CN111726047B - Rotary transformer software decoding method suitable for motor control - Google Patents
Rotary transformer software decoding method suitable for motor control Download PDFInfo
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- CN111726047B CN111726047B CN202010605119.7A CN202010605119A CN111726047B CN 111726047 B CN111726047 B CN 111726047B CN 202010605119 A CN202010605119 A CN 202010605119A CN 111726047 B CN111726047 B CN 111726047B
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/20—Handling requests for interconnection or transfer for access to input/output bus
- G06F13/28—Handling requests for interconnection or transfer for access to input/output bus using burst mode transfer, e.g. direct memory access DMA, cycle steal
- G06F13/282—Cycle stealing DMA
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/4403—Processor initialisation
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention relates to a resolver software decoding method suitable for motor control, which comprises the following steps: step 1: initializing a CPU of the chip and configuring an ADC module to sample signals of the rotary transformer; step 2: configuring a DMA channel of a chip to store resolver signal data sampled by the ADC module into a data RAM area in the eTPU module; and 3, step 3: and performing data processing on the rotary transformer signal data in the eTPU module so as to estimate the position of a rotary transformer rotor to realize decoding. Compared with the prior art, the invention has the advantages of reducing the system cost and the space of the circuit board, improving the reliability of the circuit board, reducing the load rate of a chip by being independent of a CPU (central processing unit) calculation unit, reducing the time delay of motor control application, having higher data synchronism, improving the decoding accuracy at high rotating speed and the like.
Description
Technical Field
The invention relates to the technical field of rotary transformers, in particular to a rotary transformer software decoding method suitable for motor control.
Background
A resolver is a sensor that measures the rotation angle of a motor. The general rotary transformer consists of a stator and a rotor, and for the variable reluctance resolver, the stator part comprises three windings, namely an excitation winding and two-phase windings. The primary winding of a transformer fixed to the stator is excited by a sinusoidal current, which induces a current in the rotor by electromagnetic induction. The two phase windings are fixed to the stator at the correct angle (90 deg.) to produce sine and cosine feedback currents. The relative magnitudes of the two-phase voltages can determine the angle of the rotor relative to the stator.
The excitation signal of the rotary transformer is a high-frequency sine signal, and the feedback sine and cosine signals are high-frequency modulation signals. In the motor control application, the modulation signal needs to be decoded to obtain angle information.
In many applications, a hardware digital converter (RDC) is used to extract the rotor position from the resolver output signal. The main disadvantage of the digitizer is its cost. There are decoding methods that can avoid the use of a digitizer, which can be divided into software decoding and hardware decoding. At present, hardware approaches such as the solution of field Programmable Gate array (fpga) by digital hardware have been used successfully to control motors. The rotor angle can be determined instantaneously using a separately generated signal generator, and an output demodulation circuit, and then by a linearization technique. And requires a control algorithm for the FPGA. There are also software solutions, such as by using a Digital Signal Processor (DSP) chip. This method requires the use of separate signal source excitation and ensures that both the signal sampling frequency and the output excitation signal are at 10 khz. To estimate the angular rotor position, a look-up table method is used with the arctan function. This approach may increase the software load of the control processor and require a DSP chip.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a resolver software decoding method suitable for motor control.
The purpose of the invention can be realized by the following technical scheme:
a resolver software decoding method suitable for motor control, the method comprising the steps of:
step 1: initializing a CPU of the chip and configuring an ADC module to sample a signal of the rotary transformer;
step 2: configuring a channel of a DMA of a chip to store resolver signal data sampled by the ADC module into a data RAM area in the eTPU module;
and 3, step 3: and performing data processing on the rotary transformer signal data in the eTPU module so as to estimate the position of a rotary transformer rotor to realize decoding.
Further, the chip adopts MPC57xx series chip.
Further, the step 1 comprises the following sub-steps:
step 101: initializing a CPU and an ADC module of the chip;
step 102: setting a sampling clock and a sampling rate aiming at the ADC module according to the excitation frequency so as to ensure the signal period and the corresponding data updating times;
step 103: and after the setting is finished, the ADC module carries out signal sampling for the rotary transformer.
Further, the signal period in step 102 is 10.926KHz, and the corresponding data update times are 16 times.
Further, the step 2 comprises the following sub-steps:
step 201: configuring a plurality of channels of DMA of the chip between the ADC module and the eTPU module to respectively transmit excitation signal data, sine signal data and cosine signal data of the rotary transformer;
step 202: configuring a channel of the DMA of the other path of chip between the ADC module and a data RAM area in the eTPU module to trigger an HSR register of the eTPU module;
step 203: and configuring a channel of the DMA of the other path of the chip between the eTPU module and the CPU to trigger the interrupt service of the eTPU module.
Further, the step 3 comprises the following sub-steps:
step 301: performing phase synchronization on rotary transformer signal data in the eTPU module to determine the position of a sampling peak value;
step 302: judging whether to perform symbol adjustment on the data according to the corresponding symbol of the excitation sampling data in the resolver signal data at the position of the sampling peak value to obtain sine and cosine peak value data;
step 303: and finally obtaining angle and speed data decoding information of the rotor of the rotary transformer in the eTPU module by utilizing sine and cosine peak data.
Further, the step 301 specifically includes: and performing phase synchronization on the rotary transformer signal data in the eTPU module through a zero-crossing algorithm to determine the position of a sampling peak value.
Further, the step 302 specifically includes: and judging whether to perform sign adjustment on the data according to the corresponding sign of the excitation sampling data in the position of the sampling peak value in the signal data of the rotary transformer, taking the inverse number of the sampling data when the sign is negative, and not processing the sampling data when the sign is positive to obtain sine and cosine peak value data.
Further, the step 303 includes the following sub-steps:
step 3031: performing arc tangent table look-up in the eTPU module by utilizing sine and cosine peak data;
step 3032: and processing the arc tangent table look-up result by using a correlation algorithm to obtain final angle and speed data decoding information of the rotor of the rotary transformer.
Further, the step 3032 specifically includes: and processing the arc tangent table look-up result by utilizing an angle tracking observer algorithm to obtain final angle and speed data decoding information of the rotary transformer rotor.
Compared with the prior art, the invention has the following advantages:
(1) the method of the invention samples the eTPU functional module to realize decoding processing, is independent of a CPU computing unit, thereby reducing the load rate of a chip and reducing the time delay of motor control application;
(2) the method ensures the positive peak value of the sine wave carrier wave realized by accurate sampling of the peak time through a zero crossing point calibration algorithm, and adopts the angle tracking observer to estimate the position of the rotor, so that the data synchronism is higher, and the decoding accuracy at high rotating speed is improved;
(3) the method of the invention realizes software decoding by adopting MPC57xx series chips to process data, does not need a hardware rotary decoder, realizes the function integration in a single chip microcomputer, reduces the system cost and the space of a circuit board, and improves the reliability of the circuit board.
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FIG. 1 is a flowchart of the synchronization control software decoding of the present invention;
fig. 2 is a schematic structural diagram of a chip device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Fig. 1 shows a specific process of the resolver software decoding according to the present invention. The following synchronization control steps are described in detail with reference to fig. 1 in the decoding process within one sampling period:
firstly, the EDSADC configuration is initialized, the sampling frequency is 174825Hz, 16 sampling data are obtained in one signal period, and the corresponding signal period is 10.926 KHz. The excitation signal frequency is 10KHz because the sampling period is configured to be 10.926KHz, and there is a 9.26% phase shift from the actual excitation signal. This deviation is adjusted during the synchronization process.
And secondly, configuring DMA channels, selecting three DMA channels, wherein the signal source address is the address of a result register of the ADC. And simultaneously, one DMA channel is linked to trigger the HSR of the eTPU. The destination address of the eDMA of the path is configured to be an HSR (host Service request) register of the eTPU.
The third step: waiting for data update: in a half period, 8 data are updated, and the position of a sampling peak value is determined by using the updated data and adopting zero crossing point algorithm adjustment. The specific algorithm is as follows: three adjacent data are selected as a group, when the signs of the adjacent sampled data are changed, such as negative, positive, or negative, positive, the zero crossing point between the positive and negative numbers is considered, and then the peak value is increased by 4 positions according to the first sign change bit. And taking the average value of three data on both sides of the peak value as decoded signal data.
The fourth step: and judging whether to perform sign adjustment on the data or not according to the sign of the excitation sampling data at the peak point, and taking the inverse number of the sampling data when the sign bit is negative. The sign bit is positive, not processed.
The fifth step: in the eTPU, the data of two phases of SIN and COS are used for arc tangent to obtain an initial value, and then the final angle and speed are obtained in algorithm processing.
As shown in FIG. 2, the invention only uses a single chip microcomputer with MPC57xx series chip of eTPU module to realize the software decoding of the rotary transformer, and completes the calculation through the angle follower by the eTPU processing unit, and applies the calculation to the motor control algorithm in the CPU. The invention can simulate a rotary variable signal by lauterbach TRACE32 to perform software decoding and verify the feasibility and accuracy of the signal.
The invention utilizes MPC57xx series chips, transmits data and triggers eTPU interrupt service by utilizing three ADC channels and five DMA channels, applies eTPU channels, and makes phase synchronization algorithm, i.e. adjusts peak sampling point to make angle and speed value more accurate.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
(1) A resolver software decoding method adopts an eTPU module of an MPC57xx series chip of Enzhipu NXP to realize resolver decoding. The eTPU (enhanced Time Processor Uint) module is a programmable I/O controller, has a core and a memory system, and can execute complex timing and I/O management independently of a CPU. Firstly, sampling an excitation signal and a modulation signal by configuring an analog-to-digital converter (ADC) module using a single chip microcomputer; then, a channel of a direct memory access module DMA () is configured to transmit and store the sampling data into a data RAM area of the eTPU; and finally, processing data in the eTPU module, and estimating the position of the rotor by using a sampled data peak value and then using an angle tracking observer to realize a decoding function, wherein the control comprises the following steps:
a. configuring an ADC module and a DMA module during CPU initialization, setting a sampling clock to be 15.38MHz and a sampling rate to be 44 according to the excitation frequency of 10k, and accordingly realizing 10.9266KHz data updating for 16 times; FIF0 reaching 8 words triggers a DMA request interrupt. Therefore, the DMA generates two interrupt requests at 10.9266 KHz;
b. after the ADC triggers the DMA request, the DMA transmits data to a designated eTPU data RAM area; half of the buffer data is updated twice in one cycle. 3 DMA channels are required for transmitting excitation signal data, sine signal data and cosine signal sample data.
c. Configuring a DMA channel linking one path of DMA channel to the rotary SIN signal, and writing the CITER (Current Major Iteration count) in the register of the DMA into the eTPU data RAM area. The eDMA of the path realizes triggering of an eTPU channel by writing a constant into an HSR (host Service request) register of the eTPU.
d. After the eDMA data is updated, the eTPU processing unit is triggered through the linked eDMA channel, the CITER of the DMA is transmitted to the eTPU, and the position of the latest data is judged through the CITER. And updating the data position of the peak point by adopting a zero crossing point calibration algorithm. If synchronization is not performed, the peak point position is changed because the excitation signal is 10kHz, the data sampling frequency is 10.9266 Hz;
e. and when the sampling is finished, transmitting a timestamp parameter through the DMA, wherein the timestamp parameter is obtained by calculating the difference between the time of the timer at the sampling moment and the time of the timer at the data sampling finishing moment, and is used for adjusting the angle signal and ensuring the real-time property of the angle during application.
f. And finally, performing arc tangent table lookup according to data at peak points of sine and cosine sampling numbers, and estimating the position and the speed of the rotor by using an angle tracking observer algorithm.
(2) The synchronous control comprises a rotary transformer device and a corresponding rotary transformer sampling circuit, and the reliability and the stability of signals are ensured. The control panel adopts a singlechip of MPC57xx series chips, a DSADC module and an eDMA module in the singlechip are used for sampling and transmitting data, speed information is updated and calculated in an eTPU, and then a motor control algorithm is carried out by using the data in a CPU.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A resolver software decoding method suitable for motor control is characterized by comprising the following steps:
step 1: initializing a CPU of the chip and configuring an ADC module to sample a signal of the rotary transformer;
step 2: configuring a channel of a DMA of a chip to store resolver signal data sampled by the ADC module into a data RAM area in the eTPU module;
and step 3: performing data processing on the rotary transformer signal data in the eTPU module to estimate the position of a rotary transformer rotor so as to realize decoding;
the step 2 comprises the following sub-steps:
step 201: configuring a plurality of channels of DMA of the chip between the ADC module and the eTPU module to respectively transmit excitation signal data, sine signal data and cosine signal data of the rotary transformer;
step 202: configuring a channel of the DMA of the other path of chip between the ADC module and a data RAM area in the eTPU module to trigger an HSR register of the eTPU module;
step 203: configuring a channel of the DMA of the other path of the chip between the eTPU module and the CPU to trigger the interrupt service of the eTPU module;
the step 3 comprises the following sub-steps:
step 301: performing phase synchronization on rotary transformer signal data in the eTPU module to determine the position of a sampling peak value;
step 302: judging whether to perform symbol adjustment on the data according to the corresponding symbol of the excitation sampling data in the resolver signal data at the position of the sampling peak value to obtain sine and cosine peak value data;
step 303: and finally obtaining angle and speed data decoding information of the rotor of the rotary transformer in the eTPU module by utilizing sine and cosine peak data.
2. The resolver software decoding method according to claim 1, wherein the MPC57xx is used as the chip.
3. The resolver software decoding method suitable for motor control according to claim 1, wherein the step 1 comprises the following sub-steps:
step 101: initializing a CPU and an ADC module of the chip;
step 102: setting a sampling clock and a sampling rate aiming at the ADC module according to the excitation frequency so as to ensure the signal period and the corresponding data updating times;
step 103: and after the setting is finished, the ADC module carries out signal sampling for the rotary transformer.
4. The resolver software decoding method according to claim 3, wherein the signal period in step 102 is 10.926KHz, and the corresponding data update times are 16.
5. The resolver software decoding method according to claim 1, wherein the step 301 specifically comprises: and performing phase synchronization on the rotary transformer signal data in the eTPU module through a zero-crossing algorithm to determine the position of a sampling peak value.
6. The resolver software decoding method according to claim 1, wherein the step 302 specifically includes: and judging whether to perform sign adjustment on the data according to the corresponding sign of the excitation sampling data in the position of the sampling peak value in the signal data of the rotary transformer, taking the inverse number of the sampling data when the sign is negative, and not processing the sampling data when the sign is positive to obtain sine and cosine peak value data.
7. The resolver software decoding method according to claim 1, wherein the step 303 comprises the following sub-steps:
step 3031: performing arc tangent table look-up in the eTPU module by utilizing sine and cosine peak data;
step 3032: and processing the arc tangent table look-up result by using a correlation algorithm to obtain final angle and speed data decoding information of the rotor of the rotary transformer.
8. The resolver software decoding method according to claim 7, wherein the step 3032 specifically includes: and processing the arc tangent table look-up result by utilizing an angle tracking observer algorithm to obtain final angle and speed data decoding information of the rotor of the rotary transformer.
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| CN103762912B (en) * | 2013-12-24 | 2017-11-03 | 联合汽车电子有限公司 | The soft solution code system of rotary transformer |
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| CN110112963B (en) * | 2019-05-13 | 2021-01-15 | 上海英恒电子有限公司 | Resolver motor position analysis method, resolver motor position analysis device, storage medium, and resolver device |
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Address after: 215000 No.99 tangjiabang Road, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Borg Warner drive system (Suzhou) Co.,Ltd. Address before: 215000 No.99 tangjiabang Road, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee before: Delphi Technology (Suzhou) Co.,Ltd. |