation becomes,
The cosine and sine signal induced in two stator winding contains this high-frequency signal.Although the simulation letter of rotary transformer output
Number obtain high-resolution numeral letter after further filtering extraction again after Delta Sigma ADC units
Number, but this data signal still contains carrier signal, in order to obtain the cosine and sine signal directly related with angle, it is necessary to use solution
Mode transfer block demodulates carrier signal from the data signal.Reverse shaping is carried out to this data signal first, then led to again
The demodulation of carrier signal can just be realized by crossing integral operation.
1. the detailed process of demodulation as shown in figure 3, in Fig. 3 be letter after the filtered extraction of output signal of rotary transformer
Number curve, it correspond to one 360 ° of axle swing circle.The signal of a carrier cycle in the curve is analyzed, obtained
2., then by the positive minus flag of carrier signal (referring to 3.) inside Delta Sigma ADC units, at 0~180 °
In rotation position, the signal of negative semiaxis is inverted and (referred to 4.), it is by that analogy, the waveform signal in the interval is whole
It has been inverted to positive axis.Similarly, the rotation position for 180 °~360 °, negative semiaxis is all inverted to by the signal of positive axis,
The final waveform effect arrived is as shown in 5., so that the modulation sine curve in 360 ° of complete swing circles is obtained, then
Through a series of Integral Processings, you can obtain smooth sine curve, the cosine curve in another stator winding can be similarly obtained.
Signal transacting more than, can be by the two for one fixed rotation position of rotary transformer
Cosine and sine signal carries out its angle calculation.Resolved using the angular observation device module based on phaselocked loop, with higher
Resolution ratio and anti-interference, in addition to it can be greatly improved the accuracy that angle is resolved, system also obtain more
Good robustness.
Calculated in angular observation device module based on phaselocked loop comprising the angular observation device Closed loop track based on digital phase-locked loop
Method, referring to Fig. 4, in a kind of specific embodiment, the mathematic(al) representation that can obtain error by angular observation device module is：
In formulaFor observer error,For observability estimate angle value, θ is rotor actual corners angle value.If working as(observation error) is infinitely small, then has
Fig. 4, to be typically based on second order angle tracking observer schematic diagram, is a kind of angular observation device based on phaselocked loop
The specific embodiment of module, in this specific embodiment, integrator and PI controllers uses so that observer in closed-loop system
Output it is smoother, with good angleonly tracking.Described angular observation device module by the sine value of rotary transformer and
Cosine value, and the sine value of observation angle that obtains of described angular observation device module compared with cosine value relatively after, pass through
Common closed-loop system just can be survey_line error structure to minimum.
It is also major reason of the observer better than cutting method anyway to possess smoother systematic function.Angular observation device in Fig. 4
The transmission function of module is：
Coefficients match is carried out by its proper polynomial and typical type-Ⅱ system, according to needed for being determined dynamic property
ωnAnd ξ, then the coefficient that can calculate angular observation device is：
Kp=2 ξ ωn；
Wherein ωnFor intrinsic frequency, ξ is damping factor.
Referring to Fig. 5, in a particular embodiment, being believed using the Delta Sigma ADC based on over-sampling principle simulation
Number carry out high frequency accurately sample can generation system delayed phase, delay correction can be added in the algorithm and is compensated, loop
Rectification building-out can be automatically adjusted during Parameter Conditions varying time delay, and a kind of specific implementation is：In described observer module
In, the phase calculated is compensated, then fed back in system, closed loop is formed, dynamic adjustment is realized.For numeral
The demodulation of the carrier signal included in signal is main to realize that the information after demodulation is again by most by reverse shaping and integral operation
Observer algorithm afterwards has carried out the real-time resolving of rotor angle signal, realizes the low cost, high-performance, height of rotary transformer
The angular transformation of integrated level.
Software decoding system and method are become using the rotation based on DSADC of the present invention, directly using being carried in main MCU
DSADC modules carry out software decoding, it is not necessary to extra chip or MCU, due to using the Delta based on over-sampling principle
Sigma ADC to analog signal carry out high frequency accurately sample can generation system delayed phase, in systems add delay correction
To compensate, rectification building-out can be automatically adjusted during loop parameter condition varying time delay.For the carrier wave included in data signal
The demodulation of signal is main to be realized by reverse shaping and integral operation, and the information after demodulation is entered by last observer module again
Go the real-time resolving of rotor angle signal, and the compensation of phase error is also realized by described observer module, with high-precision
The characteristics of exactness and high dynamic and static state performance, hardware development cost can be saved, it is to avoid the waste of resource, so as to create more preferably
Economic benefit, it is achieved thereby that the angular transformation of the low cost of rotary transformer, high-performance, high integration, it is not necessary to extra
MCU exclusively carry out software decoding, it is not necessary to oneself individually designed hardware circuit is handled signal, in signal transacting
Filtering etc. obtains rotor-position when compensating, calculating rotor-position by the Structure Calculation of second-order PLL, can be quickly accurate
Rotor-position really is obtained, dynamic response performance is good, strong antijamming capability can eliminate deviation, hence it is evident that be better than during stable state
Cordic algorithm.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from this practical spirit and scope.Therefore, specification and drawings be considered as it is illustrative and
It is nonrestrictive.
Claims (9)
1. a kind of rotation based on DSADC becomes software decoding system, it is characterised in that described rotation becomes software decoding system and is based on master
DSADC modules in MCU, including with lower unit：
The accurate sampling unit of high frequency, the analog signal to be exported to rotary transformer carries out high frequency and accurately sampled, and obtains described
Rotary transformer output analog signal accurately sampled through high frequency after the data signal that generates；
Demodulation module, the data signal to the rotary transformer output to the described accurate sampling unit output of high frequency is solved
Adjust, obtain the carrier signal that data signal includes, the sine curve and cosine for exporting the anglec of rotation θ of rotary transformer are bent
Line；
Observer module, to the rotary transformer according to described demodulation module output anglec of rotation θ sine value with it is remaining
String value carries out the real-time resolving of rotor angle signal, obtains observation angleAnd angular speedAlso to obtain observation error.
2. the rotation according to claim 1 based on DSADC becomes software decoding system, it is characterised in that described high frequency essence
True sampling unit is the accurate sampling unit of high frequency based on over-sampling, and the setting scope of its over-sampling rate is 4 to 512, its A/D mould
Number sampling rate scope is 10MHz~20MHz.
3. the rotation according to claim 1 based on DSADC becomes software decoding system, it is characterised in that described solution mode transfer
Block includes reverse shaping unit and the integral arithmetic unit being connected with described reverse shaping unit, and described demodulation module
The described accurate sampling unit of high frequency is connected to by described reverse shaping unit, is connected by described integral arithmetic unit
To described observer module, and
Described reverse shaping unit is used for the reversion for carrying out positive and negative half axis signal；
Described integral arithmetic unit is used for the Integral Processing to completing the signal after reversion, to obtain anglec of rotation θ sine
Curve and cosine curve.
4. the rotation according to claim 1 based on DSADC becomes software decoding system, it is characterised in that described observer
Module is an angular observation device module based on phaselocked loop, the output end of the described demodulation module of its input connection, to right
The anglec of rotation θ of the rotary transformer of input input sine value and cosine value is handled, and obtains observation angleWith angle speed
DegreeDescribed observer module is always according to observation angleThe anglec of rotation of the rotary transformer exported with described demodulation module
Spend θ sine value, cosine value and obtain observation error ε.
5. the rotation according to claim 4 based on DSADC becomes software decoding system, it is characterised in that described angle is seen
Survey device module transmission function be：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mi>p</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>p</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msub>
<mi>K</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, KpFor proportionality coefficient, KiFor integral coefficient, and described KiBy the natural frequency ω of described rotary transformernReally
Fixed, described KpBy the natural frequency ω of described rotary transformernAnd the damping factor ξ of described rotary transformer is determined.
6. the rotation according to claim 5 based on DSADC becomes software decoding system, it is characterised in that described KiWith it is described
KpRespectively：
<mrow>
<msub>
<mi>K</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
<mo>;</mo>
</mrow>
Kp=2 ξ ωn；
Wherein, described ωnFor the intrinsic frequency of rotary transformer, described ξ is the damping factor of described rotary transformer.
7. the rotation based on DSADC any one of a kind of claim 1 to 6 becomes the side that software decoding system realizes decoding
Method, it is characterised in that described method comprises the following steps：
(1) it is accurate to the analog signal progress high frequency of described rotary transformer output by the described accurate sampling unit of high frequency
Sampling；
(2) data signal obtained after accurately being sampled through high frequency is demodulated by demodulation module, obtains corresponding carrier wave letter
Number, so as to obtain the anglec of rotation θ of described rotary transformer sine curve and cosine curve；
(3) by observing module to the anglec of rotation θ obtained in step (2) sine value and cosine value progress rotor angle signal
Real-time resolving, obtain rotary transformer observation angleAnd angular speed
8. the rotation according to claim 7 based on DSADC becomes the method that software decoding system realizes decoding, its feature exists
In, the integral arithmetic unit that described demodulation module includes reverse shaping unit and is connected with described reverse shaping unit,
And described demodulation module is connected to the described accurate sampling unit of high frequency by described reverse shaping unit, by described
Integral arithmetic unit is connected to described observer module, and described reverse shaping unit is used to carry out positive and negative half axis signal
Reversion；Described integral arithmetic unit is used for the Integral Processing to completing the signal after reversion, to obtain anglec of rotation θ sine
Curve and cosine curve, and described step (2) is：
The numeral that described demodulation module is exported by described reverse shaping unit to the described accurate sampling unit of high frequency is believed
Number reverse shaping is carried out, and computing is integrated to the data signal through reverse shaping by described integral arithmetic unit, obtained
Carrier signal is taken, so as to obtain the anglec of rotation θ of described rotary transformer sine curve and cosine curve, so as to obtain pair
The sine value and cosine value answered.
9. the rotation according to claim 7 based on DSADC becomes the method that software decoding system realizes decoding, its feature exists
In described observer module is an angular observation device module based on phaselocked loop, the described demodulation module of its input connection
Output end, the anglec of rotation θ of rotary transformer sine value and cosine value to be inputted to input obtain observation angle
And angular speedDescribed step (3) is：
At the anglec of rotation θ for the rotary transformer that described observer module is inputted to input sine value and cosine value
Reason, obtains observation angleAnd angular speedDescribed observer module is always according to observation angleIt is defeated with described demodulation module
The anglec of rotation θ of the rotary transformer gone out sine value, cosine value obtains observation error ε.
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| CN110868124A (en) * | 2019-10-24 | 2020-03-06 | 中国第一汽车股份有限公司 | Motor position determining method and device based on rotation soft decoding and storage medium |
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| CN111181559A (en) * | 2019-10-10 | 2020-05-19 | 中国第一汽车股份有限公司 | Rotary soft decoding method, device, equipment and storage medium |
| CN111245443A (en) * | 2020-03-06 | 2020-06-05 | 创驱（上海）新能源科技有限公司 | DSADC-based rotary soft decoding processing method and device |
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| CN112511174A (en) * | 2020-09-25 | 2021-03-16 | 上海擎度汽车科技有限公司 | Rotary soft decoding method meeting functional safety requirements |
| CN112583307A (en) * | 2020-12-15 | 2021-03-30 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor and soft decoding method and system of rotary transformer of permanent magnet synchronous motor |
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| CN111245443A (en) * | 2020-03-06 | 2020-06-05 | 创驱（上海）新能源科技有限公司 | DSADC-based rotary soft decoding processing method and device |
| CN112511174A (en) * | 2020-09-25 | 2021-03-16 | 上海擎度汽车科技有限公司 | Rotary soft decoding method meeting functional safety requirements |
| CN112511174B (en) * | 2020-09-25 | 2022-10-14 | 上海擎度汽车科技有限公司 | Rotary soft decoding method meeting functional safety requirements |
| CN112356683A (en) * | 2020-11-10 | 2021-02-12 | 深圳市英威腾电动汽车驱动技术有限公司 | Anti-shaking method, device and equipment based on electric automobile and storage medium |
| CN112398408A (en) * | 2020-11-16 | 2021-02-23 | 浙江台运汽车科技有限公司 | Improved method and device for decoding of rotary-change software |
| CN112583307A (en) * | 2020-12-15 | 2021-03-30 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor and soft decoding method and system of rotary transformer of permanent magnet synchronous motor |
| CN114136195A (en) * | 2021-11-28 | 2022-03-04 | 中国民航大学 | High-precision rotor position measuring system and measuring method |
| CN114374395A (en) * | 2021-12-31 | 2022-04-19 | 广东逸动科技有限公司 | Decoding redundancy system, decoding method, and computer-readable storage medium |
| CN114374395B (en) * | 2021-12-31 | 2023-10-10 | 广东逸动科技有限公司 | Decoding redundancy system, decoding method, and computer-readable storage medium |
| CN114370814A (en) * | 2022-01-10 | 2022-04-19 | 泉州昆泰芯微电子科技有限公司 | Angle extraction circuit, method and chip |
| CN117781994A (en) * | 2024-02-27 | 2024-03-29 | 南京新紫峰电子科技有限公司 | Method, device and medium for testing rotary-variable sensor |
| CN117781994B (en) * | 2024-02-27 | 2024-05-07 | 南京新紫峰电子科技有限公司 | Method, device and medium for testing rotary-variable sensor |
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