CN108631656B - A kind of rotary transformer coding/decoding method and system - Google Patents
A kind of rotary transformer coding/decoding method and system Download PDFInfo
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- CN108631656B CN108631656B CN201810538306.0A CN201810538306A CN108631656B CN 108631656 B CN108631656 B CN 108631656B CN 201810538306 A CN201810538306 A CN 201810538306A CN 108631656 B CN108631656 B CN 108631656B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Control Of Ac Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention provides a kind of rotary transformer coding/decoding method and systems, it is related to new energy motor control technology field, the coding/decoding method obtains the sinusoidal feedback signal, cosine feedback signal and rotor speed of rotary transformer first, it is then based on sinusoidal feedback signal and cosine feedback signal, target d-q shaft voltage component is calculated.It is based on rotor speed again, determine negative sequence component weighted value corresponding with rotor speed, and according to negative sequence component weighted value, positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component are decoupled, obtain target positive sequence q axis component, target positive sequence q axis component is finally inputted into phaselocked loop, obtains the angle and speed of rotary transformer.It can be seen that, this programme is according to rotor speed, determine the input parameter of decoupling, and then accelerate the response process of phaselocked loop, for example, reducing the input parameter of input decoupling unit when rotor is in First Speed section, DDSRF-PLL mode is changed to SRF-PLL mode and carries out locking phase, so that phaselocked loop response is accelerated.
Description
Technical field
The present invention relates to new energy motor control technology fields, and in particular to a kind of rotary transformer coding/decoding method and is
System.
Background technique
The output voltage of rotary transformer can change as rotor angle changes, therefore in electric machine control system, often
For obtaining the rotor-position of motor.
As shown in Figure 1, rotary transformer has first side winding (excitation winding) and two secondary side winding (feedbacks
Winding), wherein two secondary side windings (u1 and u2) are in 90 degree of orthogonal settings.When one high frequency of application on excitation winding
Driving voltage after, the high-frequency induction voltage that amplitude is modulated by rotor-position can be obtained in feedback winding, passes through certain solution
The rotor-position of motor can be obtained in code algorithm.
Specifically, as illustrated in fig. 2, it is assumed that excitation winding on apply high frequency excitation sinusoidal voltage u0, then, feeding back
Feedback sinusoidal voltage u1 and feedback cosinusoidal voltage u2 that amplitude is modulated by rotor-position, mathematical expression can be obtained on winding
Formula are as follows:
u0(t)=U0·sin(ωreft)
u1(t)=U0·k·sin(ωreft)·sinε
u2(t)=U0·k·sin(ωreft)·cosε
Wherein, ωrefIt is the angular frequency for motivating sinusoidal voltage, ε is the angle of rotor, and k is the no-load voltage ratio of rotary transformer.
In general, excitation sinusoidal voltage u0 is issued by DSP control chip, it then will feedback sinusoidal voltage u1 and feedback cosine
Voltage u2 is connected to the port ADC of DSP, by preset algorithm, obtains the rotor-position of rotary transformer.Specially utilize decoupling
Double synchronous coordinate system phaselocked loops (DDSRF-PLL) carry out locking phase to signals of rotating transformer, and the signal of the phase-lock mode is anti-interference
Ability is stronger.
However inventors have found that above-mentioned phase-lock mode, when rotor speed is in low regime, when the acquisition of rotor-position
Between it is longer, be not able to satisfy in real time obtain rotor-position requirement.Therefore, how a kind of rotary transformer coding/decoding method, energy are provided
Enough rotor-positions that obtains in real time are those skilled in the art's big technical problems urgently to be resolved.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of rotary transformer coding/decoding method, it can be based on different rotors
Speed obtains the current location of rotor in real time.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
A kind of rotary transformer coding/decoding method, comprising:
Obtain the echo signal of rotary transformer, the echo signal include sinusoidal feedback signal, cosine feedback signal with
And the resulting rotor speed of phaselocked loop；
Based on the sinusoidal feedback signal and the cosine feedback signal, target d-q shaft voltage component, institute is calculated
Stating target d-q shaft voltage component includes positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component；
Based on the resulting rotor speed of the phaselocked loop, determine corresponding with the resulting rotor speed of the phaselocked loop negative
Order components weighted value；
According to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and the negative phase-sequence d-q shaft voltage point
Amount is decoupled, and target positive sequence q axis component is obtained；
Using target positive sequence q axis component as the input error signal of phaselocked loop, obtain the angle of the rotary transformer with
And speed.
Optionally, described to be based on the resulting rotor speed of the phaselocked loop, it determines and the resulting rotor of the phaselocked loop
The corresponding negative sequence component weighted value of revolving speed, comprising:
When the resulting rotor speed of the phaselocked loop is less than first threshold, determine that the negative sequence component weighted value is first
Weighted value；
When the resulting rotor speed of the phaselocked loop is greater than the first threshold and is less than second threshold, determine described negative
Order components weighted value is the second weighted value, and second weighted value and the resulting rotor speed of the phaselocked loop are proportional；
When the resulting rotor speed of the phaselocked loop is greater than the second threshold, determine that the negative sequence component weighted value is
Third weighted value.
Optionally, described based on the sinusoidal feedback signal and the cosine feedback signal, target d-q axis is calculated
Component of voltage, comprising:
The sinusoidal feedback signal and the cosine feedback signal are inputted into demodulation module, obtain filtering out high frequency carrier
Target demodulation signal, the target demodulation signal include target sinusoidal signal and target cosine signal；
Positive-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, is obtained described
Positive sequence d-q shaft voltage component；
Negative phase-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, is obtained described
Negative phase-sequence d-q shaft voltage component.
Optionally, described according to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and the negative phase-sequence
D-q shaft voltage component is decoupled, and target positive sequence q axis component is obtained, comprising:
Based on the positive sequence d-q shaft voltage component and the negative sequence component weighted value, the first positive sequence coupled component is obtained,
The first positive sequence coupled component includes the first positive sequence d axis component and the first positive sequence q axis component；
The first positive sequence coupled component is filtered, the second positive sequence coupled component is obtained；
Based on the negative phase-sequence d-q shaft voltage component and the second positive sequence coupled component, the coupling point of the first negative phase-sequence is obtained
Amount；
The first negative phase-sequence coupled component is filtered, the second negative phase-sequence coupled component is obtained；
The product for determining the second negative phase-sequence coupled component and the negative sequence component weighted value is third negative phase-sequence coupled component；
Based on the positive sequence d-q shaft voltage component and third negative phase-sequence coupled component, third positive sequence coupled component is determined,
The third positive sequence coupled component includes target positive sequence d axis component and the target positive sequence q axis component.
Optionally, described using target positive sequence q axis component as the input error signal of phaselocked loop, obtain the rotation transformation
The angle and speed of device, comprising:
The target positive sequence q axis component is calculated to the speed of the rotary transformer by pi regulator；
By integral unit to the rate integrating of the rotary transformer, the angle of the rotary transformer is obtained.
A kind of rotary transformer decoding system, comprising:
Data acquisition module, for obtaining the echo signal of rotary transformer, the echo signal includes sinusoidal feedback letter
Number, cosine feedback signal and the resulting rotor speed of phaselocked loop；
Computing module, for target d-q to be calculated based on the sinusoidal feedback signal and the cosine feedback signal
Shaft voltage component, the target d-q shaft voltage component include positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component；Also
For being based on the resulting rotor speed of the phaselocked loop, negative phase-sequence corresponding with the resulting rotor speed of the phaselocked loop point is determined
Measure weighted value；
Decoupling module, for according to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and described negative
Sequence d-q shaft voltage component is decoupled, and target positive sequence q axis component is obtained；
Locking phase module, for obtaining the rotation and becoming using target positive sequence q axis component as the input error signal of phaselocked loop
The angle and speed of depressor.
Optionally, the computing module includes:
First computing unit, it is described negative for determining when the resulting rotor speed of the phaselocked loop is less than first threshold
Order components weighted value is the first weighted value；When the resulting rotor speed of the phaselocked loop is greater than the first threshold and less than second
When threshold value, determine the negative sequence component weighted value be the second weighted value, second weighted value with resulting turn of the phaselocked loop
Rotor speed is proportional；When the resulting rotor speed of the phaselocked loop is greater than the second threshold, the negative sequence component power is determined
Weight values are third weighted value.
Optionally, the computing module further include:
Demodulation module obtains filtering out high frequency load for receiving the sinusoidal feedback signal and the cosine feedback signal
The target demodulation signal of wave, the target demodulation signal include target sinusoidal signal and target cosine signal；
Coordinate transformation module, for carrying out positive-sequence coordinate system to the target sinusoidal signal and the target cosine signal
Park transformation, obtains the positive sequence d-q shaft voltage component；The target sinusoidal signal and the target cosine signal are carried out
Negative phase-sequence coordinate system park transformation, obtains the negative phase-sequence d-q shaft voltage component.
Optionally, the decoupling module includes:
First decoupling unit is obtained for being based on the positive sequence d-q shaft voltage component and the negative sequence component weighted value
First positive sequence coupled component, the first positive sequence coupled component include the first positive sequence d axis component and the first positive sequence q axis component；
First low-pass filter obtains the coupling point of the second positive sequence for the first positive sequence coupled component to be filtered
Amount；
Second decoupling unit is obtained for being based on the negative phase-sequence d-q shaft voltage component and the second positive sequence coupled component
To the first negative phase-sequence coupled component；
Second low-pass filter obtains the coupling point of the second negative phase-sequence for the first negative phase-sequence coupled component to be filtered
Amount；
Second computing unit, for determining the second negative phase-sequence coupled component and the product of the negative sequence component weighted value is
Third negative phase-sequence coupled component；
First decoupling unit is also used to based on the positive sequence d-q shaft voltage component and third negative phase-sequence coupled component,
Determine third positive sequence coupled component, the third positive sequence coupled component include target positive sequence d axis component and the target just
Sequence q axis component.
Optionally, the locking phase module includes:
The speed of the rotary transformer is calculated for being based on the target positive sequence q axis component in pi regulator；
Integral unit is integrated for the speed to the rotary transformer, obtains the angle of the rotary transformer.
Based on the above-mentioned technical proposal, the embodiment of the invention provides a kind of rotary transformer coding/decoding methods, obtain rotation first
Sinusoidal feedback signal, cosine feedback signal and the resulting rotor speed of phaselocked loop for changing depressor, are then based on the sine
Target d-q shaft voltage component is calculated in feedback signal and the cosine feedback signal.It is resulting based on the phaselocked loop again
Rotor speed determines negative sequence component weighted value corresponding with the resulting rotor speed of the phaselocked loop, and according to the negative phase-sequence
Component weighted value decouples the positive sequence d-q shaft voltage component and the negative phase-sequence d-q shaft voltage component, obtains target
Positive sequence q axis component.Finally using target positive sequence q axis component as the input error signal of phaselocked loop, the rotary transformer is obtained
Angle and speed.As it can be seen that this programme provide rotary transformer coding/decoding method according to the resulting rotor speed of phaselocked loop, really
Negative sequence component weighted value is made, at low-speed region (≤ω 1), weight coefficient can be zero, at this point, without to negative phase-sequence d-q axis electricity
Pressure component is coupled, and only couples positive sequence d-q shaft voltage component, i.e., will decouple double synchronous coordinate system phaselocked loop DDSRF-
PLL is degenerated to single synchronous coordinate system phaselocked loop SRF-PLL, reduces the locking phase time to rotary transformer angle.And in middle height
When fast region (>=ω 2), using DDSRF-PLL, cosine and sine signal can be coped with well and contains DC component, amplitude injustice
It is influenced brought by the non-idealities such as weighing apparatus, higher hamonic wave, improves the reliability of system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of rotary transformer in the prior art；
Fig. 2 is a kind of control waveform diagram of rotary transformer；
Fig. 3 is a kind of flow diagram of rotary transformer coding/decoding method provided in an embodiment of the present invention；
Fig. 4 is that the structure of rotation change system applied by a kind of rotary transformer coding/decoding method provided in an embodiment of the present invention is shown
It is intended to；
Fig. 5 is the knot of another rotation change system applied by a kind of rotary transformer coding/decoding method provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 6 is the structural schematic diagram that a kind of rotary transformer provided in an embodiment of the present invention decodes system；
Fig. 7 is the waveform of negative sequence component weighted value in a kind of rotary transformer coding/decoding method provided in an embodiment of the present invention
Figure；
Fig. 8 is a kind of another flow diagram of rotary transformer coding/decoding method provided in an embodiment of the present invention；
Fig. 9 is the structural representation of the first decoupling unit in a kind of rotary transformer decoding system provided in an embodiment of the present invention
Figure.
Specific embodiment
As described in background, at present using the double synchronous coordinate system phaselocked loops (DDSRF-PLL) of decoupling to rotation transformation
Device signal carries out locking phase, and the signal anti-interference ability of the phase-lock mode is stronger, but when rotary transformer operates in low-speed region,
The cutoff frequency of low-pass filter is lower, and then causes the broadband of entire phaselocked loop lower, to the locking phase of rotary transformer angle
Process is longer, is not able to satisfy the requirement for obtaining rotor-position in real time.
Based on this, as shown in figure 3, the embodiment of the invention provides a kind of rotary transformer coding/decoding methods, comprising:
S31, the echo signal for obtaining rotary transformer.
Wherein, the echo signal includes that sinusoidal feedback signal, cosine feedback signal and the resulting rotor of phaselocked loop turn
Speed.
It should be noted that rotary transformer coding/decoding method provided in this embodiment can be applied to such as Fig. 4 and Fig. 5 institute
The rotary transformer decoding system shown, wherein Fig. 4 is that PWM module issues pumping signal, which passes through low-pass filter
Afterwards, be transmitted to rotary transformer, then, this step obtain the sinusoidal feedback signal of rotary transformer, cosine feedback signal and
The resulting rotor speed of phaselocked loop.
In Fig. 5, pumping signal is issued by rotary transformer decoded signal, pumping signal is then passed through into low-pass filter
It is filtered, output to rotary transformer, equally, this step obtain sinusoidal feedback signal, the cosine feedback letter of rotary transformer
Number and the resulting rotor speed of phaselocked loop.
S32, it is based on the sinusoidal feedback signal and the cosine feedback signal, target d-q shaft voltage point is calculated
Amount.
Wherein, the target d-q shaft voltage component includes positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component.
Specifically, a kind of specific method for realizing step S32 is present embodiments provided in conjunction with Fig. 6, it is as follows:
The sine feedback signal u1 and cosine feedback signal u2 is inputted into 61 (Demodulate of demodulation module
Module), obtain filtering out the target demodulation signal of high frequency carrier, wherein the target demodulation signal includes target sinusoidal signal
Sin and target cosine signal cos.
Positive-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, is obtained described
Positive sequence d-q shaft voltage component；
Negative phase-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, is obtained described
Negative phase-sequence d-q shaft voltage component.
Transformation for mula is as follows:
S33, it is based on the resulting rotor speed of the phaselocked loop, determined corresponding with the resulting rotor speed of the phaselocked loop
Negative sequence component weighted value；
Specifically, determining the negative sequence component weight when the resulting rotor speed of the phaselocked loop is less than first threshold
Value is the first weighted value；
When the resulting rotor speed of the phaselocked loop is greater than the first threshold and is less than second threshold, determine described negative
Order components weighted value is the second weighted value, and second weighted value and the resulting rotor speed of the phaselocked loop are proportional；
When the resulting rotor speed of the phaselocked loop is greater than the second threshold, determine that the negative sequence component weighted value is
Third weighted value.
For example, computing module U3 is negative sequence component weight calculation module in Fig. 6, according to the spinner velocity of phaselocked loop acquisition
The product of size, the real-time value for adjusting negative sequence component weighted value k1, k1 and the second low-pass filter (LPF3, LPF4) is as first
The input of decoupling unit U1.
Schematically, weight coefficient k1 and rotation become the relationship of rotor frequency ω r as shown in fig. 7, in low-speed region (≤ω
1) it is SRF-PLL that k1, which is 0, DDSRF-PLL degeneration, to realize that faster rotation becomes rotor position angle phase locking process.
In (ω 1, ω 2) range, k1 is transitted linearly to 1 by 0, to realize smooth phase locked algorithm switching.
The locking phase for becoming rotor position angle to rotation is then realized using DDSRF-PLL in medium high speed area (>=ω 2).Wherein, ω
1 can be with value 2*PI*50 with value 2*PI*30, ω 2.
S34, according to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and negative phase-sequence d-q axis electricity
Pressure component is decoupled, and target positive sequence q axis component is obtained；
Specifically, step S34 can be realized by step as shown in Figure 8 in conjunction with Fig. 6:
S81, it is based on the positive sequence d-q shaft voltage component (Vd +And Vq +) and the negative sequence component weighted value k1, it obtains
First positive sequence coupled component, the first positive sequence coupled component include the first positive sequence d axis component Vd *+And the first positive sequence q axis point
Measure Vq *+；
S82, the first positive sequence coupled component is filtered, obtains the second positive sequence coupled component；
Wherein, the first positive sequence d axis component Vd *+It is filtered by first filter LPF1, the first positive sequence q axis component Vq *+
It is filtered by second filter LPF2, obtains the second positive sequence coupled component (Vdl +And Vql +)。
S83, it is based on the negative phase-sequence d-q shaft voltage component (Vd -And Vq -) and the second positive sequence coupled component (Vdl +
And Vql +), obtain the first negative phase-sequence coupled component (Vd *-And Vq *-)；
S84, by the first negative phase-sequence coupled component (Vd *-And Vq *-) be filtered, obtain the second negative phase-sequence coupled component；
Wherein, the first negative phase-sequence d axis component Vd *-It is filtered by third filter LPF3, the first negative phase-sequence q axis component Vq *-
It is filtered by the 4th filter LPF4, obtains the second negative phase-sequence coupled component.
S85, the product for determining the second negative phase-sequence coupled component and the negative sequence component weighted value k1 are third negative phase-sequence coupling
Close component (Vdl -And Vql -)；
S86, it is based on the positive sequence d-q shaft voltage component (Vd +And Vq +) and third negative phase-sequence coupled component (Vdl -And
Vql -), determine third positive sequence coupled component (Vd *+And Vq *+), the third positive sequence coupled component includes target positive sequence d axis point
Amount and the target positive sequence q axis component.
Specifically, the Uncoupled procedure of the first decoupling unit U1 is as described in Figure 9, it is as follows to be converted into date expression:
Due to voltage vector [VαVβ]TBy two componentsSynthesis, the two components are positive-sequence component and negative phase-sequence respectively
Component, they are rotated respectively with angular velocity omega and-ω, and initial angle is respectively φ+、φ-.Therefore, the first decoupling unit U1 is obtained
Mathematic(al) representation are as follows:
Similarly, the mathematic(al) representation of the second decoupling unit U2 is similar with the first decoupling unit.Except this, inventor combines above-mentioned
Formula finds that the coupled component in positive sequence and negative phase-sequence reference axis is to rotate with 2 times of rotor velocity, therefore can introduce 4
A low-pass filter (the 4th filter LPF4 of first filter LPF1- in such as Fig. 6) is filtered out.And in the present embodiment,
Rotation, which is set, by the cutoff frequency of low-pass filter becomes rotor frequencyTo guarantee faster system response and lesser
System overshoot.
S35, using target positive sequence q axis component as the input error signal of phaselocked loop, obtain the angle of the rotary transformer
Degree and speed.
Specifically, the rotary transformer can be calculated in the target positive sequence q axis component by pi regulator
Speed.Can by integral unit by the rate conversion of the rotary transformer at the angle of the rotary transformer.
As it can be seen that the rotary transformer coding/decoding method that this programme provides determines weight coefficient according to the present speed of rotor
DDSRF-PLL is degenerated to SRF-PLL in low-speed region (≤ω 1) by k1, is solved DDSRF-PLL and is applied in rotation varying signal solution
Not the problem of low regime is not available when code.And by (ω 1, ω 2) be used as transitional region, complete SRF-PLL and DDSRF-PLL this two
The handoff procedure of kind algorithm using DDSRF-PLL, can cope with sine and cosine letter at medium high speed area (>=ω 2) well
Number containing influence brought by the non-idealities such as DC component, amplitude imbalance, higher hamonic wave, the reliable of system is improved
Property.
Except this, the present embodiment additionally provides a kind of rotary transformer decoding system, comprising:
Data acquisition module, for obtaining the echo signal of rotary transformer, the echo signal includes sinusoidal feedback letter
Number, cosine feedback signal and the resulting rotor speed of phaselocked loop；
Computing module, for target d-q to be calculated based on the sinusoidal feedback signal and the cosine feedback signal
Shaft voltage component, the target d-q shaft voltage component include positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component；Also
For being based on the resulting rotor speed of the phaselocked loop, negative phase-sequence corresponding with the resulting rotor speed of the phaselocked loop point is determined
Measure weighted value；
Decoupling module, for according to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and described negative
Sequence d-q shaft voltage component is decoupled, and target positive sequence q axis component is obtained；
Locking phase module, it is described for, using target positive sequence q axis component as the input error signal of phaselocked loop, being obtained to described
The angle and speed of rotary transformer.
Wherein, the computing module includes:
First computing unit, it is described negative for determining when the resulting rotor speed of the phaselocked loop is less than first threshold
Order components weighted value is the first weighted value；When the resulting rotor speed of the phaselocked loop is greater than the first threshold and less than second
When threshold value, determine the negative sequence component weighted value be the second weighted value, second weighted value with resulting turn of the phaselocked loop
Rotor speed is proportional；When the resulting rotor speed of the phaselocked loop is greater than the second threshold, the negative sequence component power is determined
Weight values are third weighted value.
Except this, on the basis of the above embodiments, the computing module further include:
Demodulation module obtains filtering out high frequency load for receiving the sinusoidal feedback signal and the cosine feedback signal
The target demodulation signal of wave, the target demodulation signal include target sinusoidal signal and target cosine signal；
Coordinate transformation module, for carrying out positive-sequence coordinate system to the target sinusoidal signal and the target cosine signal
Park transformation, obtains the positive sequence d-q shaft voltage component；The target sinusoidal signal and the target cosine signal are carried out
Negative phase-sequence coordinate system park transformation, obtains the negative phase-sequence d-q shaft voltage component.
The present embodiment additionally provides a kind of specific implementation structure of decoupling module, comprising:
First decoupling unit is obtained for being based on the positive sequence d-q shaft voltage component and the negative sequence component weighted value
First positive sequence coupled component, the first positive sequence coupled component include the first positive sequence d axis component and the first positive sequence q axis component；
First low-pass filter obtains the coupling point of the second positive sequence for the first positive sequence coupled component to be filtered
Amount；
Second decoupling unit is obtained for being based on the negative phase-sequence d-q shaft voltage component and the second positive sequence coupled component
To the first negative phase-sequence coupled component；
Second low-pass filter obtains the coupling point of the second negative phase-sequence for the first negative phase-sequence coupled component to be filtered
Amount；
Second computing unit, for determining the second negative phase-sequence coupled component and the product of the negative sequence component weighted value is
Third negative phase-sequence coupled component；
First decoupling unit is also used to based on the positive sequence d-q shaft voltage component and third negative phase-sequence coupled component,
Determine third positive sequence coupled component, the third positive sequence coupled component include target positive sequence d axis component and the target just
Sequence q axis component.
Except this, the locking phase module may include:
The speed of the rotary transformer is calculated for being based on the target positive sequence q axis component in pi regulator；
Integral unit, for the angle by the rate conversion of the rotary transformer at the rotary transformer.
The working principle of the system embodiment refers to above method embodiment.
To sum up, the embodiment of the invention provides a kind of rotary transformer coding/decoding method and systems, obtain rotation transformation first
Sinusoidal feedback signal, cosine feedback signal and the resulting rotor speed of phaselocked loop of device, be then based on sinusoidal feedback signal with
And cosine feedback signal, target d-q shaft voltage component is calculated.Again be based on the resulting rotor speed of phaselocked loop, determine with
The corresponding negative sequence component weighted value of the resulting rotor speed of phaselocked loop, and according to negative sequence component weighted value, to positive sequence d-q shaft voltage
Component and negative phase-sequence d-q shaft voltage component are decoupled, and target positive sequence q axis component is obtained, and finally make target positive sequence q axis component
For the input error signal of phaselocked loop, the angle and speed of rotary transformer are obtained.As it can be seen that this programme is according to the current of rotor
Speed determines weight coefficient, and DDSRF-PLL is degenerated to SRF-PLL in low-speed region (≤ω 1), solves DDSRF-
PLL applies the problem of low regime is not available when revolving varying signal decoding.And (ω 1, ω 2) is used as transitional region, it completes
The handoff procedure of both algorithms of SRF-PLL and DDSRF-PLL, at medium high speed area (>=ω 2), using DDSRF-PLL,
Cosine and sine signal can be coped with well to contain brought by the non-idealities such as DC component, amplitude imbalance, higher hamonic wave
It influences, improves the reliability of system.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of rotary transformer coding/decoding method characterized by comprising
The echo signal of rotary transformer is obtained, the echo signal includes sinusoidal feedback signal, cosine feedback signal and lock
The resulting rotor speed of phase ring；
Based on the sinusoidal feedback signal and the cosine feedback signal, target d-q shaft voltage component, the mesh is calculated
Marking d-q shaft voltage component includes positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component；
Based on the resulting rotor speed of the phaselocked loop, negative phase-sequence corresponding with the resulting rotor speed of the phaselocked loop point is determined
Measure weighted value；
According to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and the negative phase-sequence d-q shaft voltage component into
Row decoupling, obtains target positive sequence q axis component；
Using target positive sequence q axis component as the input error signal of phaselocked loop, the angle and speed of the rotary transformer are obtained
Degree.
2. rotary transformer coding/decoding method according to claim 1, which is characterized in that described based on obtained by the phaselocked loop
Rotor speed, determine negative sequence component weighted value corresponding with the resulting rotor speed of the phaselocked loop, comprising:
When the resulting rotor speed of the phaselocked loop is less than first threshold, determine that the negative sequence component weighted value is the first weight
Value；
When the resulting rotor speed of the phaselocked loop is greater than the first threshold and is less than second threshold, the negative phase-sequence point is determined
Amount weighted value is the second weighted value, and second weighted value and the resulting rotor speed of the phaselocked loop are proportional；
When the resulting rotor speed of the phaselocked loop is greater than the second threshold, determine that the negative sequence component weighted value is third
Weighted value.
3. rotary transformer coding/decoding method according to claim 1, which is characterized in that described based on the sinusoidal feedback letter
Number and the cosine feedback signal, target d-q shaft voltage component is calculated, comprising:
The sinusoidal feedback signal and the cosine feedback signal are inputted into demodulation module, obtain the target for filtering out high frequency carrier
Demodulated signal, the target demodulation signal include target sinusoidal signal and target cosine signal；
Positive-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, obtains the positive sequence
D-q shaft voltage component；
Negative phase-sequence coordinate system park transformation is carried out to the target sinusoidal signal and the target cosine signal, obtains the negative phase-sequence
D-q shaft voltage component.
4. rotary transformer coding/decoding method according to claim 1, which is characterized in that described to be weighed according to the negative sequence component
Weight values decouple the positive sequence d-q shaft voltage component and the negative phase-sequence d-q shaft voltage component, obtain target positive sequence q axis
Component, comprising:
Based on the positive sequence d-q shaft voltage component and the negative sequence component weighted value, the first positive sequence coupled component is obtained, it is described
First positive sequence coupled component includes the first positive sequence d axis component and the first positive sequence q axis component；
The first positive sequence coupled component is filtered, the second positive sequence coupled component is obtained；
Based on the negative phase-sequence d-q shaft voltage component and the second positive sequence coupled component, the first negative phase-sequence coupled component is obtained；
The first negative phase-sequence coupled component is filtered, the second negative phase-sequence coupled component is obtained；
The product for determining the second negative phase-sequence coupled component and the negative sequence component weighted value is third negative phase-sequence coupled component；
Based on the positive sequence d-q shaft voltage component and third negative phase-sequence coupled component, third positive sequence coupled component is determined, it is described
Third positive sequence coupled component includes target positive sequence d axis component and the target positive sequence q axis component.
5. rotary transformer coding/decoding method according to claim 1, which is characterized in that described by target positive sequence q axis component
As the input error signal of phaselocked loop, the angle and speed of the rotary transformer are obtained, comprising:
The target positive sequence q axis component is calculated to the speed of the rotary transformer by pi regulator；
By integral unit to the rate integrating of the rotary transformer, the angle of the rotary transformer is obtained.
6. a kind of rotary transformer decodes system characterized by comprising
Data acquisition module, for obtaining the echo signal of rotary transformer, the echo signal includes sinusoidal feedback signal, remaining
String feedback signal and the resulting rotor speed of phaselocked loop；
Computing module, for target d-q axis electricity to be calculated based on the sinusoidal feedback signal and the cosine feedback signal
Component is pressed, the target d-q shaft voltage component includes positive sequence d-q shaft voltage component and negative phase-sequence d-q shaft voltage component；It is also used to
Based on the resulting rotor speed of the phaselocked loop, negative sequence component power corresponding with the resulting rotor speed of the phaselocked loop is determined
Weight values；
Decoupling module is used for according to the negative sequence component weighted value, to the positive sequence d-q shaft voltage component and the negative phase-sequence d-
Q shaft voltage component is decoupled, and target positive sequence q axis component is obtained；
Locking phase module, for obtaining the rotary transformer using target positive sequence q axis component as the input error signal of phaselocked loop
Angle and speed.
7. rotary transformer according to claim 6 decodes system, which is characterized in that the computing module includes:
First computing unit, for determining the negative phase-sequence point when the resulting rotor speed of the phaselocked loop is less than first threshold
Amount weighted value is the first weighted value；When the resulting rotor speed of the phaselocked loop is greater than the first threshold and is less than second threshold
When, determine that the negative sequence component weighted value is the second weighted value, second weighted value and the resulting rotor of the phaselocked loop turn
Speed is proportional；When the resulting rotor speed of the phaselocked loop is greater than the second threshold, the negative sequence component weighted value is determined
For third weighted value.
8. rotary transformer according to claim 6 decodes system, which is characterized in that the computing module further include:
Demodulation module obtains filtering out high frequency carrier for receiving the sinusoidal feedback signal and the cosine feedback signal
Target demodulation signal, the target demodulation signal include target sinusoidal signal and target cosine signal；
Coordinate transformation module, for carrying out positive-sequence coordinate system park to the target sinusoidal signal and the target cosine signal
Transformation, obtains the positive sequence d-q shaft voltage component；Negative phase-sequence is carried out to the target sinusoidal signal and the target cosine signal
Coordinate system park transformation, obtains the negative phase-sequence d-q shaft voltage component.
9. rotary transformer according to claim 6 decodes system, which is characterized in that the decoupling module includes:
First decoupling unit obtains first for being based on the positive sequence d-q shaft voltage component and the negative sequence component weighted value
Positive sequence coupled component, the first positive sequence coupled component include the first positive sequence d axis component and the first positive sequence q axis component；
First low-pass filter obtains the second positive sequence coupled component for the first positive sequence coupled component to be filtered；
Second decoupling unit obtains for being based on the negative phase-sequence d-q shaft voltage component and the second positive sequence coupled component
One negative phase-sequence coupled component；
Second low-pass filter obtains the second negative phase-sequence coupled component for the first negative phase-sequence coupled component to be filtered；
Second computing unit, for determining that the product of the second negative phase-sequence coupled component and the negative sequence component weighted value is third
Negative phase-sequence coupled component；
First decoupling unit is also used to determine based on the positive sequence d-q shaft voltage component and third negative phase-sequence coupled component
Third positive sequence coupled component out, the third positive sequence coupled component include target positive sequence d axis component and the target positive sequence q axis
Component.
10. rotary transformer according to claim 6 decodes system, which is characterized in that the locking phase module includes:
The speed of the rotary transformer is calculated for being based on the target positive sequence q axis component in pi regulator；
Integral unit is integrated for the speed to the rotary transformer, obtains the angle of the rotary transformer.
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| CN111030678A (en) * | 2019-12-02 | 2020-04-17 | 北京特种机械研究所 | Rotary transformer decoding method capable of adaptively suppressing errors |
| CN112829602A (en) * | 2021-01-04 | 2021-05-25 | 宝能(西安)汽车研究院有限公司 | Vehicle torque control method and device and vehicle |
| CN114061632B (en) * | 2021-10-21 | 2024-03-19 | 上大电气科技(嘉兴)有限公司 | Decoding method of high-precision magnetic encoder for compensating appointed subharmonic |
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