CN103776471A - Magnetic encoder based on double synchronous rotation coordinate systems - Google Patents

Abstract

The invention discloses a magnetic encoder based on double synchronous rotation coordinate systems. The magnetic encoder based on the double synchronous rotation coordinate systems comprises a magneto-electricity signal generator, a signal conditioner, a signal acquisition module and a signal processing unit, wherein the signal processing unit is composed of a forward-direction Parker converter, a reverse-direction Parker converter, a forward-direction decoupling device, a reverse-direction coupling device, low-pass filters and a motion information solver, and is used for carrying out coordinate transformation, decoupling operation, filtering processing and motion information calculation on digital electrical signals input by the signal acquisition module. The signal processing unit which uses the double synchronous coordinate transformation mode carries out coordinate transformation on positive sequence components and negative sequence components of fundamental waves in magneto-electricity signals, and resolves the positive sequence components and the negative sequence components of the fundamental waves into components in a positive sequence dq coordinate system and components in a negative sequence dq coordinate system, calculation of motion information is achieved through a decoupling network and the filtering link, signal distortion components generated due to device difference, installation errors and the like can be eliminated through the decoupling devices and the low-pass filters, and thus calculation accuracy and the anti-interference capacity of the magnetic encoder are greatly improved.

Description

A kind of magnetic coder based on two synchronous rotating frames

Technical field

The invention belongs to movable information detecting sensor field, more specifically, relate to a kind of magnetic coder based on two synchronous rotating frames.

Background technology

Magnetic coder is a kind of by the movable information of magnetic element being resolved to realize the sensor that the movable information such as movement velocity and move distance is measured and extracted, its applicable situation is not subject to the impact of the factors such as fog, flue dust and greasy dirt, it is strong that it is also not so good as photoelectric encoder to the susceptibility of alignment error and vibration, and its processing technology thereof is simple, with low cost, addressable port is flexibly abundant, be that movable information detects the important developing direction of application.

Grinding and mainly containing arctangent cp cp operation resolving Algorithm, demarcation look-up table and angle tracking phase locking technique etc. at the magnetic coder signal calculation method of use at present.The method that arctangent cp cp operation resolving Algorithm generally adopts numerical value to approach realizes arctangent cp cp operation, is realized movable information is resolved by arctangent cp cp operation.Arctangent cp cp operation resolving Algorithm principle is simply distinct, but the operational performance of signal processing unit is had relatively high expectations, and its degree of accuracy of resolving is subject to magnetic element to lay accuracy to affect greatly.Demarcate look-up table and first by high-precision photoelectric encoder, the magnetoelectricity signal of magnetic element is carried out to off-line calibration tabulation storage, when magnetic coder work, the movable information of magnetic element is resolved by the calibration scale of looking into prior storage according to magnetoelectricity RST.Demarcate look-up table resolve clear thinking, computing speed is fast, but requires magnetic coder to have the storage space of certain capacity, and its calibration scale make complicated, technological requirement is high.It is a kind of movable information calculation method of closed loop autotracking that angle is followed the tracks of phase locking technique, there is stronger vibration and interference resistance, but the movable information resolution error that conventional angle tracking phase locking technique causes factors such as element function difference and alignment errors do not have self-shileding ability.

The disclosed digital converter of magnetic encoder of the domestic patent application document for magnetic coder movable information calculation method (publication number is CN102095431A) at present.The original magnetoelectricity signal ideal of this application file acquiescence supposition is orthogonal, thereby do not consider that the factors such as element function difference and alignment error resolve the error causing to movable information, so its degree of accuracy of resolving is unavoidably subject to the impact of magnetic coder mounting process level and element function consistency level.

Summary of the invention

For above defect or the Improvement requirement of prior art, the invention provides a kind of magnetic coder based on two synchronous rotating frames, its object is to make the degree of accuracy of resolving of magnetic coder not affected by the factors such as device difference and alignment error, solves thus the orthogonality of magnetic coder magnetoelectricity signal in prior art or symmetry and must be subject to the technical matters of the impact of various error components.

The invention provides a kind of magnetic coder based on two synchronous rotating frames, comprise the magnetoelectricity signal generator, signal conditioner, signal acquisition module and the signal processing unit that connect successively; Described signal processing unit comprises: forward park transforms device, reverse park transforms device, forward decoupler, reverse decoupler, the first low-pass filter, the second low-pass filter, the 3rd low-pass filter, the 4th low-pass filter and movable information solver; Described magnetoelectricity signal generator is for converting the motion conditions of magnetic element to comprise movable information analog electrical signal; Described signal conditioner is for nursing one's health described analog electrical signal and the rear signal matching with described signal acquisition module of exporting of analog filtering processing; Described signal acquisition module is for carrying out analog to digital conversion and export digital electric signal the output of described signal conditioner; The input end of described forward park transforms device is connected to the output terminal of described signal acquisition module, for described digital electric signal is arrived to the dq with forward first-harmonic synchronous angular velocity ω rotation with permanent amplitude transformation ⁺under coordinate system, extract the fundamental positive sequence amplitude in described digital electric signal, sub-argument goes out the first-harmonic negative sequence component two frequency multiplication wave components in described digital electric signal simultaneously; The input end of described reverse park transforms device is connected to the output terminal of described signal acquisition module, for described digital electric signal is arrived to the dq with reverse first-harmonic synchronous angular velocity-ω rotation with permanent amplitude transformation ^-under coordinate system, extract the first-harmonic negative sequence component amplitude in described digital electric signal, sub-argument goes out the fundamental positive sequence two frequency multiplication wave components in described digital electric signal simultaneously; The input end of described forward decoupler is connected with the output terminal of described forward park transforms device; The amplitude feedback quantity that is used for passing through digital electric signal first-harmonic negative sequence component is to eliminate dq ⁺the alternating component being caused by first-harmonic negative sequence component in digital electric signal under coordinate system; The input end of described reverse decoupler is connected with the output terminal of described reverse park transforms device; The amplitude feedback quantity that is used for passing through digital electric signal fundamental positive sequence is to eliminate dq ^-the alternating component being caused by fundamental positive sequence in digital electric signal under coordinate system; The input end of described the first low-pass filter is connected to the first output terminal of described forward decoupler, and the output terminal of described the first low-pass filter is connected to the first feedback end of described reverse decoupler; For the dq of filtering forward decoupler output ⁺under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ⁺fundamental positive sequence amplitude under coordinate system.The input end of described the second low-pass filter is connected to the second output terminal of described forward decoupler, the output terminal of described the second low-pass filter is connected to the second feedback end of described reverse decoupler, and the output terminal of described the second low-pass filter is also as fundamental positive sequence amplitude output terminal in digital electric signal; For the dq of filtering forward decoupler output ⁺under coordinate system, two frequency multiplication wave components of first-harmonic negative sequence component, obtain dq ⁺first-harmonic negative sequence component amplitude under coordinate system; The input end of described the 3rd low-pass filter is connected to the first output terminal of described reverse decoupler, the output terminal of described the 3rd low-pass filter is connected to the first feedback end of described forward decoupler, and the output terminal of described the 3rd low-pass filter is also as first-harmonic negative sequence component amplitude output terminal in digital electric signal; For the dq of filtering negative sense decoupler output ^-under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ^-fundamental positive sequence amplitude under coordinate system; The input end of described the 4th low-pass filter is connected to the second output terminal of described reverse decoupler, the output terminal of described the 4th low-pass filter is connected to the second feedback end of described forward decoupler, and the output terminal of described the 4th low-pass filter is also as first-harmonic negative sequence component amplitude output terminal in digital electric signal; For the dq of filtering negative sense decoupler output ^-under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ^-fundamental positive sequence amplitude under coordinate system; The input end of described movable information solver is connected to the second output terminal of described forward decoupler, phase-locked for the digital electric signal that comprises movable information is carried out, and move distance to magnetic element in magnetoelectricity signal generator and movement velocity are resolved the angular velocity of rear output magnetic cell motion

and angle value

Wherein, described forward park transforms device comprises: the first cosine generator, the second forcing function generator, the first multiplier, the second multiplier, first adder, the first phase inverter, the 3rd multiplier, the 4th multiplier and second adder; The input end of described the first cosine generator is used for receiving output angle estimated value

be used for according to described output angle estimated value

output cosine value

the input end of described the second forcing function generator is used for receiving output angle estimated value

be used for according to described output angle estimated value

output sine value the first input end of described the first multiplier connects the digital sine V of described signal acquisition module output _s(j), the second input end of described the first multiplier is connected to the first output terminal of described the first cosine generator, for by described digital sine V _sand described cosine value (j)

multiply each other; The first input end of described the second multiplier is connected to the first output terminal of described the second forcing function generator, and the second input end of described the second multiplier is used for receiving digital cosine V _c(j), for by receive digital cosine V _cand described sine value (j)

multiply each other; The first input end of described first adder is connected to the output terminal of described the first multiplier, the second input end of described second adder is connected to the output terminal of described the second multiplier, for the output quantity of the output quantity of described the first multiplier and described the second multiplier is added and obtains dq ⁺the d axle component of coordinate system

the input end of described the first phase inverter is connected to the second output terminal of described the second forcing function generator, for by described sine value

anti-phase; The first input end of described the 3rd multiplier is used for receiving digital sine V _s(j), the second input end of described the 3rd multiplier is connected to the output terminal of described the first phase inverter; Be used for the output valve of described the first phase inverter and digital sine signal V _s(j) multiply each other; The first input end of described the 4th multiplier is connected to the second output terminal of described the first cosine generator, and the second input end of described the 4th multiplier connects the digital cosine signal V of described signal acquisition module output _c(j), for by described digital cosine signal V _cand described cosine value (j)

multiply each other; The first input end of described second adder is connected to the output terminal of described the 3rd multiplier, the second input end of described second adder is connected to the output terminal of described the 4th multiplier, for the output valve of the output valve of the 3rd multiplier and described the 4th multiplier is added and obtains dq ⁺the q axle component value of coordinate system

Wherein, described reverse park transforms device comprises the second cosine generator, the second forcing function generator, the 5th multiplier, the 6th multiplier, the 3rd totalizer, the second phase inverter, the 7th multiplier, the 8th multiplier and the 4th totalizer; The input end of described the second cosine generator is used for receiving output angle estimated value

be used for according to described angle estimation value

output cosine value the input end of described the second forcing function generator is used for receiving output angle estimated value be used for according to described angle estimation value

output sine value

the first input end of described the 5th multiplier is connected to the output terminal of described the first forcing function generator, and the second input end of described the 5th multiplier connects the digital sine V of described signal acquisition module output _s(j), for by described digital sine V _sand described cosine value (j)

multiply each other; The input end of described the second phase inverter is connected to the output terminal of described the second forcing function generator, for by sine value

anti-phase; The first input end of described the 6th multiplier connects the digital cosine V of described signal acquisition module output _c(j), the second input end of described the 6th multiplier is connected with the output terminal of described the second phase inverter, for by described digital cosine V _c(j) and described the second phase inverter output valve multiply each other; The first input end of described the 3rd totalizer is connected to the output terminal of described the 5th multiplier, the second input end of described the 3rd totalizer is connected to the output terminal of described the 6th multiplier, for the output valve of the output valve of described the 5th multiplier and described the 6th multiplier is added and obtains dq ^-the d axle component of coordinate system

the first input end of described the 7th multiplier connects the digital sine V of described signal acquisition module output _s(j), the second input end of described the 7th multiplier is connected to the output terminal of described the second forcing function generator, for by sine value

with digital sine V _s(j) multiply each other; The first input end of described the 8th multiplier is connected to the output terminal of described the second cosine generator, and the second input end of described the 8th multiplier connects the digital cosine V of described signal acquisition module output _c(j), for by described digital cosine V _cand described cosine value (j)

multiply each other; The first input end of described the 4th totalizer is connected to the output terminal of described the 7th multiplier, the second input end of described the 4th totalizer is connected to the output terminal of described the 8th multiplier, for the output valve of the 7th multiplier and the addition of the 8th multiplier output valve are obtained to dq ^-the q axle component of coordinate system

Wherein, described forward decoupler comprises the 9th multiplier, the 3rd forcing function generator, the 3rd cosine generator, the tenth multiplier, the 11 multiplier, slender acanthopanax musical instruments used in a Buddhist or Taoist mass, the first subtracter, the tenth paired multiplier, the 13 multiplier, the second subtracter and the 6th totalizer; Described the 9th multiplier first input end is angle estimation value

the second input end is coefficient 2, for by angle estimation value

multiply each other with coefficient 2; The input end of described the 3rd forcing function generator is for receiving the output terminal of the 9th multiplier, for generation of the sine value of the 9th multiplier output quantity

the 3rd cosine generator input end is for receiving the output terminal of the 9th multiplier, for generation of the cosine value of the 9th multiplier output quantity

described the tenth multiplier first input end is connected to the output terminal of the 3rd cosine generator, and the second input end is connected to the 3rd low-pass filter output terminal, for by cosine value

with the 3rd low-pass filter output valve

multiply each other; Described the 11 multiplier first input end is connected to the 3rd forcing function generator output terminal, and the second input end is connected to the 3rd low-pass filter output terminal, for by sine value with four-way filter output value

multiply each other; Described slender acanthopanax musical instruments used in a Buddhist or Taoist mass first input end is connected to the output terminal of the tenth multiplier, and the second input end is connected to the 11 multiplier output terminal, for the output quantity of the tenth multiplier and the 11 multiplier output quantity are added; Described the first subtracter first input end is connected to dq ⁺the d axle output terminal of coordinate system, the second input end is connected to the 5th adder output, for by dq ⁺the d axle component of coordinate system

subtract each other with slender acanthopanax musical instruments used in a Buddhist or Taoist mass output quantity, obtain the output valve of forward decoupler

the tenth paired multiplier first input end is connected to the 3rd low-pass filter output terminal, and the second input end is connected to the 3rd forcing function generator output terminal, for by the 3rd low-pass filter output valve

and sine value multiply each other; The 13 multiplier first input end is connected to four-way filter output, and the second input end is connected to the 3rd cosine generator output terminal, for by four-way filter output value with cosine value

multiply each other; The second subtracter first input end is connected to the tenth paired multiplier output terminal, and the second input end is connected to the 13 multiplier output terminal, for the tenth paired multiplier output valve and the 13 multiplier output valve are subtracted each other; The 6th totalizer first input end is connected to the second subtracter output terminal, and the second input end is connected to dq ⁺the q axle component output terminal of coordinate system, for by the second subtracter output valve and dq ⁺the q axle component of coordinate system

addition obtains the output valve of forward decoupler

Wherein, described reverse decoupler comprises the 14 multiplier, the 4th forcing function generator, the 4th cosine generator, the 15 multiplier, the 16 multiplier, the 7th totalizer, the 3rd subtracter, the 17 multiplier, the 18 multiplier, the 4th subtracter and the 8th totalizer; Described the 14 multiplier first input end is connected to angle estimation value

the second input end is connected to coefficient 2, for by output angle estimated value

multiply each other with coefficient 2; Described the 4th forcing function generator input end is connected to the 14 multiplier output terminal, for generation of the sine value of the 14 multiplier output valve described the 4th cosine generator input end is connected to the 14 multiplier output terminal, for generation of the cosine value of the 14 multiplier output valve

described the 15 multiplier first input end is connected to the 4th cosine generator output terminal, and the second input end is connected to the first low-pass filter output terminal, for by cosine value

with the first low-pass filter output valve

multiply each other; Described the 16 multiplier first input end is connected to the 4th forcing function generator output terminal, and the second input end is connected to the second low-pass filter output terminal, for by sine value

with the second low-pass filter output valve

multiply each other; Described the 3rd subtracter first input end is connected to the 16 multiplier output terminal, and the second input end is connected to the output terminal of the 15 multiplier, for the output valve of the 16 multiplier output valve and the 15 multiplier is subtracted each other; Described the 7th totalizer first input end is connected to dq ^-the d axle component output terminal of coordinate system, the second input end is connected to the output terminal of the 3rd subtracter, for by dq ^-the d axle component of coordinate system

be added with the output valve of the 3rd subtracter, obtain the output valve of reverse decoupler

described the 17 multiplier first input end is connected to the first low-pass filter output terminal, and the second input end is connected to the 4th forcing function generator output terminal, for by the first low-pass filter output valve

and sine value

multiply each other; Described the 18 multiplier first input end is connected to the second low-pass filter output terminal, and the second input end is connected to the 4th cosine generator output terminal, for by the second low-pass filter output valve

with cosine value

multiply each other; Described the 8th totalizer first input end is connected to the output terminal of the 17 multiplier, and the second input end is connected to the output terminal of the 18 multiplier, for the output quantity of the output quantity of the 17 multiplier and the 18 multiplier is added; Described the 4th subtracter first input end is connected to dq ^-the q axle component output terminal of coordinate system, the second input end is connected to the output terminal of the 8th totalizer, for by dq ^-the q axle component of coordinate system

subtract each other with the output quantity of the 8th totalizer, obtain reverse decoupler output valve

Wherein, described the first low-pass filter, described the second low-pass filter, described the 3rd low-pass filter are identical with described the 4th low-pass filter structure; Described the first low-pass filter comprises the 19 multiplier, the 9th totalizer, the 20 multiplier and first memory; Described the 19 multiplier first input end is connected to forward decoupler output terminal, and the second input end is connected to sampling period T and filtering cutoff frequency ω _fproduct T* ω _f, for by forward decoupler output valve with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other; Described the 9th totalizer first input end is connected to the 19 multiplier output terminal, and the second input end is connected to first memory output terminal, for by the value of the previous moment of the first low-pass filter output valve of the 19 multiplier output valve and first memory storage be added; The 20 multiplier first input end is connected to the 9th adder output, and the second input end is connected to (1+T* ω _f) inverse, for by the 9th totalizer output valve and (1+T* ω _f) reciprocal multiplication, obtain the first low-pass filter output valve

Wherein, described movable information solver comprises pi regulator sum-product intergrator; Pi regulator comprises the 21 multiplier, the 20 paired multiplier, the 5th subtracter, the tenth totalizer, the 11 totalizer, second memory and the 3rd storer; Described integrator comprises the 23 multiplier, the 12 totalizer and the 4th storer; Described the 21 multiplier first input end is connected to forward decoupler output terminal, and the second input end is connected to Proportional coefficient K _p, for by forward decoupler output valve

proportional coefficient K _pmultiply each other; Described the 5th subtracter first input end is connected to COEFFICIENT K _i* T, the second input end is connected to COEFFICIENT K _p, for by K _i* T and K _psubtract each other; Described the 20 paired multiplier first input end is connected to the output terminal of second memory, and the second input end is connected to the 21 multiplier output terminal, for by the value of the previous moment of the forward decoupler output valve of second memory storage

) multiply each other with the 21 multiplier output quantity; Described the tenth totalizer first input end is connected to the 21 multiplier output terminal, and the second input end is connected to the 20 paired multiplier output terminal, for the 21 multiplier output valve and the 20 paired multiplier output valve are added; Described the 11 totalizer first input end is connected to the 3rd storer output terminal, the second input end is connected to the tenth adder output, for the previous moment magnitude of angular velocity ω (j-1) of the 3rd memory stores is added with the tenth totalizer output valve, Output speed value ω (j); Described the 23 multiplier first input end is connected to COEFFICIENT K _i* T, the second input end is connected to the 3rd storer output terminal, for by previous moment magnitude of angular velocity ω (j-1) and the K of the 3rd memory stores _i* T multiplies each other; Described the 12 totalizer first input end is connected to the 23 multiplier output terminal, and the second input end is connected to the 4th storer output terminal, for by the 23 multiplier output valve and the 4th memory stores previous moment angle value

be added, obtain angle value

The present invention adopts the signal processing unit of two Synchronous Reference Frame Transforms the fundamental positive sequence in magnetoelectricity signal and two order components of negative phase-sequence to be carried out to coordinate transform simultaneously, be broken down into the component under positive sequence and negative phase-sequence dq coordinate system, by Decoupling network and filtering link, realize resolving of movable information, make because the signal distortion composition that device difference and alignment error etc. cause can be eliminated by decoupler and wave filter, thereby greatly improved calculation accuracy and the antijamming capability of magnetic coder.

Accompanying drawing explanation

The structural principle schematic diagram of the magnetic coder based on two synchronous rotating frames that Fig. 1 provides for the embodiment of the present invention;

The theory diagram of signal acquisition module in the magnetic coder based on two synchronous rotating frames that Fig. 2 provides for the embodiment of the present invention;

The theory diagram of forward park transforms device in the signal processing unit that Fig. 3 provides for the embodiment of the present invention;

Reverse park transforms device theory diagram in the signal processing unit that Fig. 4 provides for the embodiment of the present invention;

Forward decoupler theory diagram in the signal processing unit that Fig. 5 provides for the embodiment of the present invention;

Reverse decoupler theory diagram in the signal processing unit that Fig. 6 provides for the embodiment of the present invention;

The theory diagram of low-pass filter in the signal processing unit that Fig. 7 provides for the embodiment of the present invention; Wherein Fig. 7 (a) is the first low-pass filter, and Fig. 7 (b) is the second low-pass filter, and Fig. 7 (c) is the 3rd low-pass filter, and Fig. 7 (d) is the 4th low-pass filter;

The theory diagram of movable information solver in the signal processing unit that Fig. 8 provides for the embodiment of the present invention.

Embodiment

In order to make object of the present invention, technical scheme and advantage clearer, 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, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can combine mutually as long as do not form each other conflict.

The present invention has been specifically related to one the output signal of magnetoelectric transducer (Hall element or magnetoresistive transducer) has been resolved to coding, and can be applied to the magnetic coder of servocontrol and servo-actuated control field.

The invention provides a kind of New Magnetic Field Controlled scrambler that degree of accuracy is not affected by the factors such as device difference and alignment error that resolves.At present domestic grind and the magnetic coder of use mostly the magnetoelectricity signal based on desirable two-way orthogonal (Huo Si road difference quadrature) Huo San road symmetry (Huo Liu road difference symmetry) carry out movable information and resolve.But due to the outwardness of the factors such as alignment error and element function difference, so in reality, the orthogonality of magnetic coder magnetoelectricity signal or symmetry must be subject to the impact of various error components.The present invention adopts two Synchronous Reference Frame Transform settlement methods, extract respectively amplitude to the fundamental positive sequence in magnetic coder magnetoelectricity signal and first-harmonic negative sequence component and the wave component of two frequencys multiplication, make because the signal distortion composition that device difference and alignment error etc. cause can be eliminated by decoupler and wave filter, thereby greatly improved calculation accuracy and the antijamming capability of magnetic coder.

In general, the above technical scheme of conceiving by the present invention compared with prior art, is resolved degree of accuracy and not affected by the factors such as device difference and alignment error, has improved the degree of accuracy that magnetic coder resolves movable information.

The present invention can orthogonal to two-way (Huo Si road difference quadrature) Huo San road symmetry (Huo Liu road difference symmetry) magnetoelectricity signal carry out movable information and resolve.As an example of two-way orthogonal signal example, the present invention is illustrated below.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can combine mutually as long as do not form each other conflict.By reference to the accompanying drawings and embodiment object of the present invention, technical scheme and advantage are described in detail as follows.

The invention discloses a kind of New Magnetic Field Controlled scrambler that movable information detects that can be used for, it comprises the magnetoelectricity signal generator 1, signal conditioner 2, signal acquisition module 3 and the several parts of signal processing unit that connect successively.Magnetoelectricity signal generator 1 is for converting the motion conditions of magnetic element to the analog electrical signal that comprises movable information.The analog electrical signal that signal conditioner 2 is exported magnetoelectricity signal generator 1 is nursed one's health and analog filtering processing, enables the input requirements of matched signal acquisition module.Signal acquisition module 3 is made up of A/D converter.The analog sinus signals V of A/D converter for signal conditioner 2 is exported _s(t), simulation cosine signal V _c(t) carry out analog to digital conversion, output digital sine signal V _sand digital cosine signal V (j) _c(j).The signal processing unit being made up of forward park transforms device 4, reverse park transforms device 5, forward decoupler 6, reverse decoupler 7, low-pass filter 8 and movable information solver 9, resolves for the digital electric signal of being inputted by signal acquisition module being carried out to coordinate transform, decoupling zero computing, filtering processing and movable information.

Forward park transforms device 4 is made up of the first cosine generator 41, the second forcing function generator 42, the first multiplier 43, the second multiplier 44, first adder 45, the first phase inverter 46, the 3rd multiplier 47, the 4th multiplier 48, second adder 49.The first cosine generator 41 is for generation of output angle estimated value

cosine value the second forcing function generator 42 is for generation of output angle estimated value

sine value

the first multiplier 43 is by the digital sine V receiving _sand cosine value (j)

multiply each other, the second multiplier 44 is by the digital cosine V receiving _cand sine value (j)

multiply each other, first adder 45 is added the output quantity of the output quantity of the first multiplier 43 and the second multiplier 44 to obtain dq ⁺the d axle component of coordinate system

the first phase inverter 46 is by sine value

anti-phase, the 3rd multiplier 47 is by the output valve of phase inverter 46 and digital sine signal V _s(j) multiply each other, the 4th multiplier 48 is by digital cosine signal V _cand cosine value (j)

multiply each other, second adder 49 is added the output valve of the output valve of the 3rd multiplier 47 and the 4th multiplier 48 to obtain dq ⁺the q axle component value of coordinate system

Oppositely park transforms device 5 is made up of the second cosine generator 51, the second forcing function generator 52, the 5th multiplier 53, the 6th multiplier 54, the 3rd totalizer 55, the second phase inverter 56, the 7th multiplier 57, the 8th multiplier 58, the 4th totalizer 59.The second cosine generator 51 is for generation of angle estimation value cosine value

the second forcing function generator 52 is for generation of angle estimation value

sine value

the 5th multiplier 53 is by the digital sine V receiving _sand cosine value (j) multiply each other, the second phase inverter 56 is by sine value

anti-phase, the 6th multiplier 54 is by the digital cosine V receiving _c(j) and the second phase inverter 56 output valves multiply each other, and the 3rd totalizer 55 is added the output valve of the output valve of the 5th multiplier 53 and the 6th multiplier 54 to obtain dq ^-the d axle component of coordinate system

the 7th multiplier 57 is by sine value

with digital sine V _s(j) multiply each other, the 8th multiplier 58 is by digital cosine V _cand cosine value (j)

multiply each other, the output valve of the 7th multiplier 57 and the 8th multiplier 58 output valves additions are obtained dq by the 4th totalizer 59 ^-the q axle component of coordinate system

Forward decoupler 6 is made up of the 9th multiplier 601, the 3rd forcing function generator 602, the 3rd cosine generator 603, the tenth multiplier the 604, the 11 multiplier 605, slender acanthopanax musical instruments used in a Buddhist or Taoist mass 606, the first subtracter 607, the tenth paired multiplier the 608, the 13 multiplier 609, the second subtracter 610, the 6th totalizer 611.The 9th multiplier 601 is by angle estimation value

multiply each other with coefficient 2, the 3rd forcing function generator 602 is for generation of the sine value of the 9th multiplier output quantity the 3rd cosine generator 603 is for generation of the cosine value of the 9th multiplier output quantity

the tenth multiplier 604 is by cosine value

with the 3rd low-pass filter output valve

multiply each other, the 11 multiplier 605 is by sine value with four-way filter output value

multiply each other, slender acanthopanax musical instruments used in a Buddhist or Taoist mass 606 is added the output quantity of the tenth multiplier 604 and the 11 multiplier 605 output quantities, and the first subtracter 607 is by dq ⁺the d axle component of coordinate system subtract each other with slender acanthopanax musical instruments used in a Buddhist or Taoist mass 606 output quantities, obtain the output valve of forward decoupler

the tenth paired multiplier 608 is by the 3rd low-pass filter output valve

and sine value

multiply each other, the 13 multiplier 609 is by four-way filter output value

with cosine value

multiply each other, the second subtracter 610 subtracts each other the tenth paired multiplier 608 output valves and the 13 multiplier 609 output valves, and the 6th totalizer 611 is by the second subtracter 610 output valves and dq ⁺the q axle component of coordinate system

addition obtains the output valve of forward decoupler

Oppositely decoupler 7 is made up of the 14 multiplier 701, the 4th forcing function generator 702, the 4th cosine generator the 703, the 15 multiplier the 704, the 16 multiplier 705, the 7th totalizer 706, the 3rd subtracter the 707, the 17 multiplier the 708, the 18 multiplier 709, the 4th subtracter 710, the 8th totalizer 711.The 14 multiplier 701 is by output angle estimated value multiply each other with coefficient 2, the 4th forcing function generator 702 is for generation of the sine value of the 14 multiplier 701 output valves

the 4th cosine generator 703 is for generation of the cosine value of the 14 multiplier 701 output valves the 15 multiplier 704 is by cosine value with the first low-pass filter output valve

multiply each other, the 16 multiplier 705 is by sine value

with the second low-pass filter output valve multiply each other, the 3rd subtracter 707 subtracts each other the output valve of the 16 multiplier 705 output valves and the 15 multiplier 704, and the 7th totalizer 706 is by dq ^-the d axle component of coordinate system

be added with the output valve of the 3rd subtracter 707, obtain the output valve of reverse decoupler

the 17 multiplier 708 is by the first low-pass filter output valve

and sine value

multiply each other, the 18 multiplier 709 is by the second low-pass filter output valve

with cosine value multiply each other, the 8th totalizer 711 output quantities by the output quantity of the 17 multiplier 708 and the 18 multiplier 709 are added, and the 4th subtracter 710 is by dq ^-the q axle component of coordinate system

subtract each other with the output quantity of the 8th totalizer 711, obtain reverse decoupler output valve

Low-pass filter 8 is made up of four identical the first low-pass filter 801, the second low-pass filter 802, the 3rd low-pass filter 803, the 4th low-pass filters 804, and each wave filter is made up of the 19 multiplier 81, the 9th totalizer the 82, the 20 multiplier 83, first memory 84.Wherein, the first low-pass filter 801 comprises that the 19 multiplier 81 is by forward decoupler output valve

with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other, the value of the previous moment of the first low-pass filter output valve that the 9th totalizer 82 is stored the 19 multiplier 81 output valves and first memory 84 be added, the 20 multiplier 83 is by the 9th totalizer 82 output valves and (1+T* ω _f) reciprocal multiplication, obtain the first low-pass filter output valve

The second low-pass filter 802 comprises that the 19 multiplier 81 is by forward decoupler output valve

with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other, the value of the previous moment of the second low-pass filter output valve that the 9th totalizer 82 is stored the 19 multiplier output valve and the first memory 84

be added, the 20 multiplier 83 is by the 9th totalizer output valve and (1+T* ω _f) reciprocal multiplication, obtain the second low-pass filter output valve

The 3rd low-pass filter 803 comprises that the 19 multiplier 81 is by reverse decoupler output valve

with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other, the value of the previous moment of the 3rd low-pass filter output valve that the 9th totalizer 82 is stored the 19 multiplier 81 output valves and first memory 84

be added, the 20 multiplier 83 is by the 9th totalizer 82 output valves and (1+T* ω _f) reciprocal multiplication, obtain the 3rd low-pass filter output valve

The 4th low-pass filter 804 comprises that the 19 multiplier 81 is by reverse decoupler output valve

with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other, the value of the previous moment of the 4th low-pass filter output valve that the 9th totalizer 82 is stored the 19 multiplier 81 output valves and first memory 84

be added, the 20 multiplier 83 is by the 9th totalizer 82 output valves and (1+T* ω _f) reciprocal multiplication, obtain the 4th low-pass filter output valve

Movable information solver 9 is made up of pi regulator 91 sum-product intergrators 92.Wherein pi regulator 91 is made up of the 21 multiplier the 910, the 20 paired multiplier 911, the 5th subtracter 912, the tenth totalizer the 913, the 11 totalizer 914, second memory 915, the 3rd storer 916.

Integrator 92 is made up of the 23 multiplier the 920, the 12 totalizer 921, the 4th storer 922.The 21 multiplier 910 is by forward decoupler output valve

proportional coefficient K _pmultiply each other, the 5th subtracter 912 is by K _i* T and K _psubtract each other the value of the previous moment of the output valve of the forward decoupler that the 20 paired multiplier 911 is stored second memory 915

) multiply each other with the 21 multiplier 910 output quantities, the tenth totalizer 913 is added the 21 multiplier 910 output valves and the 20 paired multiplier 911 output valves, the previous moment magnitude of angular velocity ω (j-1) that the 11 totalizer 914 is stored the 3rd storer 916 is added with the tenth totalizer 913 output valves, Output speed value ω (j).The 23 multiplier 920 is by previous moment magnitude of angular velocity ω (j-1) and K _i* T multiplies each other, and previous moment angle value stored by the 23 multiplier 920 and the 4th storer 922 by the 12 totalizer 921

be added, obtain angle value

The magnetic coder that the embodiment of the present invention provides can be processed magnetoelectricity signal generator output two-phase, three-phase or six phase signals.This example is output as example explanation but is not limited to two phase signals with two phase signals.Wherein, the output of forward park transforms device 4 meets:

with

oppositely the output of park transforms device 5 meets: $V_{\mathrm{sd}}^{-}\left(j\right)=V_s\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)-V_c*\sin \widehat{\mathrm{\θ}}\left(j\right)$ With $V_{\mathrm{sq}}^{-}\left(j\right)=V_c\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)+V_s*\sin \widehat{\mathrm{\θ}}\left(j\right).$ The output of forward decoupler 6 meets: $V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ With $V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)=V_{\mathrm{sq}}^{+}\left(j\right)+\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right)).$ Oppositely the output of decoupler 7 meets: $V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ With $V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)=V_{\mathrm{sq}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right)).$ In low-pass filter 8, the output of the first low-pass filter 801 meets: $\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{+}}(j-1)+K_P*V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{+}}^{*}(j-1).$ The output of the second low-pass filter 802 meets: $\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{+}}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1).$ The output of the 3rd low-pass filter 803 meets: $\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{-}}(j-1)+K_P*V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{-}}^{*}(j-1).$ The output of the 4th low-pass filter 804 meets: $\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{-}}(j-1)+K_P*V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{-}}^{*}(j-1).$ The output of movable information solver 9 meets: $\mathrm{\ω}\left(j\right)=\mathrm{\ω}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1)$ With $\widehat{\mathrm{\θ}}\left(j\right)=\widehat{\mathrm{\θ}}(j-1)+K_I*T*\mathrm{\ω}(j-1).$

In embodiments of the present invention, for the situation of three phase input signals; Suppose that three phase input signals are respectively V _a, V _b, V _cthe output of forward park transforms device 4 now meets:

$V_{\mathrm{sd}}^{+}\left(j\right)=V_a*\cos \widehat{\mathrm{\θ}}\left(j\right)+V_b*(\frac{\sqrt{3}}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)-\frac{1}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right))-V_c*(\frac{\sqrt{3}}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)+\frac{1}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right))$

$V_{\mathrm{sq}}^{+}\left(j\right)=V_a*\sin \widehat{\mathrm{\θ}}\left(j\right)-V_b*(\frac{\sqrt{3}}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right)+\frac{1}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right))+V_c*(\frac{\sqrt{3}}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right)-\frac{1}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right))$

The output of reverse park transforms device 5 now meets:

$V_{\mathrm{sd}}^{-}\left(j\right)=V_a*\cos \widehat{\mathrm{\θ}}\left(j\right)+V_b*(\frac{\sqrt{3}}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)-\frac{1}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right)-V_c*(\frac{\sqrt{3}}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)+\frac{1}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right))$

$V_{\mathrm{sq}}^{-}\left(j\right)={-V}_a*\sin \widehat{\mathrm{\θ}}\left(j\right)-V_b*(\frac{\sqrt{3}}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right)+\frac{1}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)+V_c*(\frac{1}{2}*\sin \widehat{\mathrm{\θ}}\left(j\right)-\frac{\sqrt{3}}{2}*\cos \widehat{\mathrm{\θ}}\left(j\right))$

Remainder is identical, does not repeat them here.

In embodiments of the present invention, for ease of comparing precision and the speed of the embodiment of the present invention and traditional demodulation method, carried out emulation experiment.Suppose magnetoelectricity signal generator output V _s(t)=K _e* sin (100*t), V _c(t)=0.8*K _ecos (100*t), cosine signal amplitude is 0.8 times of sinusoidal signal amplitude.Simulation result demonstration, the present invention can realize and resolve the tracking lock of angle value to actual angle value within the utmost point short time, resolves angular velocity and equals signal actual angular speed 100rad/s, and calculation result is not subject to difference in magnitude, and other affects.

If magnetoelectricity signal generator output V _s(t)=K _esin (100*t), V _c(t)=0.8*K _ecos (100*t+10 °), i.e. 10 ° of now cosine signal hysteresis sinusoidal signals.Simulation result shows, the present invention still can realize and resolve angular velocity and equal actual angular speed 100rad/s within a short period of time, affected by phase deviation to occur a constant deviation, therefore can be easy to compensate according to experimental test but resolve angle value.

Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (7)

1. the magnetic coder based on two synchronous rotating frames, is characterized in that, comprises the magnetoelectricity signal generator (1), signal conditioner (2), signal acquisition module (3) and the signal processing unit that connect successively; Described signal processing unit comprises: forward park transforms device (4), reverse park transforms device (5), forward decoupler (6), reverse decoupler (7), the first low-pass filter (801), the second low-pass filter (802), the 3rd low-pass filter (803), the 4th low-pass filter (804) and movable information solver (9);

Described magnetoelectricity signal generator (1) is for converting the motion conditions of magnetic element to the analog electrical signal that comprises movable information; Described signal conditioner (2) is for nursing one's health described analog electrical signal and the rear signal matching with described signal acquisition module (3) of exporting of analog filtering processing; Described signal acquisition module (3) is for carrying out analog to digital conversion and export digital electric signal the output of described signal conditioner (2);

The input end of described forward park transforms device (4) is connected to the output terminal of described signal acquisition module (3), for described digital electric signal is arrived to the dq with forward first-harmonic synchronous angular velocity ω rotation with permanent amplitude transformation ⁺under coordinate system, extract the fundamental positive sequence amplitude in described digital electric signal, isolate the first-harmonic negative sequence component two frequency multiplication wave components in described digital electric signal simultaneously;

The input end of described reverse park transforms device (5) is connected to the output terminal of described signal acquisition module (3), for described digital electric signal is arrived to the dq with reverse first-harmonic synchronous angular velocity-ω rotation with permanent amplitude transformation ^-under coordinate system, extract the first-harmonic negative sequence component amplitude in described digital electric signal, isolate the fundamental positive sequence two frequency multiplication wave components in described digital electric signal simultaneously;

The input end of described forward decoupler (6) is connected with the output terminal of described forward park transforms device (4); The amplitude feedback quantity that is used for passing through digital electric signal first-harmonic negative sequence component is to eliminate dq ⁺the alternating component being caused by first-harmonic negative sequence component in digital electric signal under coordinate system;

The input end of described reverse decoupler (7) is connected with the output terminal of described reverse park transforms device (5); The amplitude feedback quantity that is used for passing through digital electric signal fundamental positive sequence is to eliminate dq ^-the alternating component being caused by fundamental positive sequence in digital electric signal under coordinate system;

The input end of described the first low-pass filter (801) is connected to the first output terminal of described forward decoupler (6), and the output terminal of described the first low-pass filter (801) is connected to the first feedback end of described reverse decoupler (7); For the dq of filtering forward decoupler output ⁺under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ⁺fundamental positive sequence amplitude under coordinate system.

The input end of described the second low-pass filter (802) is connected to the second output terminal of described forward decoupler (6), the output terminal of described the second low-pass filter (802) is connected to the second feedback end of described reverse decoupler (7), and the output terminal of described the second low-pass filter (802) is also as fundamental positive sequence amplitude output terminal in digital electric signal; For the dq of filtering forward decoupler output ⁺under coordinate system, two frequency multiplication wave components of first-harmonic negative sequence component, obtain dq ⁺first-harmonic negative sequence component amplitude under coordinate system;

The input end of described the 3rd low-pass filter (803) is connected to the first output terminal of described reverse decoupler (7), the output terminal of described the 3rd low-pass filter (803) is connected to the first feedback end of described forward decoupler (6), and the output terminal of described the 3rd low-pass filter (803) is also as first-harmonic negative sequence component amplitude output terminal in digital electric signal; For the dq of filtering negative sense decoupler output ^-under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ^-fundamental positive sequence amplitude under coordinate system;

The input end of described the 4th low-pass filter (804) is connected to the second output terminal of described reverse decoupler (7), the output terminal of described the 4th low-pass filter (804) is connected to the second feedback end of described forward decoupler (6), and the output terminal of described the 4th low-pass filter (804) is also as first-harmonic negative sequence component amplitude output terminal in digital electric signal; For the dq of filtering negative sense decoupler output ^-under coordinate system, two frequency multiplication wave components of fundamental positive sequence, obtain dq ^-fundamental positive sequence amplitude under coordinate system; The input end of described movable information solver (9) is connected to the second output terminal of described forward decoupler (6), phase-locked for the digital electric signal that comprises movable information is carried out, and move distance to magnetic element in magnetoelectricity signal generator and movement velocity are resolved the angular velocity of rear output magnetic cell motion

and angle value

2. magnetic coder as claimed in claim 1, it is characterized in that, described forward park transforms device (4) comprising: the first cosine generator (41), the second forcing function generator (42), the first multiplier (43), the second multiplier (44), first adder (45), the first phase inverter (46), the 3rd multiplier (47), the 4th multiplier (48) and second adder (49);

The input end of described the first cosine generator (41) is used for receiving output angle estimated value

be used for according to described output angle estimated value

output cosine value

The input end of described the second forcing function generator (42) is used for receiving output angle estimated value

be used for according to described output angle estimated value

output sine value

The first input end of described the first multiplier (43) connects the digital sine V of described signal acquisition module (3) output _s(j), the second input end of described the first multiplier (43) is connected to the first output terminal of described the first cosine generator (41), for by described digital sine V _sand described cosine value (j) multiply each other;

The first input end of described the second multiplier (44) is connected to the first output terminal of described the second forcing function generator (42), and the second input end of described the second multiplier (44) is used for receiving digital cosine V _c(j), for by receive digital cosine V _cand described sine value (j)

multiply each other;

The first input end of described first adder (45) is connected to the output terminal of described the first multiplier (43), the second input end of described second adder (45) is connected to the output terminal of described the second multiplier (44), for the output quantity of the output quantity of described the first multiplier (43) and described the second multiplier (44) is added and obtains dq ⁺the d axle component of coordinate system

The input end of described the first phase inverter (46) is connected to the second output terminal of described the second forcing function generator (42), for by described sine value

anti-phase;

The first input end of described the 3rd multiplier (47) is used for receiving digital sine V _s(j), the second input end of described the 3rd multiplier (47) is connected to the output terminal of described the first phase inverter (46); Be used for the output valve of described the first phase inverter (46) and digital sine signal V _s(j) multiply each other;

The first input end of described the 4th multiplier (48) is connected to the second output terminal of described the first cosine generator (41), and the second input end of described the 4th multiplier (48) connects the digital cosine signal V of described signal acquisition module (3) output _c(j), for by described digital cosine signal V _cand described cosine value (j)

multiply each other;

The first input end of described second adder (49) is connected to the output terminal of described the 3rd multiplier (47), the second input end of described second adder (49) is connected to the output terminal of described the 4th multiplier (48), for the output valve of the output valve of the 3rd multiplier (47) and described the 4th multiplier (48) is added and obtains dq ⁺the q axle component value of coordinate system

3. magnetic coder as claimed in claim 1 or 2, it is characterized in that, described reverse park transforms device (5) comprises the second cosine generator (51), the second forcing function generator (52), the 5th multiplier (53), the 6th multiplier (54), the 3rd totalizer (55), the second phase inverter (56), the 7th multiplier (57), the 8th multiplier (58) and the 4th totalizer (59);

The input end of described the second cosine generator (51) is used for receiving output angle estimated value

be used for according to described angle estimation value

output cosine value

The input end of described the second forcing function generator (52) is used for receiving output angle estimated value

be used for according to described angle estimation value

output sine value

The first input end of described the 5th multiplier (53) is connected to the output terminal of described the first forcing function generator (51), and the second input end of described the 5th multiplier (53) connects the digital sine V of described signal acquisition module (3) output _s(j), for by described digital sine V _sand described cosine value (j)

multiply each other;

The input end of described the second phase inverter (56) is connected to the output terminal of described the second forcing function generator (52), for by sine value

anti-phase;

The first input end of described the 6th multiplier (54) connects the digital cosine V of described signal acquisition module (3) output _c(j), the second input end of described the 6th multiplier (54) is connected with the output terminal of described the second phase inverter (56), for by described digital cosine V _c(j) and described the second phase inverter (56) output valve multiply each other;

The first input end of described the 3rd totalizer (55) is connected to the output terminal of described the 5th multiplier (53), the second input end of described the 3rd totalizer (55) is connected to the output terminal of described the 6th multiplier (54), for the output valve of the output valve of described the 5th multiplier (53) and described the 6th multiplier (54) is added and obtains dq ^-the d axle component of coordinate system

The first input end of described the 7th multiplier (57) connects the digital sine V of described signal acquisition module (3) output _s(j), the second input end of described the 7th multiplier (57) is connected to the output terminal of described the second forcing function generator (52), for by sine value

with digital sine V _s(j) multiply each other;

The first input end of described the 8th multiplier (58) is connected to the output terminal of described the second cosine generator (51), and the second input end of described the 8th multiplier (58) connects the digital cosine V of described signal acquisition module (3) output _c(j), for by described digital cosine V _cand described cosine value (j)

multiply each other;

The first input end of described the 4th totalizer (59) is connected to the output terminal of described the 7th multiplier (57), the second input end of described the 4th totalizer (59) is connected to the output terminal of described the 8th multiplier (58), for the output valve of the 7th multiplier (57) and the addition of the 8th multiplier (58) output valve are obtained to dq ^-the q axle component of coordinate system

4. the magnetic coder as described in claim 1-3 any one, it is characterized in that, described forward decoupler (6) comprises the 9th multiplier (601), the 3rd forcing function generator (602), the 3rd cosine generator (603), the tenth multiplier (604), the 11 multiplier (605), slender acanthopanax musical instruments used in a Buddhist or Taoist mass (606), the first subtracter (607), the tenth paired multiplier (608), the 13 multiplier (609), the second subtracter (610) and the 6th totalizer (611);

Described the 9th multiplier (601) first input end is angle estimation value the second input end is coefficient 2, for by angle estimation value

multiply each other with coefficient 2;

The input end of described the 3rd forcing function generator (602) is used for receiving the output terminal of the 9th multiplier (601), for generation of the sine value of the 9th multiplier output quantity

The 3rd cosine generator (603) input end is used for receiving the output terminal of the 9th multiplier (601), for generation of the cosine value of the 9th multiplier output quantity

Described the tenth multiplier (604) first input end is connected to the output terminal of the 3rd cosine generator (603), and the second input end is connected to the 3rd low-pass filter output terminal, for by cosine value

with the 3rd low-pass filter output valve

multiply each other;

Described the 11 multiplier (605) first input end is connected to the 3rd forcing function generator (602) output terminal, and the second input end is connected to the 3rd low-pass filter output terminal, for by sine value

with four-way filter output value

multiply each other;

Described slender acanthopanax musical instruments used in a Buddhist or Taoist mass (606) first input end is connected to the output terminal of the tenth multiplier (604), the second input end is connected to the 11 multiplier (605) output terminal, for the output quantity of the tenth multiplier (604) and the 11 multiplier (605) output quantity are added;

Described the first subtracter (607) first input end is connected to dq ⁺the d axle output terminal of coordinate system, the second input end is connected to slender acanthopanax musical instruments used in a Buddhist or Taoist mass (606) output terminal, for by dq ⁺in the d axle of coordinate system divides

subtract each other with slender acanthopanax musical instruments used in a Buddhist or Taoist mass (606) output quantity, obtain the output valve of forward decoupler

The tenth paired multiplier (608) first input end is connected to the 3rd low-pass filter output terminal, and the second input end is connected to the 3rd forcing function generator (602) output terminal, for by the 3rd low-pass filter output valve

and sine value

multiply each other;

The 13 multiplier (609) first input end is connected to four-way filter output, and the second input end is connected to the 3rd cosine generator (603) output terminal, for by four-way filter output value

with cosine value

multiply each other;

The second subtracter (610) first input end is connected to the tenth paired multiplier (608) output terminal, the second input end is connected to the 13 multiplier (609) output terminal, for the tenth paired multiplier (608) output valve and the 13 multiplier (609) output valve are subtracted each other;

The 6th totalizer (611) first input end is connected to the second subtracter (610) output terminal, and the second input end is connected to dq ⁺the q axle component output terminal of coordinate system, for by the second subtracter (610) output valve and dq ⁺the q axle component of coordinate system addition obtains the output valve of forward decoupler

5. the magnetic coder as described in claim 1-4 any one, it is characterized in that, described reverse decoupler (7) comprises the 14 multiplier (701), the 4th forcing function generator (702), the 4th cosine generator (703), the 15 multiplier (704), the 16 multiplier (705), the 7th totalizer (706), the 3rd subtracter (707), the 17 multiplier (708), the 18 multiplier (709), the 4th subtracter (710) and the 8th totalizer (711);

Described the 14 multiplier (701) first input end is connected to angle estimation value

the second input end is connected to coefficient 2, for by output angle estimated value

multiply each other with coefficient 2;

Described the 4th forcing function generator (702) input end is connected to the 14 multiplier (701) output terminal, for generation of the sine value of the 14 multiplier (701) output valve

Described the 4th cosine generator (703) input end is connected to the 14 multiplier (701) output terminal, for generation of the cosine value of the 14 multiplier (701) output valve

Described the 15 multiplier (704) first input end is connected to the 4th cosine generator (703) output terminal, and the second input end is connected to the first low-pass filter output terminal, for by cosine value

with the first low-pass filter output valve

multiply each other;

Described the 16 multiplier (705) first input end is connected to the 4th forcing function generator (702) output terminal, and the second input end is connected to the second low-pass filter output terminal, for by sine value

with the second low-pass filter output valve

multiply each other;

Described the 3rd subtracter (707) first input end is connected to the 16 multiplier (705) output terminal, the second input end is connected to the output terminal of the 15 multiplier (704), for the output valve of the 16 multiplier (705) output valve and the 15 multiplier (704) is subtracted each other;

Described the 7th totalizer (706) first input end is connected to dq ^-the d axle component output terminal of coordinate system, the second input end is connected to the output terminal of the 3rd subtracter (707), for by dq ^-the d axle component of coordinate system

be added with the output valve of the 3rd subtracter (707), obtain the output valve of reverse decoupler $V_{{\mathrm{sd}}^{-}}^{*}\left(j\right);$

Described the 17 multiplier (708) first input end is connected to the first low-pass filter output terminal, and the second input end is connected to the 4th forcing function generator (702) output terminal, for by the first low-pass filter output valve and sine value multiply each other;

Described the 18 multiplier (709) first input end is connected to the second low-pass filter output terminal, and the second input end is connected to the 4th cosine generator (703) output terminal, for by the second low-pass filter output valve

with cosine value

multiply each other;

Described the 8th totalizer (711) first input end is connected to the output terminal of the 17 multiplier (708), the second input end is connected to the output terminal of the 18 multiplier (709), for the output quantity of the output quantity of the 17 multiplier (708) and the 18 multiplier (709) is added;

Described the 4th subtracter (710) first input end is connected to dq ^-the q axle component output terminal of coordinate system, the second input end is connected to the output terminal of the 8th totalizer (711), for by dq ^-the q axle component of coordinate system

subtract each other with the output quantity of the 8th totalizer (711), obtain reverse decoupler output valve

6. the magnetic coder as described in claim 1-5 any one, it is characterized in that, described the first low-pass filter (801), described the second low-pass filter (802), described the 3rd low-pass filter (803) are identical with described the 4th low-pass filter (804) structure; Described the first low-pass filter (801) comprises the 19 multiplier (81), the 9th totalizer (82), the 20 multiplier (83) and first memory (84);

Described the 19 multiplier (81) first input end is connected to forward decoupler output terminal, and the second input end is connected to sampling period T and filtering cutoff frequency ω _fproduct T* ω _f, for by forward decoupler output valve

with sampling period T and filtering cutoff frequency ω _fproduct T* ω _fmultiply each other;

Described the 9th totalizer (82) first input end is connected to the 19 multiplier (81) output terminal, the second input end is connected to first memory (84) output terminal, for by the value of the previous moment of the first low-pass filter output valve of the 19 multiplier (81) output valve and first memory (84) storage $\stackrel{\‾}{V_{\mathrm{sd}}^{+}}(j-1)$ Be added;

The 20 multiplier (83) first input end is connected to the 9th totalizer (82) output terminal, and the second input end is connected to (1+T* ω _f) inverse, for by the 9th totalizer (82) output valve and (1+T* ω _f) reciprocal multiplication, obtain the first low-pass filter output valve

7. the magnetic coder as described in claim 1-6 any one, is characterized in that, described movable information solver (9) comprises pi regulator (91) sum-product intergrator (92);

Pi regulator (91) comprises the 21 multiplier (910), the 20 paired multiplier (911), the 5th subtracter (912), the tenth totalizer (913), the 11 totalizer (914), second memory (915) and the 3rd storer (916);

Described integrator (92) comprises the 23 multiplier (920), the 12 totalizer (921) and the 4th storer (922);

Described the 21 multiplier (910) first input end is connected to forward decoupler output terminal, and the second input end is connected to Proportional coefficient K _p, for by forward decoupler output valve

proportional coefficient K _pmultiply each other;

Described the 5th subtracter (912) first input end is connected to COEFFICIENT K _i* T, the second input end is connected to COEFFICIENT K _p, for by K _i* T and K _psubtract each other;

Described the 20 paired multiplier (911) first input end is connected to the output terminal of second memory (915), the second input end is connected to the 21 multiplier (910) output terminal, for by the value of the previous moment of the forward decoupler output valve of second memory (915) storage

) multiply each other with the 21 multiplier (910) output quantity;

Described the tenth totalizer (913) first input end is connected to the 21 multiplier (910) output terminal, the second input end is connected to the 20 paired multiplier (911) output terminal, for the 21 multiplier (910) output valve and the 20 paired multiplier (911) output valve are added;

Described the 11 totalizer (914) first input end is connected to the 3rd storer (916) output terminal, the second input end is connected to the tenth totalizer (913) output terminal, for the previous moment magnitude of angular velocity ω (j-1) of the 3rd storer (916) storage is added with the tenth totalizer (913) output valve, Output speed value ω (j);

Described the 23 multiplier (920) first input end is connected to COEFFICIENT K _i* T, the second input end is connected to the 3rd storer (916) output terminal, for previous moment magnitude of angular velocity ω (j-1) and K that the 3rd storer (916) is stored _i* T multiplies each other;

Described the 12 totalizer (921) first input end is connected to the 23 multiplier (920) output terminal, the second input end is connected to the 4th storer (922) output terminal, for the 23 multiplier (920) output valve and the 4th storer (922) are stored to previous moment angle value

be added, obtain angle value

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