CN107402311B - The soft decoding intelligent speed-measuring method of motor - Google Patents
The soft decoding intelligent speed-measuring method of motor Download PDFInfo
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- CN107402311B CN107402311B CN201710558712.9A CN201710558712A CN107402311B CN 107402311 B CN107402311 B CN 107402311B CN 201710558712 A CN201710558712 A CN 201710558712A CN 107402311 B CN107402311 B CN 107402311B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
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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
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/02—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M13/00—Coding, decoding or code conversion, for error detection or error correction; Coding theory basic assumptions; Coding bounds; Error probability evaluation methods; Channel models; Simulation or testing of codes
- H03M13/37—Decoding methods or techniques, not specific to the particular type of coding provided for in groups H03M13/03 - H03M13/35
- H03M13/45—Soft decoding, i.e. using symbol reliability information
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- General Physics & Mathematics (AREA)
- Technology Law (AREA)
- Probability & Statistics with Applications (AREA)
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- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of soft decoding intelligent speed-measuring methods of motor, including error solver, PID adjustment module, angle integration module, sine and cosine output module, amplitude computing module and orthogonal solver, orthogonal solver is connect with error solver and amplitude computing module respectively, amplitude computing module is connected with error solver, error solver, PID adjustment module, angle integration module and sine and cosine output module are sequentially connected, sine and cosine output module is connect with error solver, and PID adjustment module includes three parametric variables, first adder and second adder.The present invention has the characteristics that strong antijamming capability, the range that tests the speed are wide and sampling precision is high.
Description
Technical field
The present invention relates to electric machines test technical fields, and more particularly, to a kind of strong antijamming capability, the range that tests the speed is wide and adopts
The soft decoding intelligent speed-measuring method of sample motor with high accuracy.
Background technique
With the development of national economy and science and technology, the effect that motor plays in all trades and professions is more and more important, and
For the velocity close-loop control for realizing motor and monitoring in real time, to the velocity-measuring system of motor in precision, speed and cost
On made higher requirement.Therefore, Motors Speed Measuring System technology has important shadow for the comprehensive performance of motor product
It rings, extremely concerns to the usage experience of integral product.In the existing product using motor as power assembly.
Velocity measuring is often divided into hardware decoding and software decoding two ways.Hardware decoding utilizes existing hardware solution
Code chip receives the two-way sinusoidal signal that sensor is sent, the backward main control chip output speed signal of decoding or angle position
Signal.Soft decoding is then directly handled the two-way sinusoidal signal of sensor, obtains real-time speed, Angle Position.
The sinusoidal signal how accurately to transmit sensor orientation is converted to velocity amplitude to the overall performance of motor product
Play a part of concerning, especially in electric car field, with automatic Pilot, increasingly mature, the automobile power of intelligent driving
Motor control is by attention speed closed loop more in assembly, and motor itself can not only greatly be promoted by accurately sampling decoding
Operational efficiency also has no small promotion in safety problem and driving experience.
Summary of the invention
The present invention be in order to overcome in the prior art, the soft decoding scheme poor anti jamming capability of conventional motors velocity measuring,
Precision is low, the narrow range that tests the speed and the problem big to sensor accuracy dependence, provides that a kind of strong antijamming capability, test the speed range
The wide and soft decoding intelligent speed-measuring method of the high motor of sampling precision.
To achieve the above object, the invention adopts the following technical scheme:
A kind of soft decoding intelligent speed-measuring method of motor, including error solver, PID adjustment module, angle integration module, just
Cosine output module, amplitude computing module and orthogonal solver, orthogonal solver calculate mould with error solver and amplitude respectively
Block connection, amplitude computing module connect with error solver, error solver, PID adjustment module, angle integration module and just more than
String output module is sequentially connected, and sine and cosine output module is connect with error solver, and PID adjustment module includes that three parameters become
Amount, first adder and second adder；The present invention includes the following steps:
The conversion of (1-1) sampled signal
It is corresponding just to solve the sampled signal when inputting the parameter only sampled signal of sensor all the way for orthogonal solver
Friendship amount, 90 degree of amount of quadrature late samples signal, and amount of quadrature is exported and gives error solver；
The amplitude of (1-2) signal calculates
Amplitude computing module calculates the mould of formed vector, and will by the amplitude of reception sampled signal and amount of quadrature
Mould information is transferred to error solver；
The error variance of (1-3) signal calculates
Error solver receives the output quantity of amount of quadrature and sine and cosine output module, and calculates Real-time Error variable；
The output of (1-4) PID adjustment module
PID adjustment module includes tri- parametric variables of Kp, Ki, Kd, receives what error solver was passed in PID adjustment module
After error variance, parametric variable Kp directly carries out product calculating to the margin of error, and parametric variable Ki carries out the integration amount of the margin of error
Product calculates, and parametric variable Kd carries out product calculating to the micro component of the margin of error, and three products pass through first adder and second
Adder is summed twice obtains the output data frequency quantity of PID adjustment module；
(1-5) angle integral
Angle integration module receives the frequency quantity of PID adjustment module output, and integrates, obtain and export to frequency quantity
Angular amount；
The transformation of (1-6) angular amount
The angular amount of sine and cosine output module receiving angle integration module output, and angular amount is converted to obtain just remaining
Sine and cosine amount is then passed to error solver by feedback loop by string amount.
Present invention employs double-closed-loop control devices, it is only necessary to sampling of sinusoidal signal all the way, it is small by disturbance possibility, while energy
Fabulous inhibition noise immune is provided, in addition, the mentioned algorithm of the present invention reduces the dependence to sample objects.The present invention has
Strong antijamming capability, the feature that the range that tests the speed is wide and sampling precision is high.
Preferably, error solver include the first numeric conversion module, second value conversion module, the first multiplier,
Second multiplier and the first subtracter, the first numeric conversion module and the connection of the first multiplier, second value conversion module and the
Paired multiplier connection, the first multiplier and the second multiplier are connect with the first subtracter, and step (1-3) further includes walking as follows
It is rapid:
The signal value type received is converted to algorithm institute by the first numeric conversion module and second value conversion module
The value type of use, the forward sampled signal of phase and measures the obtained sinusoidal quantity of angle and is done by the first multiplier and multiply
Product, the amount of quadrature of phase rearward and measures the obtained cosine amount of angle and does product by the second multiplier, the first multiplier with
The result of second multiplier output is made the difference by the first subtracter, obtains the margin of error.
Preferably, angle integration module includes first integrator, trigger and comparator, trigger and comparator connect
It connects, first integrator is connect with trigger, and first integrator is connect with comparator, and step (1-5) further includes following steps:
First integrator carries out numerical integration to frequency quantity and obtains angular amount, angular amount by comparator and 2 π of fixed value into
Row compares, and when the value of angular amount is greater than 2 π, trigger, which sends rising edge signal, integrates first integrator clearing again.
Preferably, amplitude computing module includes quadratic sum square root device, step (1-2) further includes following steps:
Quadratic sum square root device calculates formed vector by receiving the amplitude of sampled signal and amount of quadrature
Mould, when the signal amplitude that quadratic sum square root device receives is 1, quadratic sum square root device is idle, works as quadratic sum
When the signal amplitude that square root device receives ≠ 1, by the output quantity of error solver by divider divided by vector mould it
Afterwards, then value is passed to PID adjustment module.
Preferably, orthogonal solver includes value converter, precision controlling multiplier (-icator) and interconnection feedback adaptive biproduct
Divide device, value converter is connect with precision controlling multiplier (-icator), and precision controlling multiplier (-icator) and interconnection feedback adaptive two-integrator connect
It connects, interconnection feedback adaptive two-integrator is connect with value converter, and interconnection feedback adaptive two-integrator includes second integral
Device, third integral device, third multiplier, the 4th multiplier, the second subtracter, third multiplier are connect with the second subtracter, the
Four multipliers are connect with the second subtracter, and third integral device is connect with the 4th multiplier, and second integral device and third multiplier connect
It connects, step (1-1) further includes following steps:
The input quantity of orthogonal solver is the sampled signal of sensor, is made the difference by value converter and feedback and tracking signal
Error signal is obtained, after error signal is amplified through precision controlling gain, into interconnection feedback adaptive two-integrator.
After error signal enters the adaptive two-integrator of feedback interconnection through precision controlling gain amplification, elder generation and third integral
The output quantity of device makes the difference to obtain the margin of error by the second subtracter, and the margin of error obtains feedback and tracking letter after passing through second integral device
Number, feedback and tracking signal is multiplied with frequency signal by third multiplier, and amount of quadrature and frequency signal pass through the 4th multiplier phase
Multiply.
Therefore, the invention has the following beneficial effects: (1) only to need sampling of sinusoidal signal all the way, strong antijamming capability；
(2) dependence to sample objects is reduced, robustness is fabulous, and the range that tests the speed is wide；(3) double-closed-loop control device is used, is improved
Sampling precision.
Detailed description of the invention
Fig. 1 is a kind of functional block diagram of the invention；
Fig. 2 is a kind of functional block diagram of the orthogonal solver in the present invention；
Fig. 3 is a kind of flow chart of the invention.
In figure: error solver 1, PI adjustment module 2, angle integration module 3, sine and cosine output module 4, amplitude calculate mould
Block 5, orthogonal solver 6, value converter 7, precision controlling multiplier (-icator) 8, second integral device 9, third integral device 10, third multiply
Musical instruments used in a Buddhist or Taoist mass 11, the 4th multiplier 12.
Specific embodiment
The present invention will be further described with specific embodiment with reference to the accompanying drawing:
A kind of soft decoding intelligent speed-measuring method of motor as shown in Figure 1, including error solver 1, PID adjustment module 2, angle
Spend integration module 3, sine and cosine output module 4, amplitude computing module 5 and orthogonal solver 6.Orthogonal solver respectively with error solution
It calculates device to connect with amplitude computing module, amplitude computing module is connected with error solver, error solver, PID adjustment module, angle
Degree integration module and sine and cosine output module are sequentially connected, and sine and cosine output module is connect with error solver, PID adjustment module
Including three parametric variables, first adder and second adder.In figure, orthogonal signalling Vta and Vtb, amplitude amount Vr, representative turn
Frequency quantity w, the angular amount Ang of speed, sine and cosine amount st and ct, margin of error es.The input quantity that error resolves module is Vta, Vtb
And the output quantity st and ct of sine and cosine output module.
A kind of soft decoding intelligent speed-measuring method of motor as shown in Figures 2 and 3, includes the following steps:
Step 100, the conversion of sampled signal
It is corresponding to solve the sampled signal when inputting the parameter only sampled signal Vta of sensor all the way for orthogonal solver
Amount of quadrature Vtb, Vtb lag Vta has 90 degree, and amount of quadrature Vtb is exported and gives error solver；
Orthogonal solver includes value converter 7, precision controlling multiplier (-icator) 8 and interconnection feedback adaptive two-integrator, number
Value converter is connect with precision controlling multiplier (-icator), and precision controlling multiplier (-icator) is connect with interconnection feedback adaptive two-integrator, is interconnected
Feedback adaptive two-integrator is connect with value converter, and the input quantity of orthogonal solver is sampled signal Vta, is turned by numerical value
Parallel operation and feedback and tracking signal make the difference to obtain error signal, anti-into interconnection after error signal is amplified through precision controlling gain
Present adaptive two-integrator；
Interconnecting feedback adaptive two-integrator includes second integral device 9, third integral device 10, third multiplier the 11, the 4th
Multiplier 12, the second subtracter, third multiplier are connect with the second subtracter, and the 4th multiplier is connect with the second subtracter, the
Three integrators are connect with the 4th multiplier, and second integral device is connect with third multiplier, and error signal is put through precision controlling gain
Enter after the adaptive two-integrator of feedback interconnection greatly, first makes the difference to obtain by the second subtracter with the output quantity of third integral device
The margin of error, the margin of error obtain feedback and tracking signal, feedback and tracking signal and frequency signal w third multiplier by second integral device
It is multiplied, amount of quadrature is multiplied with frequency signal w by the 4th multiplier.
Step 200, the amplitude of signal calculates
Amplitude computing module calculates the mould of formed vector, and will by the amplitude of reception sampled signal and amount of quadrature
Mould information is transferred to error solver；
Amplitude computing module includes quadratic sum square root device, and quadratic sum square root device is by receiving sampled signal Vta
With the amplitude of amount of quadrature Vtb, and the mould Vr of formed vector is calculated, when the signal amplitude that quadratic sum square root device receives
When being 1, quadratic sum square root device is idle, when the signal amplitude that quadratic sum square root device receives ≠ 1, by error
The output quantity of solver is by divider divided by Vr and then biography value to PID adjustment module.
Step 300, the error variance of signal calculates
Error solver receives the output quantity st and ct of orthogonal signalling Vtb and Vta and sine and cosine output module, and calculates
Real-time Error variable es out；
Error solver includes the first numeric conversion module, second value conversion module, the first multiplier, the second multiplier
With the first subtracter, the first numeric conversion module and the connection of the first multiplier, second value conversion module and the second multiplier connect
It connects, the first multiplier and the second multiplier are connect with the first subtracter, the first numeric conversion module and second value modulus of conversion
The signal value type received is converted to value type used by algorithm, the forward sampled signal Vta of phase and survey by block
The obtained sinusoidal quantity st of angle does product by the first multiplier, the amount of quadrature Vtb of phase rearward and measure angle gained
To cosine amount ct product is done by the second multiplier, the result of the first multiplier and the output of the second multiplier passes through the first subtraction
Device makes the difference, and obtains margin of error es.
Step 400, PID adjustment module exports
PID adjustment module includes tri- parametric variables of Kp, Ki, Kd, receives what error solver was passed in PID adjustment module
After error variance, parametric variable Kp directly carries out product calculating, integration amount of the parametric variable Ki to margin of error es to margin of error es
Product calculating is carried out, parametric variable Kd carries out product calculating to the micro component of margin of error es, and three products pass through first adder
It sums twice with second adder and obtains the output data frequency quantity w of PID adjustment module.
Step 500, angle integrates
Angle integration module includes first integrator, trigger and comparator, and trigger is connect with comparator, first integral
Device is connect with trigger, and first integrator is connect with comparator, and first integrator carries out numerical integration to frequency quantity w and obtains angle
Ang is measured, angular amount Ang is compared by comparator with 2 π of fixed value, when the value of angular amount Ang is greater than 2 π, trigger hair
Rising edge signal is sent to integrate first integrator clearing again.
Step 600, the transformation of angular amount
The angular amount Ang of sine and cosine output module receiving angle integration module output, and angular amount Ang convert
To sine and cosine amount st and ct, sine and cosine amount st and ct are then passed to by error solver by feedback loop.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (4)
1. a kind of soft decoding intelligent speed-measuring method of motor, including error solver (1), PID adjustment module (2), angle integrate mould
Block (3), sine and cosine output module (4), amplitude computing module (5) and orthogonal solver (6), orthogonal solver respectively with error solution
It calculates device to connect with amplitude computing module, amplitude computing module is connected with error solver, error solver, PID adjustment module, angle
Degree integration module and sine and cosine output module are sequentially connected, and sine and cosine output module is connect with error solver, PID adjustment module
Including three parametric variables, first adder and second adder；It is characterized in that including the following steps:
The conversion of (1-1) sampled signal
It is corresponding orthogonal to solve the sampled signal when inputting the parameter only sampled signal of sensor all the way for orthogonal solver
Amount, 90 degree of amount of quadrature late samples signal, and amount of quadrature is exported and gives error solver；
The amplitude of (1-2) signal calculates
Amplitude computing module calculates the mould of formed vector, and mould is believed by the amplitude of reception sampled signal and amount of quadrature
Breath is transferred to error solver；
The error variance of (1-3) signal calculates
Error solver receives the output quantity of amount of quadrature and sine and cosine output module, and calculates Real-time Error variable；
The output of (1-4) PID adjustment module
PID adjustment module includes tri- parametric variables of Kp, Ki, Kd, receives the incoming error of error solver in PID adjustment module
After variable, parametric variable Kp directly carries out product calculating to the margin of error, and parametric variable Ki carries out product to the integration amount of the margin of error
It calculates, parametric variable Kd carries out product calculating to the micro component of the margin of error, and three products pass through first adder and the second addition
Device is summed twice obtains the output data frequency quantity of PID adjustment module；
(1-5) angle integral
Angle integration module receives the frequency quantity of PID adjustment module output, and integrates to frequency quantity, obtains simultaneously output angle
Amount；
The transformation of (1-6) angular amount
The angular amount of sine and cosine output module receiving angle integration module output, and angular amount is converted to obtain sine and cosine
Sine and cosine amount is then passed to error solver by feedback loop by amount；
Orthogonal solver includes value converter (7), precision controlling multiplier (-icator) (8) and interconnection feedback adaptive two-integrator, number
Value converter is connect with precision controlling multiplier (-icator), and precision controlling multiplier (-icator) is connect with interconnection feedback adaptive two-integrator, is interconnected
Feedback adaptive two-integrator is connect with value converter, characterized in that step (1-1) further includes following steps:
The input quantity of orthogonal solver is the sampled signal of sensor, makes the difference to obtain by value converter and feedback and tracking signal
Error signal, after error signal is amplified through precision controlling multiplier (-icator), into interconnection feedback adaptive two-integrator；
Interconnection feedback adaptive two-integrator includes second integral device (9), third integral device (10), third multiplier (11), the
Four multipliers (12), the second subtracter, third multiplier are connect with the second subtracter, and the 4th multiplier and the second subtracter connect
It connects, third integral device is connect with the 4th multiplier, and second integral device is connect with third multiplier, and error signal increases through precision controlling
Benefit amplification enters after the adaptive two-integrator of feedback interconnection, is first made the difference with the output quantity of third integral device by the second subtracter
The margin of error is obtained, the margin of error obtains feedback and tracking signal by second integral device, and feedback and tracking signal and frequency signal w third multiply
Musical instruments used in a Buddhist or Taoist mass is multiplied, and amount of quadrature is multiplied with frequency signal w by the 4th multiplier.
2. the soft decoding intelligent speed-measuring method of motor according to claim 1, error solver includes the first numerical value conversion mould
Block, second value conversion module, the first multiplier, the second multiplier and the first subtracter, the first numeric conversion module and first
Multiplier connection, second value conversion module and the connection of the second multiplier, the first multiplier and the second multiplier subtract with first
Musical instruments used in a Buddhist or Taoist mass connection, characterized in that step (1-3) further includes following steps:
The signal value type received is converted to algorithm and is used by the first numeric conversion module and second value conversion module
Value type, the forward sampled signal of phase and measure angle obtained sinusoidal quantity product, phase done by the first multiplier
It position amount of quadrature rearward and measures angle obtained cosine amount product is done by the second multiplier, the first multiplier and second multiply
The result of musical instruments used in a Buddhist or Taoist mass output is made the difference by the first subtracter, obtains the margin of error.
3. the soft decoding intelligent speed-measuring method of motor according to claim 1, angle integration module includes first integrator, touching
Hair device and comparator, trigger are connect with comparator, and first integrator is connect with trigger, and first integrator and comparator connect
It connects, characterized in that step (1-5) further includes following steps:
First integrator carries out numerical integration to frequency quantity and obtains angular amount, and angular amount is compared by comparator and 2 π of fixed value
Compared with when the value of angular amount is greater than 2 π, trigger, which sends rising edge signal, integrates first integrator clearing again.
4. the soft decoding intelligent speed-measuring method of motor according to claim 1, amplitude computing module includes quadratic sum evolution meter
Calculate device, characterized in that step (1-2) further includes following steps:
Quadratic sum square root device calculates the mould of formed vector by receiving the amplitude of sampled signal and amount of quadrature, when
When the signal amplitude that quadratic sum square root device receives is 1, quadratic sum square root device is idle, when quadratic sum evolution meter
Calculate device receive signal amplitude ≠ 1 when, by the output quantity of error solver by divider divided by vector mould and then biography
It is worth PID adjustment module.
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| CH408454A (en) * | 1964-04-17 | 1966-02-28 | G A Messen Jaschin Fa | Method for the electrical measurement of the change in a physical quantity converted into a change in length |
| SU453569A1 (en) * | 1972-03-24 | 1974-12-15 | Б. М. Берлин, Ш. Либуркин , В. А. Соловьев | SHAFT ANGLE CONVERTER INTO LINEALLY CHANGING VOLTAGE |
| US4360889A (en) * | 1980-07-02 | 1982-11-23 | F. Jos. Lamb Company | Rotary position indicating circuit |
| CN86100788A (en) * | 1986-01-30 | 1987-04-15 | 大连电子研究所 | Corner-the data converter of multichannel synchrodyne |
| SU1370460A1 (en) * | 1986-06-09 | 1988-01-30 | Предприятие П/Я А-7240 | Voltage instrument transducer of variable relactance pickups |
| JP4768248B2 (en) * | 2004-10-13 | 2011-09-07 | 株式会社ミツトヨ | Encoder output signal correction apparatus and method |
| CN100390496C (en) * | 2006-02-20 | 2008-05-28 | 连云港杰瑞电子有限公司 | Double speed angle-digital converter |
| CN101226066B (en) * | 2008-01-25 | 2010-06-02 | 连云港杰瑞电子有限公司 | Multiple-loop absolute type rotary encoder based on rotating transformer |
| CN101719752B (en) * | 2009-11-26 | 2011-08-03 | 西北工业大学 | Method and device for detecting position of rotor of brushless motor |
| CN102095431B (en) * | 2010-11-30 | 2012-05-30 | 北京航空航天大学 | Digital converter of magnetic encoder |
| CN102721362B (en) * | 2012-06-27 | 2015-05-20 | 同济大学 | Rotating transformer position measuring system and method |
| CN102751991B (en) * | 2012-07-30 | 2015-04-22 | 哈尔滨工业大学 | Delta-Sigma modulation principle based digital switching device and method for rotary transformer |
| CN103256946B (en) * | 2013-05-23 | 2015-04-22 | 合肥工业大学 | Rotating transformer digital converter capable of on-line failure detection and fault-tolerant control |
| CN103776471A (en) * | 2014-01-28 | 2014-05-07 | 华中科技大学 | Magnetic encoder based on double synchronous rotation coordinate systems |
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Address after: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee after: Zhejiang Zero run Technology Co.,Ltd. Address before: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee before: ZHEJIANG LEAPMOTOR TECHNOLOGY Co.,Ltd. |