CN110987027B - Combined resolving method and system for dual-channel multi-antipode rotary transformer - Google Patents

Combined resolving method and system for dual-channel multi-antipode rotary transformer Download PDF

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CN110987027B
CN110987027B CN201911114200.9A CN201911114200A CN110987027B CN 110987027 B CN110987027 B CN 110987027B CN 201911114200 A CN201911114200 A CN 201911114200A CN 110987027 B CN110987027 B CN 110987027B
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rotary transformer
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calculation
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张殊冉
李智
张耀军
吉云飞
李方正
仇立伟
路璐
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Beijing Aerospace Times Optical Electronic Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage

Abstract

The invention discloses a combined resolving method and a combined resolving system for a dual-channel multi-antipode rotary transformer, wherein the method comprises the following steps: determining parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p; respectively calculating to obtain a rough channel solution value and a fine channel solution value according to the determined parameter information; according to the rough channel solution value and the fine channel solution value, performing double-channel combined solution to obtain a double-channel solution value; and correcting and judging the two-channel calculation value, and outputting a combined calculation result according to a judgment result. The invention realizes the resolving and error correcting of the double-channel rotary transformer with any pole pair number.

Description

Combined resolving method and system for dual-channel multi-antipode rotary transformer
Technical Field
The invention belongs to the technical field of sensor measurement, and particularly relates to a combined calculating method and system based on a dual-channel multi-pair-pole rotary transformer.
Background
A resolver is a high-precision electromagnetic induction type sensor. In order to improve the angle measurement precision, a dual-channel multi-pair-pole rotary transformer is adopted. Wherein the measuring range of the coarse channel is 0-360 degrees, the precision is low, and the error is large; the precise channel is a multi-pair-pole rotary transformer, and the measurement precision is high. For the fine channel of the p-pair rotary transformer, the measurement range is 0-360 DEG/p.
The rotary transformer is generally matched with a peripheral circuit to realize the driving, signal conditioning and output resolving of the rotary transformer, the dual-channel multi-pair-pole rotary transformer based on the AD2S1210 chip is the rotary transformer with the resolution of 10 bits to 16 bits, and the programmable sine wave oscillator on the integrated chip provides sine wave excitation for the rotary transformer. At present, no calculation research is carried out on the two-channel multi-pair-pole rotary transformer based on the AD2S1210 chip.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, the combined resolving method and the combined resolving system of the double-channel multi-pair-pole rotary transformer are provided, and resolving and error correction of the double-channel rotary transformer with any pole pair number are achieved.
In order to solve the technical problem, the invention discloses a combined resolving method of a dual-channel multi-pair-pole rotary transformer, which is characterized by comprising the following steps of:
determining parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p;
respectively calculating to obtain a rough channel solution value and a fine channel solution value according to the determined parameter information;
according to the rough channel solution value and the fine channel solution value, performing double-channel combined solution to obtain a double-channel solution value;
and correcting and judging the two-channel calculation value, and outputting a combined calculation result according to a judgment result.
In the combined calculation method of the two-channel multi-pair rotary transformer, the data bit width n of the chip of the two-channel multi-pair rotary transformer is determined through the following steps:
determining a connection mode of a first resolution selection pin RES1 and a second resolution selection pin RES0 of the dual-channel multi-pair-pole rotary transformer;
when RES0 and RES1 are both connected to a low level, determining that the data bit width n is 10;
when RES0 is connected to low level and RES1 is connected to high level, determining that the data bit width n is 12;
when RES0 is connected to a high level and RES1 is connected to a low level, determining that the data bit width n is 14;
when RES0 and RES1 are both tied high, the data bit width n is determined to be 16.
In the combined resolving method of the dual-channel multi-pair rotary transformer, the pole-to-pair ratio of the dual-channel multi-pair rotary transformer is determined according to manual information of the dual-channel multi-pair rotary transformer.
In the combined calculation method of the two-channel multi-pair-pole resolver, a coarse channel calculation value R is calculated by the following formula (1):
Figure BDA0002273601620000021
wherein i is 0, 1, 2, n-1; riA binary representation of the ith bit coarse channel measurement.
In the combined calculation method of the two-channel multi-pair-pole rotary transformer, a fine channel calculation value is calculated by the following formula (2):
Figure BDA0002273601620000022
wherein, FiA binary representation of the ith bit fine channel measurement.
In the above-described combined calculation method for a two-channel multi-pair-pole resolver, a two-channel calculation value C is obtained by the following formula (3):
Figure BDA0002273601620000023
wherein the content of the first and second substances,
Figure BDA0002273601620000024
is a rounded down function.
In the above-mentioned method for combined solution of a two-channel multi-antipode resolver, the correction and judgment of the two-channel solution value are performed, and a combined solution result is output according to the judgment result, and the method includes:
if it is
Figure BDA0002273601620000031
And is
Figure BDA0002273601620000032
Determining to correct the dual-channel solution value, and outputting a combined solution result K as follows:
Figure BDA0002273601620000033
wherein,% represents a remainder operation.
In the above-mentioned method for combined solution of a two-channel multi-antipode resolver, the correction and judgment of the two-channel solution value are performed, and a combined solution result is output according to the judgment result, and the method includes:
if it is
Figure BDA0002273601620000034
And is
Figure BDA0002273601620000035
Determining to correct the two-channel solution value, and outputting a combined solution result K' as follows:
Figure BDA0002273601620000036
wherein,% represents a remainder operation.
In the above-described combined calculation method of the two-channel multi-pair rotary transformer, the two-channel multi-pair rotary transformer is: a dual-channel multi-pair-pole rotary transformer adopting an AD2S1210 chip is adopted.
Correspondingly, the invention also discloses a combined resolving system of the double-channel multi-antipode rotary transformer, which comprises the following components:
the parameter information acquisition module is used for determining the parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p;
the first calculation module is used for respectively calculating to obtain a rough channel calculation value and a fine channel calculation value according to the determined parameter information;
the second calculation module is used for performing double-channel combined calculation according to the rough channel calculation value and the fine channel calculation value to obtain a double-channel calculation value;
and the correction output module is used for correcting and judging the dual-channel calculation value and outputting a combined calculation result according to a judgment result.
The invention has the following advantages:
the invention realizes the combination calculation of any polar pair dual-channel rotary transformer and the error correction after the combination calculation.
Drawings
Fig. 1 is a flowchart illustrating steps of a combined calculation method for a two-channel multi-pair rotary transformer according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, in this embodiment, the combined calculation method for the dual-channel multi-pair rotary transformer mainly aims at the dual-channel multi-pair rotary transformer using the AD2S1210 chip, and the specific calculation process includes the following steps:
step 101, determining parameter information of the dual-channel multi-pair-pole rotary transformer.
In this embodiment, the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p is the same as the formula (I).
Preferably, the data bit width n of the chip of the dual-channel multi-pair-pole rotary transformer may be determined as follows: determining a connection mode of a first resolution selection pin RES1 and a second resolution selection pin RES0 of the dual-channel multi-pair-pole rotary transformer; when RES0 and RES1 are connected to a low level, determining that the data bit width n is 10; when RES0 is connected to low level and RES1 is connected to high level, determining that the data bit width n is 12; when RES0 is connected to a high level and RES1 is connected to a low level, determining that the data bit width n is 14; when RES0 and RES1 are both tied high, the data bit width n is determined to be 16.
Preferably, the pole pair ratio of the dual-channel multi-pair rotary transformer may be determined according to manual information of the dual-channel multi-pair rotary transformer.
And 102, respectively calculating to obtain a rough channel solution value and a fine channel solution value according to the determined parameter information.
In this embodiment, as shown in table 1, a table of the binary representation of each coarse channel measurement value and the corresponding coefficient according to an embodiment of the present invention is shown:
Figure BDA0002273601620000051
TABLE 1
The coarse channel solution value is: the binary representation of each coarse channel measurement is summed with the result of multiplying its corresponding coefficient. The corresponding solution formula is shown in the following formula (1):
Figure BDA0002273601620000052
wherein i is 0, 1, 2, n-1; riA binary representation of the ith bit coarse channel measurement.
In this embodiment, as shown in table 2, a table of the binary representation of the measured values of each bit fine channel and the corresponding coefficients in the embodiment of the present invention is shown:
Figure BDA0002273601620000053
TABLE 2
The fine channel solution value is: the binary representation of each bit fine channel measurement is summed with the result of multiplying its corresponding coefficient. The corresponding solution formula is shown in the following formula (2):
Figure BDA0002273601620000061
wherein, FiA binary representation of the ith bit fine channel measurement.
And 103, carrying out double-channel combined calculation according to the rough channel calculation value and the fine channel calculation value to obtain a double-channel calculation value.
In this embodiment, the two-channel solution value C can be obtained by the following formula (3):
Figure BDA0002273601620000062
wherein the content of the first and second substances,
Figure BDA0002273601620000063
is a rounded down function.
And 104, correcting and judging the dual-channel calculation value, and outputting a combined calculation result according to a judgment result.
In this embodiment, it is preferable if
Figure BDA0002273601620000064
And is
Figure BDA0002273601620000065
Determining to correct the dual-channel solution value, and outputting a combined solution result K as follows:
Figure BDA0002273601620000066
wherein,% represents a remainder operation.
In this embodiment, it is preferable if
Figure BDA0002273601620000067
And is
Figure BDA0002273601620000068
Determining to correct the two-channel solution value, and outputting a combined solution result K' as follows:
Figure BDA0002273601620000069
example 2
On the basis of the above embodiments, a specific example is described below.
Example 1, for a dual-channel multi-pole-pair resolver based on an AD2S1210 chip, the data bit width n is 16, the pole-to-pair ratio is 1:36, the coarse channel measurement value is 0x4E7C, and the fine channel measurement value is 0x13a 1.
The following formula (1) and formula (2) can be solved: the coarse channel solution is: 110.3686523 °, the fine channel solution value is: 0.76675415 deg.
Further, the following formula (3) can be solved: the two-channel solution value is: 110.76675415 deg.
Since the following correction conditions are not satisfied:
Figure BDA0002273601620000071
and is
Figure BDA0002273601620000072
Figure BDA0002273601620000073
And is
Figure BDA0002273601620000074
Therefore, 110.76675415 ° is directly output as the final combined solution result.
In example 2, for a dual-channel multi-pole-pair resolver based on an AD2S1210 chip, the data bit width n is 16, the pole-to-pair ratio is 1:36, the coarse channel measurement value is 0xBE80, and the fine channel measurement value is 0x 0458.
The following formula (1) and formula (2) can be solved: the coarse channel solution is: 259.914550 °, the fine channel solution value is: 0.1672363281 deg.
Further, the following formula (3) can be solved: the two-channel solution value is: 260.1672363281 deg.
Since the following correction conditions are not satisfied:
Figure BDA0002273601620000075
and is
Figure BDA0002273601620000076
Therefore, will
Figure BDA0002273601620000077
And (4) calculating and outputting a result as a final combination.
Example 3
On the basis of the above embodiment, the present invention also discloses a combined calculation system for a dual-channel multi-pair-pole resolver, which includes: the parameter information acquisition module is used for determining the parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p; the first calculation module is used for respectively calculating to obtain a rough channel calculation value and a fine channel calculation value according to the determined parameter information; the second calculation module is used for performing double-channel combined calculation according to the rough channel calculation value and the fine channel calculation value to obtain a double-channel calculation value; and the correction output module is used for correcting and judging the dual-channel calculation value and outputting a combined calculation result according to a judgment result.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for the relevant points, refer to the description of the method embodiment section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (5)

1. A combined resolving method of a two-channel multi-pair-pole rotary transformer is characterized by comprising the following steps:
determining parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p;
respectively calculating to obtain a rough channel solution value and a fine channel solution value according to the determined parameter information;
according to the rough channel solution value and the fine channel solution value, performing double-channel combined solution to obtain a double-channel solution value;
correcting and judging the two-channel solution value, and outputting a combined solution result according to a judgment result;
wherein:
the crude channel solution value R is calculated by the following formula (1):
Figure FDA0003248856000000011
wherein i is 0, 1, 2, n-1; riA binary representation representing the ith bit coarse channel measurement;
the fine channel solution is calculated by the following formula (2):
Figure FDA0003248856000000012
wherein, FiA binary representation representing the measured value of the ith bit fine channel;
obtaining a two-channel solution value C by the following formula (3):
Figure FDA0003248856000000013
wherein the content of the first and second substances,
Figure FDA0003248856000000014
is a rounded down function;
and correcting and judging the dual-channel calculation value, and outputting a combined calculation result according to a judgment result, wherein the method comprises the following steps:
if it is
Figure FDA0003248856000000015
And is
Figure FDA0003248856000000016
Determining to correct the dual-channel solution value, and outputting a combined solution result K as follows:
Figure FDA0003248856000000021
if it is
Figure FDA0003248856000000022
And is
Figure FDA0003248856000000023
Determining to correct the two-channel solution value, and outputting a combined solution result K' as follows:
Figure FDA0003248856000000024
wherein,% represents a remainder operation.
2. The combined calculation method for the two-channel multi-pair rotary transformer according to claim 1, wherein the data bit width n of the chip of the two-channel multi-pair rotary transformer is determined by the following steps:
determining a connection mode of a first resolution selection pin RES1 and a second resolution selection pin RES0 of the dual-channel multi-pair-pole rotary transformer;
when RES0 and RES1 are both connected to a low level, determining that the data bit width n is 10;
when RES0 is connected to low level and RES1 is connected to high level, determining that the data bit width n is 12;
when RES0 is connected to a high level and RES1 is connected to a low level, determining that the data bit width n is 14;
when RES0 and RES1 are both tied high, the data bit width n is determined to be 16.
3. The combined calculation method for the two-channel multi-pair rotary transformer according to claim 1, wherein the pole-to-pair ratio of the two-channel multi-pair rotary transformer is determined according to manual information of the two-channel multi-pair rotary transformer.
4. The combination calculation method for the dual-channel multi-pair rotary transformer according to any one of claims 1 to 3, wherein the dual-channel multi-pair rotary transformer is: a dual-channel multi-pair-pole rotary transformer adopting an AD2S1210 chip is adopted.
5. A combined resolving system of a two-channel multi-pair-pole rotary transformer is characterized by comprising:
the parameter information acquisition module is used for determining the parameter information of the dual-channel multi-pair-pole rotary transformer; wherein the parameter information includes: a data bit width n of a chip of the dual-channel multi-pair rotary transformer and a pole pair number ratio of the dual-channel multi-pair rotary transformer are 1: p;
the first calculation module is used for respectively calculating to obtain a rough channel calculation value and a fine channel calculation value according to the determined parameter information;
the second calculation module is used for performing double-channel combined calculation according to the rough channel calculation value and the fine channel calculation value to obtain a double-channel calculation value;
the correction output module is used for correcting and judging the dual-channel calculation value and outputting a combined calculation result according to a judgment result;
wherein:
the first calculation module obtains a coarse channel calculation value R through calculation according to the following formula (1):
Figure FDA0003248856000000031
wherein i is 0, 1, 2, n-1; riA binary representation representing the ith bit coarse channel measurement;
the first calculation module obtains a fine channel calculation value through calculation according to the following formula (2):
Figure FDA0003248856000000032
wherein, FiA binary representation representing the measured value of the ith bit fine channel;
the second calculation module obtains a two-channel calculation value C through the following formula (3):
Figure FDA0003248856000000033
wherein the content of the first and second substances,
Figure FDA0003248856000000034
is a rounded down function;
the correction output module is used for correcting and judging the dual-channel calculation value, and when outputting a combined calculation result according to a judgment result, the correction output module comprises:
if it is
Figure FDA0003248856000000035
And is
Figure FDA0003248856000000036
Determining to correct the dual-channel solution value, and outputting a combined solution result K as follows:
Figure FDA0003248856000000037
if it is
Figure FDA0003248856000000038
And is
Figure FDA0003248856000000039
Determining to correct the two-channel solution value, and outputting a combined solution result K' as follows:
Figure FDA0003248856000000041
wherein,% represents a remainder operation.
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JP2003344109A (en) * 2002-05-29 2003-12-03 Toyoda Mach Works Ltd Rotation angle detector and its temperature compensating method
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