CN111521110B - Rotary transformer signal envelope detection method - Google Patents

Rotary transformer signal envelope detection method Download PDF

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CN111521110B
CN111521110B CN202010336538.5A CN202010336538A CN111521110B CN 111521110 B CN111521110 B CN 111521110B CN 202010336538 A CN202010336538 A CN 202010336538A CN 111521110 B CN111521110 B CN 111521110B
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sequence
envelope
gaussian window
max
entering
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CN111521110A (en
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易吉良
周雪纯
李中启
黄晓峰
刘建华
李军军
谷志茹
张晋
贺力克
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Hunan University of Technology
Hunan Industry Polytechnic
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Hunan Industry Polytechnic
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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations

Abstract

The invention discloses a method for detecting signal envelopes of a rotary transformer, which adopts self-adaptive single vector S transformation to detect the signal envelopes of the rotary transformer; first according to the normalized frequencyf r Determining window-width ratio coefficients for a gaussian window function of a single vector S transform kernelw k Then according tow k And a non-zero threshold value of the Gaussian windowzDetermining the total length of a Gaussian windowNAnd a non-zero lengthN z Further determining a Gaussian window function, performing one-way quantity S transformation on the resolver signal to be solved, and finally performing non-zero length transformationN z And after the end part of the conversion result is removed, the module is solved to obtain the envelope of the corresponding signal segment. The method can quickly and accurately calculate the envelope of the resolver signal and provide a basis for resolver signal decoding.

Description

Rotary transformer signal envelope detection method
Technical Field
The invention relates to the field of signal processing of rotary transformers, in particular to a rotary transformer signal envelope detection method.
Background
The rotary transformer is a motor rotation angle and speed sensor commonly used in the industrial fields of electric automobiles, rail transit, aerospace and the like, and output signals of the rotary transformer are sine and cosine signals for modulating excitation signals. The output signal of the resolver is an analog signal, and the motor rotation angle and speed are obtained by resolving the analog signal.
At present, the resolver output signal is generally obtained by a dedicated chip, but this increases the cost and complicates the hardware circuit. Therefore, there is also a scheme of solving the signal of the resolver using a software algorithm using a general-purpose chip. This is advantageous for reducing costs and enhancing system flexibility, but it is not easy to achieve the desired resolution accuracy and real-time. Envelope detection of the output signal of the rotary transformer is the basis for realizing accurate calculation, but the accurate detection of the envelope is difficult to realize in a noise environment, and the patent provides an effective method aiming at the problem.
Disclosure of Invention
The invention provides a resolver signal envelope detection method, which is used for extracting the envelope of a resolver output signal and providing a basis for resolving the rotating position and speed of a motor.
The invention relates to a resolver signal envelope detection method which comprises a self-adaptive Gaussian window sequence generation module and an envelope detection module, wherein the self-adaptive Gaussian window sequence generation module generates a Gaussian window sequence according to normalized frequency and outputs the sequence to the envelope detection module.
The invention relates to a method for detecting signal envelope of a rotary transformer, wherein a self-adaptive Gaussian window sequence generating module comprises the following steps:
s1: the parameters are given as follows: sampling frequency fsFrequency of excitation signalRate feNon-zero threshold value z, go to step S2;
s2: the normalized frequency f is calculated using the formular：
Figure BDA0002466765830000011
Proceeding to step S3;
s3: calculating the window width coefficient w of the Gaussian window by using the following formulak：
Figure BDA0002466765830000012
Proceeding to step S4;
s4: calculating the non-zero number N of the Gaussian window sequence by adopting the following formulaz：
Figure BDA0002466765830000021
In the formula, ceil () is an rounding-up function, and the process proceeds to step S5;
s5: the total number of points N of the gaussian window sequence is calculated using the following formula:
N＝2nextpow2(Nz)
wherein nextpow2() is an exponentiation function to the power of 2 satisfying N or morezProceeding to step S6;
s6: the normalized gaussian window sequence is calculated using the following formula:
Figure BDA0002466765830000022
proceeding to step S7;
s7: g'F(N) performing period extension by the period N, and taking a main value range of 0-N-1 to obtain an adaptive Gaussian window sequence g for an envelope detection moduleF(n)。
The invention relates to a method for detecting signal envelopes of a rotary transformer, wherein an envelope detection module of the method comprises the following steps:
t1: parameters Nz, N, f determined by an input adaptive Gaussian window sequence generation modulerAnd an adaptive Gaussian sequence gF(n), go to step T2;
t2: calculating the number of single-sided end points N by using the following formulaend：
Figure BDA0002466765830000023
Entering step T3;
t3: calculating the number of updating segment points N by adopting the following formulace：
Nce＝N-2×Nend
Entering step T4;
t4: calculating the spectral peak sequence number I of the data segment to be analyzed by adopting the following formulap：
Ip＝ceil(fr×N)
Entering step T5;
t5: judging whether the unprocessed data volume of the data buffer is more than or equal to NceIf yes, go to step T6, otherwise return to wait;
t6: extracting N from a data bufferceThe data replaces the oldest sample in the original analysis data to form a data sequence h to be analyzed with the length of NN(n), go to step T7;
t7: with gF(n) for hN(n) frequency spectrum IPPoint-solving one-way quantity S transformation to obtain sequence SN(n), go to step T8;
t8: to SN(n) obtaining a modulo envelope sequence | S by moduloN(n) |, proceed to step T9;
t9: from the serial number NendInitially, extract | SNN of (N) |cePoint data yielding a sequence of modulo envelopes
Figure BDA0002466765830000031
Entering step T10;
t10: will be provided with
Figure BDA0002466765830000032
Multiplying by the polarity value to obtain the envelope sequence
Figure BDA0002466765830000033
Returning to T5.
The envelope detection module of the invention is the envelope sequence in the step T10
Figure BDA0002466765830000034
The method specifically comprises the following steps:
TA 1: by corresponding to
Figure BDA0002466765830000035
Maximum value of signal to be analyzed of segment and its sequence number ImaxTo obtain a polarity value Ps：
Ps＝sign(ve(Imax)×vs(Imax))
Where sign () is a sign function, ve(Imax) And vs(Imax) Respectively representing the resolver excitation signal and the sine/cosine signal at sequence number ImaxTo step TA 2;
TA 2: judgment of
Figure BDA0002466765830000036
Whether a minimum value exists or not, if not, entering a step TA3, otherwise, entering a step TA 4;
TA 3: envelope sequence is calculated using the following equation
Figure BDA0002466765830000037
Figure BDA0002466765830000038
Entering TA 8;
TA 4: judgment of
Figure BDA0002466765830000039
Corresponding to the sequence number IminWhether or not less than ImaxIf yes, go to step TA5, otherwise, go to step TA 6;
TA5：
Figure BDA00024667658300000310
at sequence number IminMultiplying the previous part by-Ps，IminAfter part is multiplied by PsGo to step TA 7;
TA6：
Figure BDA00024667658300000311
at sequence number IminMultiplying the previous part by Ps，IminAfter part is multiplied by-PsGo to step TA 7;
TA7：
Figure BDA00024667658300000312
in sequence number IminThe value of (A) is set to 0, and an envelope sequence is formed by combining the steps TA 4-TA 6
Figure BDA00024667658300000313
Entering step TA 8;
TA 8: returning to step T5 of claim 3, waiting for the next calculation.
The method has the advantages that a good foundation can be provided for resolver signal calculation by providing the resolver signal envelope detection method, and the defects of high cost, complex circuit and the like of a hardware method are overcome.
Drawings
FIG. 1 is a flow chart of an adaptive Gaussian window sequence generation module according to the present invention.
Fig. 2 is a flow chart of the envelope detection module of the present invention.
Fig. 3 is a flow chart of envelope sequence calculation of the present invention.
Fig. 4 is an illustration of an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention with reference to the accompanying drawings is provided for further illustration of the present invention and is not intended to limit the scope of the present invention.
The invention relates to a resolver signal envelope detection method which comprises a self-adaptive Gaussian window sequence generation module and an envelope detection module, wherein the self-adaptive Gaussian window sequence generation module generates a Gaussian window sequence according to normalized frequency and outputs the sequence to the envelope detection module.
FIG. 1 shows the steps of the adaptive Gaussian window sequence generation module according to the present invention:
s1: the parameters are given as follows: sampling frequency fsFrequency f of the excitation signaleNon-zero threshold value z, go to step S2;
s2: the normalized frequency f is calculated using the formular：
Figure BDA0002466765830000041
Proceeding to step S3;
s3: calculating the window width coefficient w of the Gaussian window by using the following formulak：
Figure BDA0002466765830000042
Proceeding to step S4;
s4: calculating the non-zero number N of the Gaussian window sequence by adopting the following formulaz：
Figure BDA0002466765830000043
In the formula, ceil () is an rounding-up function, and the process proceeds to step S5;
s5: the total number of points N of the gaussian window sequence is calculated using the following formula:
N＝2nextpow2(Nz)
wherein nextpow2() is an exponentiation function to the power of 2 satisfying the nearest and equal toNzProceeding to step S6;
s6: the normalized gaussian window sequence is calculated using the following formula:
Figure BDA0002466765830000044
proceeding to step S7;
s7: g'F(N) performing period extension by the period N, and taking a main value range of 0-N-1 to obtain an adaptive Gaussian window sequence g for an envelope detection moduleF(n)。
Fig. 2 is a diagram illustrating the steps adopted by the envelope detection module according to the present invention:
t1: parameters Nz, N, f determined by an input adaptive Gaussian window sequence generation modulerAnd an adaptive Gaussian sequence gF(n), go to step T2;
t2: calculating the number of single-sided end points N by using the following formulaend：
Figure BDA0002466765830000051
Entering step T3;
t3: calculating the number of updating segment points N by adopting the following formulace：
Nce＝N-2×Nend
Entering step T4;
t4: calculating the spectral peak sequence number I of the data segment to be analyzed by adopting the following formulap：
Ip＝ceil(fr×N)
Entering step T5;
t5: judging whether the unprocessed data volume of the data buffer is more than or equal to NceIf yes, go to step T6, otherwise return to wait;
t6: extracting N from a data bufferceThe data replaces the oldest sample in the original analysis data to form a data sequence h to be analyzed with the length of NN(n), go to step T7;
t7: miningBy gF(n) for hN(n) frequency spectrum IPPoint-solving one-way quantity S transformation to obtain sequence SN(n), go to step T8;
t8: to SN(n) obtaining a modulo envelope sequence | S by moduloN(n) |, proceed to step T9;
t9: from the serial number NendInitially, extract | SNN of (N) |cePoint data yielding a sequence of modulo envelopes
Figure BDA0002466765830000052
Entering step T10;
t10: will be provided with
Figure BDA0002466765830000053
Multiplying by the polarity value to obtain the envelope sequence
Figure BDA0002466765830000054
Returning to T5.
The envelope detection module calculates that the single vector S transformation in step T7 is only for sequence number IpThe spectral peak point of (A) is calculated by firstly intercepting a main value sequence by spectrum cyclic shift, and then using the main value sequence and gF(n) multiplying, and finally solving IFFT for the product to obtain SN(n)。
FIG. 3 is a diagram illustrating the envelope sequence of the envelope detection module in step T10 according to the present invention
Figure BDA0002466765830000055
The adopted calculation steps are as follows:
TA 1: by corresponding to
Figure BDA0002466765830000056
Maximum value of signal to be analyzed of segment and its sequence number ImaxTo obtain a polarity value Ps：
Ps＝sign(ve(Imax)×vs(Imax))
Where sign () is a sign function, ve(Imax) And vs(Imax) Representing resolver excitation signal and positive respectivelyString/cosine signals at sequence ImaxTo step TA 2;
TA 2: judgment of
Figure BDA0002466765830000061
Whether a minimum value exists or not, if not, entering a step TA3, otherwise, entering a step TA 4;
TA 3: envelope sequence is calculated using the following equation
Figure BDA0002466765830000062
Figure BDA0002466765830000063
Entering TA 8;
TA 4: judgment of
Figure BDA0002466765830000064
Corresponding to the sequence number IminWhether or not less than ImaxIf yes, go to step TA5, otherwise, go to step TA 6;
TA5：
Figure BDA0002466765830000065
at sequence number IminMultiplying the previous part by-Ps，IminAfter part is multiplied by PsGo to step TA 7;
TA6：
Figure BDA0002466765830000066
at sequence number IminMultiplying the previous part by Ps，IminAfter part is multiplied by-PsGo to step TA 7;
TA7：
Figure BDA0002466765830000067
in sequence number IminThe value of (A) is set to 0, and an envelope sequence is formed by combining the steps TA 4-TA 6
Figure BDA0002466765830000068
Entering step TA 8;
TA 8: returning to step T5 of claim 3, waiting for the next calculation.
Fig. 4 is an application example of the resolver signal envelope detection method of the present invention, and fig. 4(a) is a resolver signal to be analyzed, in which a bold section is a cut-out section for a certain analysis; FIG. 4(b) shows the intermediate state of the thick segment of FIG. 4(a) after analysis by the method of the present invention, where the total length of FIG. 4(b) is N-256 points and the thick segment is NcePoint 152, is a valid result retained; FIG. 4(c) is a complete die envelope obtained by multiple segmentation and truncation analysis of FIG. 4(a) by the method of the present invention, wherein the bold sections are the bold sections in FIG. 4(b), and N is removed from the beginning and the end of each bold sectionzThe number of end points of/2; fig. 4(d) is the complete envelope obtained by multiplying fig. 4(c) by the polarity value, i.e. the final result obtained by the method of the present invention.
The above-described embodiments of the present invention are not intended to limit the scope of the present invention, and various modifications and changes may be made to the embodiments of the present invention without departing from the spirit and scope of the present invention.

Claims (3)

1. A resolver signal envelope detection method comprises an adaptive Gaussian window sequence generation module and an envelope detection module, wherein the adaptive Gaussian window sequence generation module generates a Gaussian window sequence according to normalized frequency and outputs the sequence to the envelope detection module, and the adaptive Gaussian window sequence generation module is characterized by comprising the following steps:
s1: the parameters are given as follows: sampling frequency fsFrequency f of the excitation signaleNon-zero threshold value z, go to step S2;
s2: the normalized frequency f is calculated using the formular：
Figure FDA0003285787130000011
Proceeding to step S3;
s3: calculating the window width coefficient w of the Gaussian window by using the following formulak：
Figure FDA0003285787130000012
Proceeding to step S4;
s4: calculating the non-zero number N of the Gaussian window sequence by adopting the following formulaz：
Figure FDA0003285787130000013
In the formula, ceil () is an rounding-up function, and the process proceeds to step S5;
s5: the total number of points N of the gaussian window sequence is calculated using the following formula:
N＝2nextpow2(Nz)
wherein nextpow2() is an exponentiation function to the power of 2 satisfying N or morezProceeding to step S6;
s6: the normalized gaussian window sequence is calculated using the following formula:
Figure FDA0003285787130000014
proceeding to step S7;
s7: g'F(N) carrying out period continuation by the period N, and taking a 0-N-1 main value interval to obtain a self-adaptive Gaussian window sequence g output to the envelope detection moduleF(n)。
2. The resolver signal envelope detection method according to claim 1, wherein the envelope detection module comprises the steps of:
t1: parameters Nz, N, f determined by an input adaptive Gaussian window sequence generation modulerAnd an adaptive Gaussian sequence gF(n), go to step T2;
t2: calculating single edge using the following equationNumber of end points Nend：
Figure FDA0003285787130000021
Entering step T3;
t3: calculating the number of updating segment points N by adopting the following formulace：
Nce＝N-2×Nend
Entering step T4;
t4: calculating the spectral peak sequence number I of the data segment to be analyzed by adopting the following formulap：
Ip＝ceil(fr×N)
Entering step T5;
t5: judging whether the unprocessed data volume of the data buffer is more than or equal to NceIf yes, go to step T6, otherwise return to wait;
t6: extracting N from a data bufferceThe data replaces the oldest sample in the original analysis data to form a data sequence h to be analyzed with the length of NN(n), go to step T7;
t7: with gF(n) for hN(n) frequency spectrum IPPoint-solving one-way quantity S transformation to obtain sequence SN(n), go to step T8;
t8: to SN(n) obtaining a modulo envelope sequence | S by moduloN(n) |, proceed to step T9;
t9: from the serial number NendInitially, extract | SNN of (N) |cePoint data yielding a sequence of modulo envelopes
Figure FDA0003285787130000022
Entering step T10;
t10: will be provided with
Figure FDA0003285787130000023
Multiplying by the polarity value to obtain the envelope sequence
Figure FDA0003285787130000024
Returning to T5.
3. The resolver signal envelope detecting method according to claim 2, wherein the envelope detecting module uses the envelope sequence of step T10
Figure FDA0003285787130000025
The method specifically comprises the following steps:
TA 1: by corresponding to
Figure FDA0003285787130000026
Maximum value of signal to be analyzed of segment and its sequence number ImaxTo obtain a polarity value Ps：
Ps＝sign(ve(Imax)×vs(Imax))
Where sign () is a sign function, ve(Imax) And vs(Imax) Respectively representing the resolver excitation signal and the sine/cosine signal at sequence number ImaxTo step TA 2;
TA 2: judgment of
Figure FDA0003285787130000027
Whether a minimum value exists or not, if not, entering a step TA3, otherwise, entering a step TA 4;
TA 3: envelope sequence is calculated using the following equation
Figure FDA0003285787130000028
Figure FDA0003285787130000029
Entering TA 8;
TA 4: judgment of
Figure FDA0003285787130000031
Corresponding to the sequence number IminWhether or not less than ImaxIf yes, go to step TA5, otherwise, go to step TA 6;
TA5：
Figure FDA0003285787130000032
at sequence number IminMultiplying the previous part by-Ps，IminAfter part is multiplied by PsGo to step TA 7;
TA6：
Figure FDA0003285787130000033
at sequence number IminMultiplying the previous part by Ps，IminAfter part is multiplied by-PsGo to step TA 7;
TA7：
Figure FDA0003285787130000034
in sequence number IminThe value of (A) is set to 0, and an envelope sequence is formed by combining the steps TA 4-TA 6
Figure FDA0003285787130000035
Entering step TA 8;
TA 8: returning to step T5 of claim 2, waiting for the next calculation.
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