CN105203020A - Rotary transformer demodulation device for excitation synchronization - Google Patents
Rotary transformer demodulation device for excitation synchronization Download PDFInfo
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Abstract
The invention discloses a rotary transformer demodulation device for excitation synchronization. An output signal of a rotary transformer is decoded through a hardware circuit and a software algorithm; an A/D acquisition module is controlled to only acquire data points of signals S1 and signals S2 with the amplitude ranging from -1 to 1 by generating excitation synchronization signals, the data points are sent to a DSP demodulation module for decoding of the output signal, and demodulation precision can be improved. The hardware circuit of the device is simple, space is saved, and the software algorithm is easy to implement. On one hand, the development speed of a product is increased and the research period is shortened; on the other hand, a rotary demodulation module, a decoding chip and relative peripheral circuits do not need to be used, complexity of the circuit is reduced, and production cost of the product is reduced to a large extent; on the premise that a simulation switch expansion AD acquisition channel is not connected, the four-path rotary transformer can be demodulated at the same time, and expansibility is good.
Description
Technical field
The present invention relates to rotary transformer technology field, particularly relate to a kind of sharp M.S rotary transformer demodulating equipment.
Background technology
Rotary transformer because its measuring accuracy is high, vulnerability to jamming and the feature such as adaptive capacity to environment is strong, become more common motor rotor position and the sensor of rotating speed, in its application process, often need the output signal simulation signal of rotary transformer to be converted to digital signal, connect with servo controller again, calculate angle and the frequency of rotary transformer.
At present, signals of rotating transformer conversion plan has a lot, in engineer applied, mostly adopt rotary transformer demodulation module, and this method cost is higher, it is large to take up room in design circuit plate process, and circuit is complicated, is unfavorable for the miniaturization of product.Also by rotary transformer decoding deck in engineer applied, decoding deck realizes a kind of method adopting hardware circuit demodulation, and the method circuit realiration is complicated, and integrated level is poor, easily produces interference and limited precision; Application software coding/decoding method can overcome the problems of hardware demodulation, but the decoding algorithm that existing software demodulation technology adopts is more complicated, controller execution algorithm code is more loaded down with trivial details, and engineering not easily realizes.
Summary of the invention
In view of this, the invention provides a kind of sharp M.S rotary transformer demodulating equipment, the precision of demodulation can be improved.
A kind of sharp M.S rotary transformer demodulating equipment, comprises excited signal generation module, rotary transformer, A/D acquisition module, excitatory synchronizing signal generation module, excitatory synchronizing signal filtering and frequency division module and DSP demodulation module;
Described excited signal generation module for generation of excited signal Z1 and Z2, wherein, Z1=A0 × Sin (ω t), the output head grounding of Z2; A0 is the maximum amplitude of excitatory module output signal, and ω is angular frequency, and t is the time;
Described rotary transformer produces output signal S1, S2, S3 and S4 based on receiving excited signal Z1 and Z2 from excited signal generation module, and meets: S1=E0 × Sin (ω t) × Sin (θ); S2=E0 × Sin (ω t) × Cos (θ); Wherein, the equal ground connection of the signal output part of S3 and S4; E0 is the maximum amplitude of output signal of rotary transformer, and θ is the Angle Position of rotary transformer;
Described excitatory synchronizing signal generation module receives excited signal Z1 and Z2 according to from excited signal generation module, produces excitatory synchronizing signal;
Described DSP demodulation module receives described excitatory synchronizing signal, and based on this excitatory synchronizing signal, described A/D acquisition module is triggered, make the corresponding amplitude of A/D acquisition module collection signal S1 and S2 be the data point being more than or equal to 0.8E0, or the corresponding amplitude of collection signal S1 and S2 is the data point being less than or equal to-0.8E0;
DSP demodulation module receives the data point that A/D acquisition module gathers, and for the data of each data point, draws angle position value θ:
Tan(θ)＝＝(S1+-S1-)/(S2+-S2-)
Wherein, S1+=E1 × Sin (θ)+E2, represents the forward signal of signal S1; E2 is the common mode voltage of acquisition module;
S2+=E1 × Cos (θ)+E2 is the forward signal of S2;
S1-=-E1 × Sin (θ)+E2 is the negative-going signal of S1;
S2-=-E1 × Cos (θ)+E2 is the negative-going signal of S2.
Further, also comprise excitatory synchronizing signal filtering frequency division module, scaling down processing is carried out again after the noise of the excitatory synchronizing signal that filtering excitatory synchronizing signal generation module produces, issue DSP demodulation module after reducing to 1/5 of excited signal frequency by the frequency of excitatory synchronizing signal, make DSP demodulation module trigger A/D acquisition modules once every 4 excited signal cycles.
Preferably, the model that described excitatory synchronizing signal filtering frequency division module adopts be 74161 counter frequency division is carried out to excitatory synchronizing signal.
Preferably, described excitatory synchronizing signal filtering frequency division module adopts d type flip flop to carry out filtering to excited signal.
Preferably, described excitatory synchronizing signal generation module adopts model to be the operational amplifier of AD8397; VCCA pin connects+5V power supply, and VSSA pin connects-5V power supply; Signal Z1 receives the negative input end of operational amplifier by resistance R1; Ground connection after the positive input terminal series resistor R2 of operational amplifier; Series resistor R5 between positive input terminal and output terminal; Output terminal is ground connection after series resistor R3, diode V1 and resistance R4 successively, then draw described excitatory synchronizing signal between diode and resistance R4; Wherein, resistance R1 is 1k Ω, and resistance R2 is 3.9k Ω, and resistance R3 is 1k Ω, and resistance R4 is 3.3k Ω, and resistance R5 is 1k Ω.
Preferably, the model that described A/D acquisition module adopts is AD7608.
The present invention has following beneficial effect:
(1) rotary transformer demodulating equipment of the present invention, is decoded the output signal of rotary transformer by hardware circuit and software algorithm; By the amplitude that produces excitatory synchronizing signal control A/D acquisition module collection signal S1 and S2 1 and the data point of-1 annex, and send to DSP demodulation module to carry out the decoding outputed signal, the precision of demodulation can be improved; This device hardware circuit is simple and easy, saving space, and software algorithm easily realizes; One aspect of the present invention improve product research and development speed, shorten the lead time, on the other hand, becoming demodulation module and decoding chip and associated peripheral circuits without the need to using to revolve, reducing the complexity of circuit, reducing the production cost of product to a great extent; Under the prerequisite not connecing analog switch expansion AD acquisition channel, can demodulation No. 4 rotary transformer simultaneously, extendability is strong.
Accompanying drawing explanation
Fig. 1 is the theory diagram of rotary transformer demodulating equipment of the present invention;
Fig. 2 is excitatory phase-locking schematic diagram;
Fig. 3 is excitatory synchronous signal generating circuit;
Fig. 4 is U 1. waveform schematic diagram;
Fig. 5 is excitatory synchronization waveform schematic diagram;
Fig. 6 is excitatory synchronizing signal filtering and frequency dividing circuit;
Fig. 7 is AD7608 Acquisition Circuit.
Embodiment
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
Rotary transformer demodulating equipment theory diagram as shown in Figure 1, excited signal is supplied to rotary transformer and excitatory synchronous signal generating circuit by excited signal generation module, high precision collecting chip AD7608 is selected to gather sine, the cosine two paths of signals of rotary transformer output, rotary transformer demodulating algorithm is performed by DSP main control chip TMS320F38335, calculate the angle position value of rotary transformer, the precision of demodulation depends on the precision selecting A/D chip.The excited signal that excited signal generation module exports can be converted into the excitatory synchronizing signal that amplitude is 3.3V by excitatory synchronous signal generating circuit, through CPLD chip EPM7064AETI44-7 internal hardware circuit filtering and scaling down processing, generate the excitatory synchronizing signal of 2kHz, this excitatory synchronizing signal exports to DSP, starts AD conversion and trigger DSP external interrupt at rising edge and negative edge.While this DSP control system demodulation rotary transformer, also can carry out other work, therefore, excitatory synchronizing signal be controlled within 2kHz, to meet the requirement of control system sample frequency.
The present invention relates to revolve become demodulation principle as follows:
1) the excitatory and output of rotary transformer
(Z1–Z2)＝A0×Sin(ωt)
In formula, Z1, Z2 are the excited signal that excitatory module exports, and the maximum amplitude of the excitatory module output signal of A0, ω is angular frequency.
(S1–S3)＝E0×Sin(ωt)×Sin(θ)
(S2–S4)＝E0×Sin(ωt)×Cos(θ)
In formula, S1, S2, S3, S4 are the maximum amplitude of the output signal of rotary transformer, E0 output signal of rotary transformer, and θ is the Angle Position of rotary transformer.
2) rotary transformer demodulating algorithm principle
Z2, S3, S4 are connect AD7608 power supply ground, make Z1, S1, S2 signal has voltage reference points, and Z1, S1, S2 just become following formula:
Z1＝A0×Sin(ωt)
S1＝E0×Sin(ωt)×Sin(θ)
S2＝E0×Sin(ωt)×Cos(θ)
As shown in Figure 55 (OS2) of acquisition chip AD7608,4 (OS1), 3 (OS0) pin are arranged to low, high and low level by hardware circuit, namely 0,1,0, being converted into the decimal system is 2.According to AD7608 chip characteristics, carry out 2 in AD7608 inside
2=4 over-samplings, namely 1 signals collecting 4 times, is weighted average calculating operation to this signal 4 collection capacities, can plays the effect of the filtering to this signal.The maximal value that AD7608 carries out 4 times of over-sampling times is 18.8 μ s.
As shown in Figure 2, excited signal Z1 is the sine wave of 10kHz frequency, its cycle is 1/10kHz, i.e. 100 μ s, if gather S1, S2 signal from 14.65 μ s, the phasing degree that 14.65 μ s are corresponding is 14.65 μ s × 360 °/100 μ s=52.74 °, Sin (52.74 °)=0.8, after 18.8 μ s namely 33.45 μ s time gathered, the phasing degree that 33.45 μ s are corresponding is 33.45 μ s × 360 °/100 μ s=120.42 °, Sin (120.42 °)=0.86.AD7608 completes the collection to S1, S2 signal between phase place (52.74 ° of+k π) ~ (120.42 ° of+k π), phase place is fixed, AD7608 gathers S1 all the time simultaneously, the point of S2 signal between Sin (ω t)=0.8 ~ Sin (ω t)=1 and Sin (ω t)=-0.8 ~ Sin (ω t)=-1, namely synchronizing signal produces near Sin (ω t)=1 and-1, when angle value resolves, precision can be improved: the large analog value of AD acquisition chip collection is higher than the precision gathering little analog value.Such as: 18, AD7608 position AD acquisition chip, 2
18=262144LSB, the scope that AD7608 gathers is ± 5V, the i.e. corresponding 10V of 262144LSB, acquisition resolution is the voltage that 10/262144=(3.8147E-5) V/LSB, AD7608 gather is U, the voltage of actual acquisition is (U ± 3.8147E-5) V, acquisition precision is (3.8147E-5)/U, and as can be seen here, U is larger, acquisition precision is higher, and actual acquisition amount is more close to amount to be collected.Phase theta 1 is 52.74 °, and phase theta 2 is 120.42 °.Then there is following formula:
S1+＝E1×Sin(θ)+E2
S2+＝E1×Cos(θ)+E2
S1-＝-E1×Sin(θ)+E2
S2-＝-E1×Cos(θ)+E2
(S1+-S1-)＝2×E1×Sin(θ)
(S2+-S2-)＝2×E1×Cos(θ)
In formula, S1+, S2+ are forward signal, and S1-, S2-are negative-going signal, and E1 is E0 × Sin (ω t) point, common mode voltage when E2 is AD collection.
3) angle position value calculates
Tan(θ)＝Sin(θ)/Cos(θ)＝(S1+-S1-)/(S2+-S2-)
Cot(θ)＝Cos(θ)/Sin(θ)＝(S2+-S2-)/(S1+-S1-)
Cot(θ)＝Tan(90-θ)
The hardware circuit that excitatory synchronizing signal occurs as shown in Figure 3.Excitatory synchronous signal generating circuit adopts operational amplifier A D8397, and (other high speed amplifier available substitutes, also directly comparer can be used) realize the comparator function of two comparison point, to operational amplifier A D8639 confession ± 5V power supply, excited signal Z1 is input, and 10kHz signal is for exporting.VCCA pin connects+5V power supply, and VSSA pin connects-5V power supply; Signal Z1 receives the negative input end (pin 2) of operational amplifier by resistance R1; Ground connection after positive input terminal (pin 3) the series resistor R2 of operational amplifier; Series resistor R5 between positive input terminal and output terminal (pin 1); Output terminal is ground connection after series resistor R3, diode V1 and resistance R4 successively, then draw described excitatory synchronizing signal between diode and resistance R4; Wherein, resistance R1 is 1k Ω, R2 be 3.9k Ω, R3 be 1k Ω, R4 be 3.3k Ω, R5 is 1K ω, and the model of diode is IN4148J.
When excited signal Z1 point current potential U 2. <U 3. time, U current potential 1. should be+5V, U current potential 3. should be (U 1./4.9k Ω) × 3.9k Ω=3.98V, U 2. with U 3. current potential compare in real time, 4. U should be (U is-0.7V 1.) × 3.3k Ω/(1+3.3k Ω)=3.3V, wherein 0.7V is N; When excited signal Z1 point current potential U 2. >U 3. time, U current potential 1. should be-5V, U current potential 3. should be (U 1./4.9k Ω) × 3.9k Ω=-3.98V, now due to 1. diode characteristic is put and 4. between not conducting, 4. putting current potential is zero.If Fig. 4 is the waveform that 1. U puts, in Fig. 3, C1 and C2 is to the electric capacity of operational amplifier power filter.The amplitude that sinusoidal to amplitude ± 5V, frequency 10kHz excited signal Z1 is converted into 10kHz by comparer is the square-wave signal of 3.3V, i.e. excitatory synchronizing signal.Excitatory synchronization waveform as shown in Figure 5.
Excitatory synchronizing signal filtering and frequency division
Excitatory synchronous signal generating circuit exports the excitatory synchronizing signal of 10kHz, need by CPLD internal circuit design to the excitatory synchronizing signal filtering of 10kHz and scaling down processing.Excitatory synchronous signal generating circuit exports the excitatory synchronizing signal of 10kHz usually can with noise; easy generation maloperation point; make wave filter with d type flip flop as shown in Figure 3 and carry out filtering to the excitatory synchronizing signal of 10kHz; filtered signal does 5 scaling down processing through counter 74161 again; export the excitatory synchronizing signal of 2kHz after frequency division, CPLD to the filtering of the excitatory synchronizing signal of 10kHz and frequency dividing circuit as shown in Figure 6.If choose the rotary transformer that magnet excitation frequency is less than 2kHz, then without the need to carrying out scaling down processing.
Excitatory synchronizing signal trigger external interrupts
That the output INT signal pins of excitatory for the CPLD shown in Fig. 6 synchronizing signal filtering and frequency dividing circuit is received DSP28335 can the GPIO mouth that interrupts of trigger external, i.e. any one GPIO mouth of GPIO0 ~ GPIO31 or GPI32 ~ GPIO64, excitatory synchronizing signal lifting, along starting AD conversion, triggers DSP external interrupt.As shown in Figure 5, in the waveform of same excited signal S1, the rising edge of synchronizing signal is at first 0.8U place, after rising edge triggers AD acquisition module, start image data, based on acquisition module acquisition time in a triggered, gather and last till that the 2nd 0.8U place stops.Negative edge first-0.8U place in same waveform of synchronizing signal, after negative edge triggers AD acquisition module, starts image data, based on acquisition module acquisition time in a triggered, gathers and lasts till that the 2nd-0.8U place stops.So, synchronizing signal can make the corresponding amplitude of A/D acquisition module collection signal S1 and S2 be the data point being more than or equal to 0.8U to the triggering of AD acquisition module, or the corresponding amplitude of collection signal S1 and S2 is the data point being less than or equal to-0.8U.After synchronizing signal frequency division, every 4 waveforms, signal S1 and S2 is gathered once, reserve the abundant processing time to DSP demodulation module.
The wiring of rotary transformer and AD7608 acquisition module
Output S3, S4 of rotary transformer and excitatory module are exported Z2 ground connection, and the input of excitatory synchronous signal generating circuit in Z1 map interlinking 2, S1, S2 receive 1,2 input channel pins of AD7608 acquisition module.Other 6 passage Input1 ~ Input6 of AD7608 acquisition module both can be used for the work beyond rotary transformer demodulation, also can separately expand 3 tunnels, upgraded to No. 4 rotary transformer demodulation modes.AD7608 Acquisition Circuit as shown in Figure 7.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. swash a M.S rotary transformer demodulating equipment, it is characterized in that, comprise excited signal generation module, rotary transformer, A/D acquisition module, excitatory synchronizing signal generation module, excitatory synchronizing signal filtering and frequency division module and DSP demodulation module;
Described excited signal generation module for generation of excited signal Z1 and Z2, wherein, Z1=A0 × Sin (ω t), the output head grounding of Z2; A0 is the maximum amplitude of excitatory module output signal, and ω is angular frequency, and t is the time;
Described rotary transformer produces output signal S1, S2, S3 and S4 based on receiving excited signal Z1 and Z2 from excited signal generation module, and meets: S1=E0 × Sin (ω t) × Sin (θ); S2=E0 × Sin (ω t) × Cos (θ); Wherein, the equal ground connection of the signal output part of S3 and S4; E0 is the maximum amplitude of output signal of rotary transformer, and θ is the Angle Position of rotary transformer;
Described excitatory synchronizing signal generation module receives excited signal Z1 and Z2 according to from excited signal generation module, produces excitatory synchronizing signal;
Described DSP demodulation module receives described excitatory synchronizing signal, and based on this excitatory synchronizing signal, described A/D acquisition module is triggered, make the corresponding amplitude of A/D acquisition module collection signal S1 and S2 be the data point being more than or equal to 0.8E0, or the corresponding amplitude of collection signal S1 and S2 is the data point being less than or equal to-0.8E0;
DSP demodulation module receives the data point that A/D acquisition module gathers, and for the data of each data point, draws angle position value θ:
Tan(θ)＝＝(S1+-S1-)/(S2+-S2-)
Wherein, S1+=E1 × Sin (θ)+E2, represents the forward signal of signal S1; E2 is the common mode voltage of acquisition module;
S2+=E1 × Cos (θ)+E2 is the forward signal of S2;
S1-=-E1 × Sin (θ)+E2 is the negative-going signal of S1;
S2-=-E1 × Cos (θ)+E2 is the negative-going signal of S2.
2. a kind of sharp M.S rotary transformer demodulating equipment as claimed in claim 1, it is characterized in that, also comprise excitatory synchronizing signal filtering frequency division module, scaling down processing is carried out again after the noise of the excitatory synchronizing signal that filtering excitatory synchronizing signal generation module produces, issue DSP demodulation module after reducing to 1/5 of excited signal frequency by the frequency of excitatory synchronizing signal, make DSP demodulation module trigger A/D acquisition modules once every 4 excited signal cycles.
3. as claimed in claim 2 a kind of swash M.S rotary transformer demodulating equipment, it is characterized in that, the model that described excitatory synchronizing signal filtering frequency division module adopts be 74161 counter frequency division is carried out to excitatory synchronizing signal.
4. a kind of sharp M.S rotary transformer demodulating equipment as claimed in claim 2, it is characterized in that, described excitatory synchronizing signal filtering frequency division module adopts d type flip flop to carry out filtering to excited signal.
5. a kind of sharp M.S rotary transformer demodulating equipment as claimed in claim 1, it is characterized in that, described excitatory synchronizing signal generation module adopts model to be the operational amplifier of AD8397; VCCA pin connects+5V power supply, and VSSA pin connects-5V power supply; Signal Z1 receives the negative input end of operational amplifier by resistance R1; Ground connection after the positive input terminal series resistor R2 of operational amplifier; Series resistor R5 between positive input terminal and output terminal; Output terminal is ground connection after series resistor R3, diode V1 and resistance R4 successively, then draw described excitatory synchronizing signal between diode and resistance R4; Wherein, resistance R1 is 1k Ω, and resistance R2 is 3.9k Ω, and resistance R3 is 1k Ω, and resistance R4 is 3.3k Ω, and resistance R5 is 1k Ω.
6. a kind of sharp M.S rotary transformer demodulating equipment as claimed in claim 1, it is characterized in that, the model that described A/D acquisition module adopts is AD7608.
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| CN106647505A (en) * | 2016-12-27 | 2017-05-10 | 北京润科通用技术有限公司 | Signal processing system and method for RVDT |
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Application publication date: 20151230 |