CN110895131A - Monitoring method and system for excitation signal and response signal of rotary transformer - Google Patents

Monitoring method and system for excitation signal and response signal of rotary transformer Download PDF

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CN110895131A
CN110895131A CN201811061376.8A CN201811061376A CN110895131A CN 110895131 A CN110895131 A CN 110895131A CN 201811061376 A CN201811061376 A CN 201811061376A CN 110895131 A CN110895131 A CN 110895131A
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sampling
excitation
signals
response signal
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夏铸亮
叶健豪
覃兴琨
赵小坤
杨康
陈平
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GAC Aion New Energy Automobile Co Ltd
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Guangzhou Automobile Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • 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
    • H02P13/00—Arrangements for controlling transformers, reactors or choke coils, for the purpose of obtaining a desired output

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  • Engineering & Computer Science (AREA)
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Abstract

The invention provides a method and a system for monitoring an excitation signal and a response signal of a rotary transformer, wherein the method comprises the following steps: s1, sampling the excitation signal and the response signal of the rotary transformer by taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period, so as to obtain at least two adjacent sampling signals of the excitation signal and two adjacent sampling signals of the response signal; s2, calculating the sum of squares of the sampling signals of the excitation signal according to two adjacent sampling signals of the excitation signal, and calculating the sum of squares of the sampling signals of the response signal according to two adjacent sampling signals of the response signal; s3, determining whether the excitation signal and the response signal of the rotary transformer are normal or not by utilizing the sum of squares of the sampling signal of the excitation signal and the sum of squares of the sampling signal of the response signal.

Description

Monitoring method and system for excitation signal and response signal of rotary transformer
Technical Field
The invention relates to the technical field of rotary transformers, in particular to a method and a system for monitoring an excitation signal and a response signal of a rotary transformer.
Background
A resolver (referred to as a resolver) is an electromagnetic sensor, and is mainly used in a motion servo control system for sensing and measuring angles and angular velocities, and in motor control, the resolver is an important angle and angular velocity sensor.
The existing decoding method comprises the following steps: the controller sends out square wave with high frequency (such as 10kHz) and 50% duty ratio, the square wave becomes sine wave after passing through the sine wave conversion circuit, the sine wave becomes excitation signal U with zero DC bias and matched amplitude and rotary transformer after passing through the excitation signal conditioning circuitref. The rotary transformer outputs a sine signal U under the excitation of the excitation signalsinSignal and cosine signal UcosThe two signals are output to the controller after amplitude change and direct current bias. Each period of software decoding and monitoring and square wave UsqCorresponds to the period of (c). t is t0The time corresponds to the rising edge of the square wave. From t0Time start delay TdSampling after time UsinSum of signals UcosA signal. Monitoring a resolver signalOnly the U of each sampling point needs to be monitoredsinSum of signals UcosThe sum of squares of the signals, and whether the excitation signal and the response signal are normal or not can be judged by the sum of squares and an ideal value.
The method depends on the accuracy of sampling time, when the sampling time deviates from the peak value time of an excitation signal, a monitoring value can also deviate from a given value to give an alarm, in some applications, an electronic control unit running a decoding and monitoring program and a rotary-changing excitation signal use two asynchronous clocks, the electronic control unit starts to sample at equal intervals (such as 10kHz) from a certain peak value time, but because of the asynchronous clocks, the sampling point and the peak value time of the excitation signal slowly deviate, so that the ideal peak value time is not sampled, the monitoring signal deviates from the given value to give an alarm, namely, the monitoring method is influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method and a system for monitoring an excitation signal and a response signal of a rotary transformer, wherein the method does not depend on the peak value sampling of the excitation signal of the rotary transformer, and can identify the phenomena of loss, over amplitude, under amplitude, direct current offset or low-frequency alternating current offset of any one of the excitation signal and the response signal.
In order to solve the above technical problem, the present invention provides a method for monitoring an excitation signal and a response signal of a resolver, the method comprising the steps of:
s1, at least acquiring adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, wherein the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by respectively sampling the excitation signal and the response signal of the rotary transformer with a quarter of the period of the excitation signal of the rotary transformer as a sampling period;
s2, calculating and obtaining the sum of squares of sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculating and obtaining the sum of squares of sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal;
and S3, determining whether the excitation signal is normal according to the sum of the squares of the sampling signals of the excitation signal and a set first constant value, and determining whether the response signal is normal according to the sum of the squares of the sampling signals of the response signal and a set second constant value.
Wherein, before the step S1, the method includes:
in each fault monitoring period, taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period, respectively sampling the excitation signal and the response signal at least twice, and obtaining at least adjacent first and second sampling signals of the excitation signal and adjacent first and second sampling signals of the response signal.
Wherein, in the step S1:
the response signal comprises a first response signal and a second response signal, the first sample signal of the response signal comprises a first sample signal of the first response signal and a first sample signal of the second response signal, and the second sample signal of the response signal comprises a second sample signal of the first response signal and a second sample signal of the second response signal.
In step S2, the obtaining of the sum of squares of the sampling signals of the excitation signal by calculating from the first sampling signal of the excitation signal and the second sampling signal of the excitation signal specifically includes:
respectively calculating a square value of a first sampling signal of the excitation signal and a square value of a second sampling signal of the excitation signal;
and adding and summing the square value of the first sampling signal of the excitation signal and the square value of the second sampling signal of the excitation signal to obtain the sampling signal square sum of the excitation signal.
In step S2, the obtaining of the sum of squares of the sampling signals of the response signal by calculating from the first sampling signal of the response signal and the second sampling signal of the response signal specifically includes:
respectively calculating a square value of a first sampling signal of the first response signal, a square value of a second sampling signal of the first response signal, a square value of a first sampling signal of the second response signal, and a square value of a second sampling signal of the second response signal;
the sum of squares of the sampled signals of the response signal is obtained by summing the squared values of the above four sampled signals of the response signal.
Wherein, the step S3 specifically includes:
judging whether the sum of squares of sampling signals of the excitation signals is equal to the set first constant value or not, if so, judging that the excitation signals are normal; otherwise, calculating to obtain a first difference value according to the sum of squares of the sampling signals of the excitation signals and the first constant value, and determining whether the excitation signals are normal or not according to the first difference value and a set first threshold value.
Wherein, the determining whether the excitation signal is normal according to the first difference and a set first threshold specifically includes:
calculating an absolute value of the first difference;
and judging whether the absolute value is smaller than the first threshold value, if so, judging that the excitation signal is normal, otherwise, judging that the excitation signal is abnormal.
Wherein, the step S3 specifically further includes:
judging whether the sum of squares of the sampling signals of the response signals is equal to a set second constant value or not, if so, judging that the response signals are normal; otherwise, calculating according to the sum of squares of the sampling signals of the response signal and a second constant value to obtain a second difference value, and determining whether the response signal is normal according to the second difference value and a set second threshold value.
Wherein, the determining whether the response signal is normal according to the second difference and a set second threshold specifically includes:
calculating an absolute value of the second difference;
and judging whether the absolute value of the second difference is smaller than the second threshold value, if so, judging that the response signal is normal, otherwise, judging that the response signal is abnormal.
Wherein the first constant value is a square of an amplitude of the excitation signal input to the resolver, and the second constant value is a product of the first constant value and a square of a transformation ratio of the resolver.
The present invention also provides a system for monitoring an excitation signal and a response signal of a resolver, comprising:
the sampling signal acquisition unit is used for acquiring adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, wherein the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by respectively sampling the excitation signal and the response signal of the rotary transformer by taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period;
the square sum calculation unit is used for calculating and obtaining the square sum of the sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculating and obtaining the square sum of the sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal;
and the determining unit is used for determining whether the excitation signal is normal according to the sum of the squares of the sampling signals of the excitation signal and a set first constant value and determining whether the response signal is normal according to the sum of the squares of the sampling signals of the response signal and a set second constant value.
The embodiment of the invention has the beneficial effects that: the monitoring method disclosed by the invention takes one fourth of the period of the excitation signal as a sampling period, samples the excitation signal and the response signal of the rotary transformer at least twice, respectively calculates the square sum of the twice sampled signals of the excitation signal and the square sum of the twice sampled signals of the response signal, judges whether the excitation signal is normal or not according to the set constant value of the square sum of the sampled signals of the excitation signal and judges whether the response signal is normal or not according to the set constant value of the square sum of the sampled signals of the response signal.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a main flow chart of a monitoring method of excitation signals and response signals of a resolver according to the present invention.
Fig. 2 is a schematic diagram of a monitoring system for excitation signals and response signals of a resolver according to the present invention.
Detailed Description
The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced.
As described below with reference to fig. 1, an embodiment of the present invention provides a method for monitoring an excitation signal and a response signal of a resolver, the method including the steps of:
s1, at least acquiring adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, wherein the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by respectively sampling the excitation signal and the response signal of the rotary transformer with a quarter of the period of the excitation signal of the rotary transformer as a sampling period.
Wherein, before the step S1, the method further includes: in each fault monitoring period, taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period, respectively sampling the excitation signal and the response signal at least twice, and obtaining at least adjacent first and second sampling signals of the excitation signal and adjacent first and second sampling signals of the response signal.
Wherein the response signal comprises a first response signal and a second response signal, the first sample signal of the response signal comprises a first sample signal of the first response signal and a first sample signal of the second response signal, and the second sample signal of the response signal comprises a second sample signal of the first response signal and a second sample signal of the second response signal.
Specifically, the input excitation signal of the resolver is usually a sinusoidal signal with a relatively high frequency, and the output signal of the resolver includes two signals, namely a sine-response output signal and a cosine-response output signal.
Suppose the input excitation signal is UrefThe two output response signals are respectively marked as UsinAnd UcosE.g. excitation signal is Uref：
Uref＝A0sin(wreft)
Wherein A is0For the amplitude of the excitation signal, wrefThe electrical angular velocity of the resolver rotor is the number of resolver pole pairs multiplied by the physical angular velocity of the resolver rotor.
Ideally, the output signal of the resolver is:
Usin＝k0A0sin(wreft)sinθ
Ucos＝k0A0sin(wreft)cosθ
wherein k is0θ is the electrical angle of the resolver.
For the excitation signal, in a fault period, assuming that the first collected point of the excitation signal is Asin (α), since the sampling interval is 1/4 excitation signal period, the second sampling point is Asin (α + pi/2) ═ Acos α, the third sampling point is Asin (α + pi) ═ Asin α, and the fourth sampling point is Asin (α +3 pi/2) ═ Acos αAmplitude, ideally, a ═ a0And α is the sampling angle of the resolver.
Accordingly, for UsinSignal, assuming the first acquired point is k1Asin (α) sin (θ), then the second acquisition point is k1Acos (α) sin (θ), third acquisition Point-k1Asin (α) sin (θ), fourth acquisition Point-k1Acos(α)sin(θ)，
Accordingly, for UcosSignal, first acquired point k2Asin (α) cos (θ), the second acquisition point is k2Acos (α) cos (θ), third acquisition Point-k2Asin (α) cos (θ), fourth acquisition Point-k2Acos (α) cos (θ), where k1、k2Are respectively equal to UsinAnd UcosCorresponding to the transformation ratio of the sampled resolver, k is ideally1＝k2＝k0。
Specifically, for the excitation signal, in one fault detection period, the first collected point and the second collected point are adjacent sampling points, the second collected point and the third collected point are adjacent sampling points, the third collected point and the fourth collected point are adjacent sampling points, and the fourth collected point and the first collected point are adjacent sampling points. The method of determining adjacent sampling points in the response signal is the same as that of the excitation signal, and thus will not be described.
It should be noted that, according to the periodicity of the sine and cosine signals, the step S1 may further obtain first to fourth sampling signals of the excitation signal, and first to fourth sampling signals of the excitation signal.
And S2, calculating and obtaining the sum of squares of the sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculating and obtaining the sum of squares of the sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal.
In step S2, the obtaining of the sum of squares of the sampling signals of the excitation signal by calculating from the first sampling signal of the excitation signal and the second sampling signal of the excitation signal specifically includes:
respectively calculating a square value of a first sampling signal of the excitation signal and a square value of a second sampling signal of the excitation signal;
and adding and summing the square value of the first sampling signal of the excitation signal and the square value of the second sampling signal of the excitation signal to obtain the sampling signal square sum of the excitation signal.
In step S2, the step of obtaining a sum of squares of sampled signals of the response signal by calculating from the first sampled signal and the second sampled signal of the response signal specifically includes:
and respectively calculating a square value of a first sampling signal of the first response signal, a square value of a second sampling signal of the first response signal, a square value of a first sampling signal of the second response signal and a square value of a second sampling signal of the second response signal, and summing the four square values to obtain a sampling signal square sum of the response signals.
Specifically, assuming that the first sampling signal of the excitation signal is Asin (α), and the second sampling signal is Acos (α), the sum of squares Q of the excitation signals1：
Q1＝A2sin2(α)+A2cos2(α)＝A2
In particular, assume that the first response signal is UsinThe first sampling signal of the first response signal is k1Asin (α) sin (theta), and k is the second sampling signal of the first response signal1Acos (α) sin (θ), the second response signal is UcosThe first sampling signal of the second response signal is k2Asin (α) cos (theta), and a second sampling signal of the second response signal is k2Acos (α) cos (θ), and the sum of the squares of the response signals is denoted as Q2And then:
Figure BDA0001797179200000071
Figure BDA0001797179200000072
when the excitation signal selects the first to fourth sampling signals, the sum of squares of the sampling signals of the excitation signal is calculated from the first to fourth sampling signals, and the sum of squares of the sampling signals of the response signal is the sum of squares of the first to fourth sampling signals of the first response signal plus the sum of squares of the first to fourth sampling signals of the second response signal.
And S3, determining whether the excitation signal is normal according to the sum of the squares of the sampling signals of the excitation signal and a set first constant value, and determining whether the response signal is normal according to the sum of the squares of the sampling signals of the response signal and a set second constant value.
Wherein, the step S3 specifically includes:
judging whether the sum of squares of sampling signals of the excitation signals is equal to the set first constant value or not, if so, judging that the excitation signals are normal; otherwise, calculating to obtain a first difference value according to the sum of squares of the sampling signals of the excitation signals and the first constant value, and determining whether the excitation signals are normal or not according to the first difference value and a set first threshold value.
Wherein, the determining whether the excitation signal is normal according to the first difference and a set first threshold specifically includes:
calculating an absolute value of the first difference;
and judging whether the absolute value is smaller than the first threshold value, if so, judging that the excitation signal is normal, otherwise, judging that the excitation signal is abnormal.
Wherein, the step S3 specifically further includes:
judging whether the sum of squares of the sampling signals of the response signals is equal to a set second constant value or not, if so, judging that the response signals are normal; otherwise, calculating according to the sum of squares of the sampling signals of the response signal and a second constant value to obtain a second difference value, and determining whether the response signal is normal according to the second difference value and a set second threshold value.
Wherein, the determining whether the response signal is normal according to the second difference and a set second threshold specifically includes:
calculating an absolute value of the second difference;
and judging whether the absolute value of the second difference is smaller than the second threshold value, if so, judging that the response signal is normal, otherwise, judging that the response signal is abnormal.
In particular, the first constant value is the square of the amplitude of the excitation signal input to the resolver, i.e. is
Figure BDA0001797179200000081
The second constant value is the square multiple of the transformation ratio of the rotary transformer of the first constant value, i.e.
Figure BDA0001797179200000082
The above-described determination method is described below by an excitation signal and a sinusoidal response signal, respectively. For convenience of the following description, reference will be made to
Figure BDA0001797179200000083
Is Q10，
Figure BDA0001797179200000084
Is Q20The first threshold is TRS1The second threshold value is TRS2Wherein the first threshold and the second threshold are relatively small values set by those skilled in the art according to actual conditions.
When the excitation signal and the response signal are normal, then Q1＝Q10，Q2＝Q20(ii) a So that the monitoring program will not report an error.
When the excitation signal is lost, then Q10, thus | Q1-Q10|＝Q10>TRS1The monitor reports an error.
When the excitation signal exceeds amplitude or is under-amplitude, A is not equal to A0Then | Q1-Q10|＝|A-A0|>TRS1If so, the monitoring program reports an error;
when a large DC bias B exists in the excitation signal, the square sum value of the sampling signals in one period of the excitation signal is calculated, namely
Q1＝(Asinα+B)2+(Acosα+B)2+(-Asinα+B)2+(-Acosα+B)2＝2A2+4B2
Thus | Q1-Q10|＝4B2>TRS1And the monitoring program reports errors.
When a large low frequency AC bias exists in the excitation signal, assuming the large low frequency AC bias is Bsin β, then
Q1＝(Asinα+Bsinβ)2+(Acosα+Bcosβ)2＝A2+B2+2ABcos(α-β)
Thus | Q1-Q10|＝B2+2ABcos(α-β)>TRS1And the monitoring program gives an alarm.
U in response signalsinWhen the signal is lost, then
Figure BDA0001797179200000085
Then it is determined that,
Figure BDA0001797179200000086
the monitoring program can report errors;
u in response signalsinWhen the signal is over-or under-amplified, i.e. k1≠k2And then:
Figure BDA0001797179200000091
i.e. the sinusoidal signal quality is related to the shaft angle theta of the resolver, to
Figure BDA0001797179200000092
Oscillating up and down as a center. At this time | Q2-Q20|>TRS2And the monitoring program reports errors.
When a large dc offset B exists for the sinusoid, then:
Figure BDA0001797179200000093
at this time, | Q2-Q20|＝4B2>TRS2And the monitoring program reports errors.
When a large low frequency ac bias exists in the sinusoidal signal, assuming the low frequency ac bias is Bsin β, then:
Figure BDA0001797179200000094
then the process of the first step is carried out,
Figure BDA0001797179200000095
thus the monitoring program reports an error.
UcosIs determined in the same manner as UsinAnd thus will not be described in detail. In the above judging process, the first threshold and the second threshold are introduced, so that the influence of hardware errors such as an acquisition tool on the judging result in the signal acquisition process is avoided.
It should be noted that, when the sum of squares of the sampling signals of the excitation signal is calculated using the first to fourth sampling signals of the excitation signal, the first constant value is set to be the sum of the squares of the sampling signals of the excitation signal
Figure BDA0001797179200000096
When the sum of squares of the sampling signals of the response signals is calculated using the first to fourth sampling signals of the first response signal and the first to fourth sampling signals of the second response signal, the second constant value is set to be the same as the first constant value
Figure BDA0001797179200000097
According to the monitoring method for the excitation signal and the response signal of the rotary transformer, one quarter of the period of the excitation signal is used as the sampling period, the excitation signal and the response signal of the rotary transformer are sampled at least twice, the square sum of the twice sampled signals of the excitation signal and the square sum of the twice sampled signals of the excitation signal are respectively calculated, whether the excitation signal is normal or not is judged according to the square sum of the sampled signals of the excitation signal and a set first constant value, and whether the response signal is normal or not is determined according to a set second constant value of the square sum of the sampled signals of the response signal. The monitoring method does not depend on the sampling of the peak value moment of the excitation signal, can identify the phenomena of loss, over amplitude, under amplitude, direct current offset or low-frequency alternating current offset of the excitation signal and the response signal of the rotary transformer, and ensures the safety of a motor control system.
Based on the first embodiment of the present invention, the second embodiment of the present invention provides a monitoring system for an excitation signal and a response signal of a resolver, as shown in fig. 2, the monitoring system 1 includes:
a sampling signal obtaining unit 11, configured to obtain adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, where the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by sampling the excitation signal and the response signal of the resolver respectively with a quarter of a period of the excitation signal of the resolver as a sampling period;
a square sum calculation unit 12, configured to calculate a sum of squares of sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculate a sum of squares of sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal;
a determining unit 13, configured to determine whether the excitation signal is normal according to the sum of squared sampled signals of the excitation signal and a set first constant value, and determine whether the response signal is normal according to the sum of squared sampled signals of the response signal and a set second constant value.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims (11)

1. A method for monitoring excitation and response signals of a resolver, comprising the steps of:
s1, at least acquiring adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, wherein the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by respectively sampling the excitation signal and the response signal of the rotary transformer with a quarter of the period of the excitation signal of the rotary transformer as a sampling period;
s2, calculating and obtaining the sum of squares of sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculating and obtaining the sum of squares of sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal;
and S3, determining whether the excitation signal is normal according to the sum of the squares of the sampling signals of the excitation signal and a set first constant value, and determining whether the response signal is normal according to the sum of the squares of the sampling signals of the response signal and a set second constant value.
2. The monitoring method according to claim 1, comprising, before the step S1:
in each fault monitoring period, taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period, respectively sampling the excitation signal and the response signal at least twice, and obtaining at least adjacent first and second sampling signals of the excitation signal and adjacent first and second sampling signals of the response signal.
3. The monitoring method according to claim 1, wherein in the step S1:
the response signal comprises a first response signal and a second response signal, the first sample signal of the response signal comprises a first sample signal of the first response signal and a first sample signal of the second response signal, and the second sample signal of the response signal comprises a second sample signal of the first response signal and a second sample signal of the second response signal.
4. The monitoring method according to claim 3, wherein the step S2 of obtaining a sum of squared sampled signals of the excitation signal according to the first sampled signal of the excitation signal and the second sampled signal of the excitation signal includes:
respectively calculating a square value of a first sampling signal of the excitation signal and a square value of a second sampling signal of the excitation signal;
and adding and summing the square value of the first sampling signal of the excitation signal and the square value of the second sampling signal of the excitation signal to obtain the sampling signal square sum of the excitation signal.
5. The monitoring method according to claim 4, wherein the step S2 of obtaining a sum of squared sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal includes:
respectively calculating a square value of a first sampling signal of the first response signal, a square value of a second sampling signal of the first response signal, a square value of a first sampling signal of the second response signal, and a square value of a second sampling signal of the second response signal;
the sum of squares of the sampled signals of the response signal is obtained by adding and summing the squared values of the above four sampled signals of the response signal.
6. The monitoring method according to claim 5, wherein the step S3 specifically includes:
judging whether the sum of squares of sampling signals of the excitation signals is equal to the set first constant value or not, if so, judging that the excitation signals are normal; otherwise, calculating to obtain a first difference value according to the sum of squares of the sampling signals of the excitation signals and the first constant value, and determining whether the excitation signals are normal or not according to the first difference value and a set first threshold value.
7. The monitoring method according to claim 6, wherein the determining whether the excitation signal is normal according to the first difference and a set first threshold specifically comprises:
calculating an absolute value of the first difference;
and judging whether the absolute value is smaller than the first threshold value, if so, judging that the excitation signal is normal, otherwise, judging that the excitation signal is abnormal.
8. The monitoring method according to claim 7, wherein the step S3 further includes:
judging whether the sum of squares of the sampling signals of the response signals is equal to a set second constant value or not, if so, judging that the response signals are normal; otherwise, calculating according to the sum of squares of the sampling signals of the response signal and a second constant value to obtain a second difference value, and determining whether the response signal is normal according to the second difference value and a set second threshold value.
9. The monitoring method according to claim 8, characterized in that: the determining whether the response signal is normal according to the second difference and a set second threshold specifically includes:
calculating an absolute value of the second difference;
and judging whether the absolute value of the second difference is smaller than the second threshold value, if so, judging that the response signal is normal, otherwise, judging that the response signal is abnormal.
10. The monitoring method according to claim 9, characterized in that:
the first constant value is a square of an amplitude of an excitation signal input to the resolver, and the second constant value is a product of a square of a transformation ratio of the resolver and the first constant value.
11. A system for monitoring excitation and response signals of a resolver, comprising:
the sampling signal acquisition unit is used for acquiring adjacent first and second sampling signals of an excitation signal and adjacent first and second sampling signals of a response signal, wherein the first and second sampling signals of the excitation signal and the first and second sampling signals of the response signal are obtained by respectively sampling the excitation signal and the response signal of the rotary transformer by taking one fourth of the period of the excitation signal of the rotary transformer as a sampling period;
the square sum calculation unit is used for calculating and obtaining the square sum of the sampling signals of the excitation signal according to the first sampling signal of the excitation signal and the second sampling signal of the excitation signal, and calculating and obtaining the square sum of the sampling signals of the response signal according to the first sampling signal of the response signal and the second sampling signal of the response signal;
and the determining unit is used for determining whether the excitation signal is normal according to the sum of the squares of the sampling signals of the excitation signal and a set first constant value and determining whether the response signal is normal according to the sum of the squares of the sampling signals of the response signal and a set second constant value.
CN201811061376.8A 2018-09-12 2018-09-12 Monitoring method and system for excitation signal and response signal of rotary transformer Pending CN110895131A (en)

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