CN105526954B - A kind of signal processing method of magnetoresistance transformer - Google Patents
A kind of signal processing method of magnetoresistance transformer Download PDFInfo
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- CN105526954B CN105526954B CN201610029321.3A CN201610029321A CN105526954B CN 105526954 B CN105526954 B CN 105526954B CN 201610029321 A CN201610029321 A CN 201610029321A CN 105526954 B CN105526954 B CN 105526954B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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Abstract
The invention discloses a kind of signal processing method of magnetoresistance transformer, it is used for two pairs of output signals of two output windings for handling magnetoresistance transformer.The signal processing method first ensures that two pairs of output signals are all synchronized with defined shake in processing；Then two low frequency signals of extraction are corrected, the phase deviation of two correction signals, the final electrical angle instantaneous value obtained in the electrical angle cycle is corrected by the trigonometric function operation to cos (θ)；One special angle is obtained from electrical angle instantaneous value according to mechanical angle zero position reference point signal, the special angle is converted into respective rotor position mechanical angle, mechanical angle carries out negative-feedback to produce angle th with system perspective error compensation amount, and angle th is calculated through speed and obtained angular velocity omega.The present invention can improve the angle th of magnetoresistance transformer precision and the precision of angular velocity omega.
Description
Technical field
The present invention relates to a kind of signal processing method, more particularly to a kind of signal transacting side of magnetoresistance transformer
Method.
Background technology
Rotary transformer is a kind of stable and efficient sensor, is often built in servomotor afterbody, as position with
Velocity sensor；The position sensing of drive motor and generator, the position of electric boosted direction coil motor in electric automobile
And velocity pick-up, gas valve angular surveying, vacuum chamber conveyer angle position measurement etc., all it is to use rotary transformer.
The Exciting Windings for Transverse Differential Protection and output winding of magnetoresistance transformer are placed in same set of stator slot, fixed.But encourage
The form of magnetic winding and output winding is different.The output signal of two phase windings, makees sinusoidal variations with corner, differs 90 ° each other
Electrical angle.Compared with having brush rotary transformer, the rotary transformer of toroidal transformer type, magnetoresistance transformer it is reliable
Property, manufacturability, structural, cost, small length dimension are all best, thus are widely used.But it is as following
Factor produces output signal deviation：Installation deviation causes stator and rotor eccentricity；Rotor core shape or material are uneven；Magnetic hysteresis
Or saturation；Mechanical radial load influence；Electromagnetic interference；Limited winding quantity；Slot effect；Temperature change.Therefore ratio of precision its
Its two kinds of rotary transformer is low.
Because the intrinsic factor such as installation deviation, manufacture deviation, uneven material, radial load, winding quantity, slot effect
And the signals of rotating transformer deviation produced is systematic bias；Because magnetic hysteresis or saturation, order dishes interference, temperature change etc. are drawn
The probabilistic deviation of signal of rotary transformer risen is deviation from randomness.System deviation is corrected, to deviation from randomness
Real-Time Compensation is carried out, the precision for improving the output signal of magnetoresistance transformer is to expand the key used.
The content of the invention
The present invention proposes a kind of signal processing method of magnetoresistance transformer, and it is used for handling reluctance type rotation change
The output signal of depressor, improves the angle precision and velocity accuracy of magnetoresistance transformer.
The present invention is realized using following technical scheme：A kind of signal processing method of magnetoresistance transformer, it is used for
Two pairs of output signals of two output windings of magnetoresistance transformer are handled, to improve the angle of magnetoresistance transformer
Th precision and the precision of angular velocity omega；The signal processing method comprises the following steps：
Trajectory signal sinal A and trajectory signal sinal B are obtained by the extraction to two pairs of output signals；
Handle output angle th and angular velocity omega after two trajectory signals；
Wherein, the processing of two trajectory signals includes：
Receive an interrupt request singal IRQ, one recovered carrier signal sign of generation, one with adjustable phase bits
The square-wave signal put；The Exciting Windings for Transverse Differential Protection (8) of the incoming magnetoresistance transformer (3) of square-wave signal one side, it is on the other hand logical
Analog-to-digital conversion is crossed for data signal and output trajectory signal sinal A and trajectory signal sinal B are influenceed by over-sampling；The party
Ripple signal ensures that two pairs of output signals are all synchronized with defined shake；
Low frequency is extracted according to recovered carrier signal sign respectively from trajectory signal sinal A and trajectory signal sinal B
Signal；
Two low frequency signals are realized that the correction of skew and gain obtains correction letter by being added, being multiplied with a corrected value
Number cos (θ) and correction signal sin (θ), it is also inclined by phase that the trigonometric function operation to cos (θ) corrects two correction signals
Difference, the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle；
One is obtained from electrical angle instantaneous value th_inc according to a mechanical angle zero position reference point signal zero_ref
Special angle, by the special angle be converted into corresponding a rotor-position mechanical angle th_mech, mechanical angle th_mech with
One system perspective error compensation amount carries out negative-feedback to produce angle th, and angle th is calculated through speed and obtained angular velocity omega；
Wherein, displacement gain-phase compensation when, first by two low frequency signals by with the corrected value be added, be multiplied realization
The correction of skew and gain obtains correction signal cos (θ) and correction signal sin (θ)；Then by correction signal cos (θ) and correction
Signal sin (θ) is transformed under polar coordinate system under rectangular coordinate system；Then electrical angle instantaneous value th_ is calculated under polar coordinate system
Inc compensation rate is the corrected value；The trigonometric function operation to correction signal cos (θ), correction are used finally according to the corrected value
It contrasts correction signal sin (θ) phase deviation；
In the step of correction signal cos (θ) and correction signal sin (θ) is obtained, extracted from trajectory signal sinal A
Low frequency signal cuts corrected value latter aspect input by negative-feedback and carries out rectangular co-ordinate to polar conversion, another aspect
It is multiplied by one particular value of output after the corrected value；This is cut by negative-feedback from the trajectory signal sinal B low frequency signals extracted
Corrected value, and being multiplied by after the corrected value, then cut by negative-feedback and carry out rectangular co-ordinate after the particular value again to polar turn
Change.
It is used as the further improvement of such scheme, the acquisition of two trajectory signals：By two pairs of output signal difference moduluses
Be converted to two pairs of data signals；Over-sampling two respectively obtains output trajectory signal sinal A and trajectory signal to data signal
sinal B。
Further, LPF is made to two pairs of output signals respectively before analog-to-digital conversion.
As the further improvement of such scheme, the square-wave signal after filtering, operation amplifier by resupplying Exciting Windings for Transverse Differential Protection.
As the further improvement of such scheme, when extracting low frequency signal, recovery carrier wave sign and two trajectory signals
Low frequency signal is extracted respectively again after being multiplied respectively.
Further, rectangular co-ordinate sits the right angle of standard using Coordinate Rotation Digital computational methods to polar conversion
Point (x, y) under mark system is converted to (r, θ) under polar coordinate system；The coordinate completed with the equidistant scan mode of the anglec of rotation revolves
Turn numerical calculation method and calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).
Yet further, the equidistant scan mode of the anglec of rotation is：Sampling zones in one electrical angle cycle are n
M cell is segmented in area, each subregion again, n × m subregion is divided into 360 ° of an electrical angle cycle, n, m are positive integer.
It is instantaneous from electrical angle according to zero_ref during system perspective error correction as the further improvement of such scheme
A special angle is obtained in value th_inc, the special angle is converted into corresponding rotor-position mechanical angle th_mech；
Mechanical angle th_mech and a system perspective error compensation amount carry out negative-feedback to produce angle th；According to angle th through speed
Degree calculating obtains angular velocity omega；The system perspective error compensation amount is adjusted according to angular velocity omega and mechanical angle th_mech.
The present invention is by the correction to system deviation, to the real-Time Compensation of deviation from randomness, improves reluctance type rotation transformation
The precision of the output signal of device, that is, improve the angle precision and velocity accuracy of magnetoresistance transformer.
Brief description of the drawings
Fig. 1 is the signal processing method flow chart of the magnetoresistance transformer of the present invention.
Fig. 2 is the process flow figure of two trajectory signals in Fig. 1.
Fig. 3 is the structural representation for realizing the signal processing system of the magnetoresistance transformer of method in Fig. 1.
Fig. 4 is the one of output signal and the relation schematic diagram using time point of magnetoresistance transformer in Fig. 3.
Fig. 5 is signal conversion and the circuit diagram of over-sampling of signal processing system in Fig. 3, and it rotates to reluctance type becomes
The output signal of depressor makees early stage processing.
Fig. 6 is the synchronous detection and skew, gain, the circuit diagram of phase adaptation of signal processing system in Fig. 3, its
Output signal to magnetoresistance transformer makees deviation from randomness processing.
Fig. 7 is that the coordinate transformation circuit of signal processing system in Fig. 6 is directed to the differentiation schematic diagram of electrical angle.
Fig. 8 is the rear portion circuit diagram of signal processing system in Fig. 1, its output signal to magnetoresistance transformer
Make deviation from randomness processing.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The signal processing method of the magnetoresistance transformer of the present invention is used for handle magnetoresistance transformer two
Two pairs of output signals of winding are exported, with the angle th for improving magnetoresistance transformer precision and the precision of angular velocity omega.
Referring to Fig. 1, signal processing method comprises the following steps.
Two pairs of output signals are made LPF by step S1 respectively before analog-to-digital conversion.
Two pairs of output signal difference analog-to-digital conversions are two pairs of data signals by step S2.In other embodiments, also may be used
Directly to carry out analog-to-digital conversion, and omit LPF step.In addition, in analog-to-digital conversion, processing fully differential can be coordinated anti-mixed
Folded filtering.
Step S3, over-sampling two respectively obtains output trajectory signal sinal A and trajectory signal sinal to data signal
B。
Output angle th and angular velocity omega after step S4, two trajectory signals of processing.
For the processing of step S4 two trajectory signals, incorporated by reference to Fig. 2, the processing of two trajectory signals includes following step
Suddenly.
Step S5, receives an interrupt request singal IRQ, and one recovered carrier signal sign of generation, one with adjustable
Save the square-wave signal of phase position；The Exciting Windings for Transverse Differential Protection of the incoming magnetoresistance transformer of square-wave signal one side, on the other hand
It is data signal by analog-to-digital conversion and output trajectory signal sinal A and trajectory signal sinal B is influenceed by over-sampling；Should
Square-wave signal ensures that two pairs of output signals are all synchronized with defined shake.Wherein, the square-wave signal passes through filtering, operation amplifier
After resupply Exciting Windings for Transverse Differential Protection.
Step S6, is carried respectively according to recovered carrier signal sign from trajectory signal sinal A and trajectory signal sinal B
Take low frequency signal.Wherein, when extracting low frequency signal, distinguish again after recovery carrier wave sign being multiplied can respectively with two trajectory signals
Extract low frequency signal.
Two low frequency signals are realized correcting for skew and gain by being added, being multiplied with corrected value by step S7
To correction signal cos (θ) and correction signal sin (θ), two correction signals are also corrected by the trigonometric function operation to cos (θ)
Phase deviation, the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle.Wherein, during the compensation of displacement gain-phase,
Two low frequency signals are realized that the correction of skew and gain obtains correction signal cos by being added, being multiplied with the corrected value first
(θ) and correction signal sin (θ)；Then correction signal cos (θ) and correction signal sin (θ) is transformed under rectangular coordinate system
Under polar coordinate system；Then the compensation rate for electrical angle instantaneous value th_inc being calculated under polar coordinate system is the corrected value；Finally according to
The corrected value uses the trigonometric function operation to correction signal cos (θ), and the phase for correcting its contrast correction signal sin (θ) is inclined
Difference.In the step of correction signal cos (θ) and correction signal sin (θ) is obtained, the low frequency letter extracted from trajectory signal sinal A
Number by negative-feedback cut the corrected value latter aspect input carry out rectangular co-ordinate to polar conversion, be on the other hand multiplied by this
A particular value is exported after corrected value；The corrected value cut by negative-feedback from the trajectory signal sinal B low frequency signals extracted,
And be multiplied by after the corrected value, then cut by negative-feedback and carry out rectangular co-ordinate after the particular value again to polar conversion.Right angle
Coordinate is converted to the point (x, y) under the rectangular coordinate system of standard using Coordinate Rotation Digital computational methods to polar conversion
(r, θ) under polar coordinate system；The Coordinate Rotation Digital computational methods completed with the equidistant scan mode of the anglec of rotation calculate anti-
Tangent, calculates θ=ATN (sin (θ)/cos (θ)).The equidistant scan mode of the anglec of rotation is：In one electrical angle cycle
Sampling zones be m cell of subdivision again in n area, each subregion, be divided into n × m subregion in 360 ° of an electrical angle cycle,
N, m are positive integer.
Step S8, is obtained according to a mechanical angle zero position reference point signal zero_ref from electrical angle instantaneous value th_inc
A special angle is taken, the special angle is converted into corresponding a rotor-position mechanical angle th_mech, mechanical angle th_
Mech and system perspective error compensation amount carries out negative-feedback to produce angle th, and angle th is calculated through speed and obtained angular speed
ω.Wherein, during system perspective error correction, a specific angle is obtained from electrical angle instantaneous value th_inc according to zero_ref
Degree, corresponding rotor-position mechanical angle th_mech is converted into by the special angle；Mechanical angle th_mech is with one
System angular error compensation rate carries out negative-feedback to produce angle th；Calculated according to angle th through speed and obtain angular velocity omega；According to
Angular velocity omega adjusts the system perspective error compensation amount with mechanical angle th_mech.
For the signal processing method of above-mentioned magnetoresistance transformer, the present invention devises corresponding reluctance type rotation and become
The signal processing system of depressor is corresponded to implementation.
Incorporated by reference to Fig. 3, magnetoresistance transformer 3 includes two output windings 9, an Exciting Windings for Transverse Differential Protection 8.Two output around
Group 9 has two pairs of output signals, refers to the trajectory signal of difference, signal of the these two pair output signal by the present invention in the present embodiment
Angle th and angular velocity omega of the output with preferable precision after processing method processing.
Signal processing system include two low pass filters 4, two signal A/D change-over circuits 5, two over-sampling circuits 6,
One signal processing circuit.Two low pass filters 4, two signal A/D change-over circuits 5, two difference of over-sampling circuits 6 are one by one
Correspondence, to realize that the early stage respectively to two pairs of output signals is handled.Two low pass filters 4 are electrically connected defeated at two
Go out between winding 9 and corresponding A/D change-over circuits 5.Two low pass filters 4 carry out low pass filtered to two pairs of output signals respectively
Ripple, is resent to two A/D change-over circuits 5 to be converted to two pairs of data signals respectively.Low pass filter 4 can be anti-mixed for fully differential
Folded wave filter.Two pairs of data signals are respectively through two output trajectory signal sinal A of over-sampling circuit 6 and trajectory signal
Sinal B, output angle th and angular velocity omega after two trajectory signals are handled through the signal processing circuit.
As shown in figure 4, two over-sampling circuits 6 are the resolution ratio for improving whole system, the curve I in Fig. 4 is magnetic
One of output signal of resistive rotary transformer 3, lines region II is oversampled points.
Incorporated by reference to Fig. 5, two couples of output signal sin/COS of magnetoresistance transformer 3, successively respectively through two low pass filtereds
Ripple device 4, two A/D converters 5 (such as 12bit), two over-sampling circuits 6 (to improve resolution ratio, such as increase line and counted
3bit).Two pairs of output signal processing procedures of magnetoresistance transformer 3：It will receive corresponding defeated first by A/D converter 5
The output signal for going out winding 9 is converted to digital value, and resolution ratio herein is higher, obtains magnetic resistance angular resolution better；Then use
Quickly, the oversampling technique of Multiple-Scan, significantly increases the resolution ratio of signal.
The signal processing circuit includes high stability oscillator 7, synchro detection circuit 10, displacement gain-phase compensation circuit
12nd, system perspective error correction circuit.The design of the present invention needs trajectory signal sinal A and trajectory signal sinal B complete
It is synchronous.But, the chip used for over-sampling circuit 6, such as FPGA, its clock are asynchronous operations.Therefore, the present invention is set
Oscillator 7 (numeral _ PLL) is counted to ensure that all signals are all synchronized with defined shake.
Oscillator 7 receives an interrupt request singal IRQ, and one recovered carrier signal sign of generation, one with adjustable
Save the square-wave signal of phase position.The Exciting Windings for Transverse Differential Protection 8 of the incoming magnetoresistance transformer 3 of square-wave signal one side, the opposing party
Face input signal A/D change-over circuits 5, the incoming over-sampling circuit 6 of another further aspect, square-wave signal makes oscillator 7 ensure two couple
Output signal is all synchronized with defined shake.The square-wave signal is preferably supplied to by a wave filter, an operational amplifier
Exciting Windings for Transverse Differential Protection 8.Before using A/D change-over circuits 5, ADC scopes can be exceeded equipped with fully differential frequency overlapped-resistable filter to filter out
Frequency content.
Therefore, numeral _ PLL can generate a square-wave signal with adjustable phase position, and the square-wave signal can pass through
Wave filter and operational amplifier are supplied to the Exciting Windings for Transverse Differential Protection 8 of magnetoresistance transformer 3, control excitation, and the excitation can be turned
It is changed to sinusoidal excitation.
After signal conversion and over-sampling, the output signal of magnetoresistance transformer 3 is converted into and standard
Incremental encoder identical output signal：A+B+Z, z=sign, can use the incremental encoder signal processing unit of standard
Carry out follow-up signal transacting.
Incorporated by reference to Fig. 6, synchro detection circuit 10 is believed according to recovered carrier signal sign from trajectory signal sinal A and track
Low frequency signal is extracted respectively in number sinal B.Adopted in above-mentioned described signaling conversion circuit (such as A/D change-over circuits 5) and mistake
Sample circuit 6, the output signal of original magnetoresistance transformer 3 by input amplifier and A/D converter occur skew,
The electromagnetic interference of experience can be distorted the amplitude of signal, phase.Therefore need trajectory signal sinal A and sinal B
It is adjusted to synchronous regime.Therefore, signal can synchronize detection after converting, and then can just use inclined with continuous self-regulation
The signal of shifting, gain compensation and phase compensation function is corrected.It is of the invention different from the general method of synchronization, it is relatively more special：
The synchro detection circuit 10 of the present invention uses Type Multiplicative synchro detection circuit, and under the positive cooperation of oscillator 7, synchronous detection
Circuit 10 extracts low frequency signal respectively again after recovery carrier wave sign is multiplied respectively with two trajectory signals.Gain-phase is shifted to mend
Repay circuit 12 and two low frequency signals are realized that the correction of skew and gain obtains correction letter by being added, being multiplied with a corrected value
Number cos (θ) and correction signal sin (θ), it is also inclined by phase that the trigonometric function operation to cos (θ) corrects two correction signals
Difference, the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle.
Shifting gain-phase compensation circuit 12 includes main compensation circuit 11, compensation rate counting circuit 14, coordinate transformation circuit
13rd, multiplier 1.Two low frequency signals are passed through be added, be multiplied with the corrected value realization skew and gain by main compensation circuit 11
Correction obtain correction signal cos (θ) and correction signal sin (θ).Coordinate transformation circuit 13 is by correction signal cos (θ) with correcting
Signal sin (θ) is transformed under polar coordinate system under rectangular coordinate system.Compensation rate counting circuit 14 is calculated electrically under polar coordinate system
Angle instantaneous value th_inc compensation rate is the corrected value.
Multiplier 1 is brought according to the corrected value using cos (θ) trigonometric function operation correction by two correction signals
Phase deviation, this is also one of key of the present invention.Specifically, multiplier 1 is used to trajectory signal according to the corrected value
Cos (θ) trigonometric function operation, corrects its phase deviation for contrasting trajectory signal sin (θ).Because sin and cos phase difference phases
Poor 90 degree, and after the processing of some column circuits there is great possibility and no longer keep phase difference to be exactly 90 degree in sin and cos
, it may in advance be also possible to delayed, there is phase difference between sin and cos, and advanced or delayed degree is also not true
It is quantitative.
Main compensation circuit 11 is the main circuit for shifting gain-phase compensation circuit 12, including negative-feedback subtracter one, negative anti-
Present subtracter two, negative-feedback subtracter three, multiplier two, multiplier three.Lead to from the trajectory signal sinal A low frequency signals extracted
Cross negative-feedback subtracter one and cut the corrected value latter aspect input coordinate change-over circuit, be on the other hand multiplied by by multiplier two
A particular value is exported after the corrected value.Subtracted from the trajectory signal sinal B low frequency signals extracted by negative-feedback subtracter two
Fall the corrected value, and be multiplied by by multiplier three after the corrected value, then cut by negative-feedback subtracter three after the particular value again
Input coordinate change-over circuit 13.
Coordinate transformation circuit 13 is rectangular co-ordinate and the change-over circuit of polar coordinate system, with Coordinate Rotation Digital computational methods handle
Point (x, y) under the rectangular coordinate system of standard is converted to (r, θ) under polar coordinate system, with the equidistant scan mode of the anglec of rotation
The Coordinate Rotation Digital computational methods of completion calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).Between anglec of rotation etc.
Away from scan mode be：Sampling zones in one electrical angle cycle are to segment m cell, one in n area, each subregion again
N × m subregion is divided into 360 ° of electrical angle cycle, n, m are positive integer.Such as, in the present embodiment, n=16, m=8, one
Sampling zones in the electrical angle cycle are to segment 8 cells in 16 areas, each subregion again, in 360 ° of an electrical angle cycle altogether
Divide 16 × 8=128 subregion.
In summary, the function of displacement gain-phase compensation circuit 12 is applied to the letter to the incremental encoder of any standard
Number processing.The input signal of this circuit：Sinal A, sinal B, sign, wherein sinal A, sinal B come from signal
Change-over circuit and over-sampling circuit, sign come from numeral _ PLL therein.The input signal of this circuit：Intermittent angle displacement increment
Value th_inc.
Type Multiplicative synchronous detection is that directly local recovery carrier wave sign is multiplied with receiving signal sinal A with sinal B,
Low frequency signal is extracted with low pass filter.It is required that recovering carrier wave sign with receiving signal sinal A and sinal B with frequency
Same phase.Recover the signal that carrier wave sign is the frequency stabilization produced using high stability oscillator 7 (i.e. numeral _ PLL).
In displacement gain-phase compensation circuit 12, skew and gain calibration can be achieved by being added, being multiplied with corrected value.
Cos (θ) and sin (θ) phase deviation is corrected by the trigonometric function operation to cos (θ), updating formula is：cos(θ+Δθ)
≈cos(θ)-Δθ·sin(θ).Wherein, it is approximately positive dimensionless that Δ θ, which is,.The small error that approximation is caused can be by compensating
Measure counting circuit 14 and carry out calculating compensation.
Displacement of the corrected value in circuit, gain, the automatic computing unit of phase deviation for participating in computing are compensation gauge
Calculate circuit 14.The input signal of compensation rate counting circuit 14 converts complete pole coordinate parameter value, displacement, gain, phase to control oneself
The position automatic computing unit of deviation completes to the calculating of the undulate quantity of trajectory signal to obtain corrected value.In the present embodiment, Fu is used
In the methods of leaf analysis calculate skew, the corrected value of gain and phase.
Relation between rotor mechanical angle and Electron Angular：Electron Angular=360 ° × rotor number of pole-pairs, such as a 6 pole rotors
Rotary transformer, electrical angle=360 ° × 3=1080 °.
In the change-over circuit of rectangular co-ordinate and polar coordinate system is coordinate transformation circuit 13, with cordic algorithm,
(Coordinate Rotation Digital Computer) algorithm is Coordinate Rotation Digital computational methods, the right angle of standard
Point (x, y) under coordinate system is converted to (r, θ) under polar coordinate system.Completed with the equidistant scan mode of the anglec of rotation
Cordic algorithm calculates arc tangent, calculates θ=ATN (sin (θ)/cos (θ)).As shown in fig. 7, in an electrical angle cycle
8 cells are segmented in sampling zones, Fen16Ge areas, each subregion again, 16 × 8=128 is divided into 360 ° of an electrical angle cycle
Individual subregion.Rational partition boundaries should avoid tangent, arctangent computation angle, such as 0 °, 45 °, 90 ° and these angles it is whole
Several times number angle, these angular arrangements in subregion, should not be arranged on the border of subregion.The school of skew, gain and phase
Complete, completed after rectangular co-ordinate is converted into polar coordinates on the occasion of being calculated under polar coordinate system.
That so far introduces all relates to processing of the signal processing circuit to deviation from randomness, especially skew, gain from
Dynamic compensation, is much only rested on the basis of phase automatic compensating, even phase automatic compensating is also to compare shallow hierarchy at present
, subsequently introduce processing of the signal processing circuit to correction system perspective error.
Incorporated by reference to Fig. 8, the system perspective error correction circuit is according to a mechanical angle zero position reference point signal zero_
Ref obtains a special angle from electrical angle instantaneous value th_inc, and the special angle is converted into a corresponding rotor-position
Mechanical angle th_mech, mechanical angle th_mech and a system perspective error compensation amount carry out negative-feedback to produce angle
Th, angle th are calculated through speed and are obtained angular velocity omega.
The system perspective error correction circuit includes mechanical angle counting circuit 17, system perspective error compensation amount counting circuit
19th, speed counting circuit 18.Mechanical angle counting circuit 17 obtains one according to zero_ref from electrical angle instantaneous value th_inc
Special angle, corresponding rotor-position mechanical angle th_mech is converted into by the special angle.The basis of speed counting circuit 18
Angle th is calculated through speed and is obtained angular velocity omega.System perspective error compensation amount counting circuit 19 is according to angular velocity omega and mechanical angle
Degree th_mech calculates the system perspective error compensation amount.
Caused by the velocity perturbation measured by magnetoresistance transformer 3 is all due to angle error.System perspective
Error causes measurement accuracy to deviate from required precision band.Therefore, it is necessary to correct these errors.The angular error can be expressed
For θ=ω0t+∑k(θksinkω0(t+Ψ))。
Dominant harmonic component herein can be judged by EEPROM, and be stored in EEPROM.In the present embodiment, root
Divided according to Fig. 7 subregion and be compiled into a form --- checking list, it is stored in EEPROM.In normal course of operation, use
The correction data for being stored in checking list specific to encoder in EEPROM corrects the system perspective mistake of magnetoresistance transformer.
Absolute position is obtained by means of revolution counter, a certain special angle obtained from trajectory signal th_inc can be converted into
Some rotor-position mechanical angle th_mech.Th_mech calculates the system perspective error compensation number of generation with each cycle automatically
Value, carries out negative-feedback, the angle th of generation is instantaneous, desirable angle angle value, while the angular velocity omega produced by velocity transformation
It is instantaneous, preferable angular speed.It is by software checking book side that the above-mentioned compensation calculation of speed is formed according to the angle corrected
Method is looked into checking list and obtained.
In summary, the present invention can realize the correction to system deviation, to the real-Time Compensation of deviation from randomness, so as to carry
The precision of the output signal of high magnetoresistance transformer so that the angle and speed of magnetoresistance transformer have preferably
Precision.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of signal processing method of magnetoresistance transformer, it is used for two that handle magnetoresistance transformer (3)
Two pairs of output signals of winding (9) are exported, with the angle th that improves magnetoresistance transformer (3) precision and angular velocity omega
Precision；The signal processing method comprises the following steps：
Trajectory signal sinal A and trajectory signal sinal B are obtained by the extraction to two pairs of output signals；
Handle output angle th and angular velocity omega after two trajectory signals；
It is characterized in that：The processing of two trajectory signals comprises the following steps：
Receive an interrupt request singal IRQ, one recovered carrier signal sign of generation, one with adjustable phase position
Square-wave signal；The Exciting Windings for Transverse Differential Protection (8) of the incoming magnetoresistance transformer (3) of square-wave signal one side, on the other hand passes through mould
Number is converted to data signal and influences output trajectory signal sinal A and trajectory signal sinal B by over-sampling；The square wave is believed
Number ensure that two pairs of output signals are all synchronized with defined shake；
Low frequency signal is extracted according to recovered carrier signal sign respectively from trajectory signal sinal A and trajectory signal sinal B；
Two low frequency signals are realized that the correction of skew and gain obtains correction signal by being added, being multiplied with a corrected value
Cos (θ) and correction signal sin (θ), the also phase by trigonometric function operation two correction signals of correction to cos (θ) are inclined
Difference, the final electrical angle instantaneous value th_inc obtained in the electrical angle cycle；
Obtained according to a mechanical angle zero position reference point signal zero_ref from electrical angle instantaneous value th_inc one it is specific
Angle, corresponding a rotor-position mechanical angle th_mech, mechanical angle th_mech and one are converted into by the special angle
System perspective error compensation amount carries out negative-feedback to produce angle th, and angle th is calculated through speed and obtained angular velocity omega；
Wherein, during the compensation of displacement gain-phase, two low frequency signals are passed through into the realization skew that is added, is multiplied with the corrected value first
Correction with gain obtains correction signal cos (θ) and correction signal sin (θ)；Then by correction signal cos (θ) and correction signal
Sin (θ) is transformed under polar coordinate system under rectangular coordinate system；Then calculate electrical angle instantaneous value th_inc's under polar coordinate system
Compensation rate is the corrected value；The trigonometric function operation to correction signal cos (θ) is used finally according to the corrected value, its is corrected right
Than correction signal sin (θ) phase deviation；
In the step of correction signal cos (θ) and correction signal sin (θ) is obtained, the low frequency extracted from trajectory signal sinal A
Signal cuts corrected value latter aspect input by negative-feedback and carries out rectangular co-ordinate to polar conversion, is on the other hand multiplied by
A particular value is exported after the corrected value；The correction cut by negative-feedback from the trajectory signal sinal B low frequency signals extracted
Value, and is multiplied by after the corrected value, then is cut by negative-feedback and carry out rectangular co-ordinate after the particular value again to polar conversion.
2. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterised in that：Two trajectory signals
Acquisition：It is two pairs of data signals by two pairs of output signal difference analog-to-digital conversions；Over-sampling two is respectively obtained to data signal
Output trajectory signal sinal A and trajectory signal sinal B.
3. the signal processing method of magnetoresistance transformer as claimed in claim 2, it is characterised in that：Analog-to-digital conversion it
It is preceding that LPF is made to two pairs of output signals respectively.
4. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterised in that：The square-wave signal leads to
Cross and Exciting Windings for Transverse Differential Protection (8) is resupplied after filtering, operation amplifier.
5. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterised in that：Extract low frequency signal
When, extract low frequency signal respectively again after recovery carrier wave sign is multiplied respectively with two trajectory signals.
6. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterised in that：Rectangular co-ordinate is to pole
Point (x, y) under the rectangular coordinate system of standard is converted to polar coordinate system by the conversion of coordinate using Coordinate Rotation Digital computational methods
Under (r, θ)；The Coordinate Rotation Digital computational methods completed with the equidistant scan mode of the anglec of rotation calculate arc tangent, calculate
Go out θ=ATN (sin (θ)/cos (θ)).
7. the signal processing method of magnetoresistance transformer as claimed in claim 6, it is characterised in that：Between anglec of rotation etc.
Away from scan mode be：Sampling zones in one electrical angle cycle are to segment m cell, one in n area, each subregion again
N × m subregion is divided into 360 ° of electrical angle cycle, n, m are positive integer.
8. the signal processing method of magnetoresistance transformer as claimed in claim 1, it is characterised in that：System perspective error
Timing, obtains a special angle according to zero_ref from electrical angle instantaneous value th_inc, the special angle is converted into
Corresponding rotor-position mechanical angle th_mech；Mechanical angle th_mech and a system perspective error compensation amount are born
Feed back to produce angle th；Calculated according to angle th through speed and obtain angular velocity omega；According to angular velocity omega and mechanical angle th_
Mech adjusts the system perspective error compensation amount.
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