CN112485460B - Signal acquisition and compensation method for rotary transformer - Google Patents
Signal acquisition and compensation method for rotary transformer Download PDFInfo
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- CN112485460B CN112485460B CN202011286874.XA CN202011286874A CN112485460B CN 112485460 B CN112485460 B CN 112485460B CN 202011286874 A CN202011286874 A CN 202011286874A CN 112485460 B CN112485460 B CN 112485460B
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- 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
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/4802—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage by using electronic circuits in general
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Abstract
The invention discloses a signal acquisition and compensation method of a rotary transformer, which utilizes a peak point of an excitation signal of the rotary transformer as a trigger source to trigger a synchronous sampling module of a processor, and adds or subtracts sine and cosine output signals of the rotary transformer to generate a group of new synthesized signals.
Description
Technical Field
The invention relates to a signal acquisition and compensation method of a rotary transformer, in particular to an AD (analog-to-digital) sampling mode of sine and cosine signals of the rotary transformer and phase compensation of sampling signals.
Background
The resolver is a common speed sensor in the field of industrial driving, and currently, two main ways exist in the signal processing of the sensor: firstly, a special processing chip (RDC) is adopted to directly obtain an angle; and the other is to use a discrete device to form a circuit, and after sine and cosine signals are collected, the angle is obtained by using a corresponding algorithm. The special processing chip is adopted, so that the method has the characteristics of stability and convenience, but the price is high. The circuit formed by discrete devices and a certain algorithm are adopted, so that good effects can be obtained. But errors are a problem that must be dealt with when discrete devices are processed.
For example: when sine and cosine signals are collected, two paths of signals cannot be collected at the same time, and the two paths of collected signals cannot be completely orthogonal, so that the accuracy of the algorithm is influenced. There are documents that propose the use of special AD synchronous sampling modules, which increase the cost.
Another example is: the rotary transformer is a resistance-inductance load, the phase shift inevitably occurs between the primary excitation signal and the secondary output signal, and a certain phase shift is caused by the output signal in the conditioning process.
Aiming at the problems, the invention provides a comprehensive solution, and discrete devices are adopted, so that the cost is reduced, and the reliable precision can be ensured in real time.
Disclosure of Invention
Aiming at the problem of errors in the circuit acquisition and processing processes, the invention provides a signal acquisition and compensation method of a rotary transformer based on an AD synchronous sampling function of an excitation signal peak trigger MCU processor, which can obtain a higher signal-to-noise ratio, reduce errors caused by asynchronous sampling of sine and cosine signals and simultaneously has lower cost.
The technical problem to be solved by the invention can be realized by the following technical scheme:
a signal acquisition and compensation method of a rotary transformer is characterized in that: triggering an AD conversion function of outputting sine and cosine signals by the rotary transformer at the peak point of the excitation signal by utilizing the self synchronous sampling function of the MCU processor; simultaneously, adding or subtracting a sine signal and a cosine signal output by the rotary transformer to obtain a new synthetic signal;
after a system is powered on or before a motor runs every time, automatically capturing the phase difference between an excitation signal and a synthesized signal, if the phase difference is within a preset range, converting the phase difference into the time difference between an excitation frequency and a sine signal or a cosine signal output by a rotary transformer, and automatically setting the time difference in an AD delay conversion register of an MCU processor; if the phase difference exceeds the preset range, an error is reported, and the operation is forbidden.
In a preferred embodiment of the present invention, the triggering of the AD conversion function of the resolver to output the sine signal and the cosine signal at the peak point of the excitation signal refers to triggering an AD synchronous sampling module inside the MCU processor to perform synchronous sampling at the peak point of the excitation signal.
In a preferred embodiment of the present invention, the adding or subtracting the sine signal and the cosine signal output by the resolver to obtain a new synthesized signal specifically means: and (3) processing the sine signal and the cosine signal output by the rotary transformer in a trigonometric function processing mode of addition or subtraction to obtain a group of new signals, wherein the new signals are synthesized signals.
In a preferred embodiment of the invention, the phase difference between the synthesized signal and the output sine and cosine signals is fixed.
In a preferred embodiment of the present invention, the excitation signal is represented by the following formula (1):
V＝E m *sinωt (1)
the sinusoidal signal output by the resolver is represented by the following formula (2):
V1＝k*E m *sinωt*sinθ (2)
the cosine signal output by the resolver is represented by the following formula (3):
V2＝k*E m *sinωt*cosθ (3)
the resultant signal is represented by the following formula (4) or formula (5):
in the above formula (1), formula (3), formula (4), and formula (5): v is the excitation signal, E m The effective value of the excitation voltage of the primary coil of the rotary transformer is shown, sin ω t is the angle sine value of the excitation signal of the primary coil, V1 is the sine signal output by the rotary transformer, V2 is the cosine signal output by the rotary transformer, k is the transformation ratio, and θ is the rotation angle.
In a preferred embodiment of the present invention, the phase difference between the automatic acquisition excitation signal and the synthesized signal is: and acquiring zero-crossing signals or peak signals of the excitation signals and the synthesized signals, and capturing the phase difference of the excitation signals and the synthesized signals.
Due to the adoption of the technical scheme, the phase difference between the excitation signal and the sine signal or the cosine signal entering the MCU processor is measured after the system is powered on every time or before the system runs every time, so that the problems of deviation of device parameters, phase change caused by temperature and the like can be effectively solved.
Since the resolver may output 0 for one phase at some specific angles (0 °, 90 °, 180 °, etc.), the present invention uses the way of adding or subtracting the sine and cosine output signals to obtain a composite signal, which is phase-shifted from the output sine and cosine signal but has a fixed offset.
If the phase difference between the excitation signal and the synthesized signal is smaller than the preset offset, converting the phase difference into the phase difference between the excitation frequency and the output sinusoidal signal, and compensating in the delay sampling time of the synchronous sampling module. If the phase difference is larger than the preset offset, an error is reported and the operation is forbidden.
The invention not only ensures the precision of the collected signal, but also can stably realize the function of phase locking in a simpler mode.
Drawings
FIG. 1 is a schematic diagram of the present invention using an MCU processor to capture excitation signals and synthesized signals.
FIG. 2 is a schematic diagram of the excitation signal and the output signal of the resolver according to the present invention.
FIG. 3 is a schematic diagram of an output signal and a synthesized signal of a resolver according to the present invention.
FIG. 4 is a diagram of synchronous sampling and compensation according to the present invention.
Detailed Description
The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention.
The invention relates to a signal acquisition and compensation method of a rotary transformer, which utilizes the self-carried synchronous sampling function of an MCU processor to trigger the AD conversion function of the rotary transformer to output sine and cosine signals at the peak point of an excitation signal; simultaneously, adding or subtracting the sine signal and the cosine signal output by the rotary transformer to obtain a new synthesized signal;
after a system is powered on or before a motor runs every time, automatically capturing the phase difference between an excitation signal and a synthesized signal, if the phase difference is within a preset range, converting the phase difference into the time difference between an excitation frequency and a sine signal or a cosine signal output by a rotary transformer, and automatically setting the time difference in an AD delay conversion register of an MCU processor; if the phase difference exceeds the preset range, an error is reported, and the operation is forbidden.
The step of triggering the resolver to output the AD conversion function of the sine signal and the cosine signal at the peak point of the excitation signal refers to triggering an AD synchronous sampling module in the MCU processor to perform synchronous sampling by using the peak point of the excitation signal.
The step of adding or subtracting the sine signal and the cosine signal output by the rotary transformer to obtain a new synthesized signal specifically includes: and (3) processing the sine signal and the cosine signal output by the rotary transformer in a trigonometric function processing mode of addition or subtraction to obtain a group of new signals, wherein the new signals are synthesized signals.
The phase difference between the synthesized signal and the output sine and cosine signals is fixed.
The excitation signal is represented by the following formula (1):
V＝E m *sinωt (1)
the sinusoidal signal output by the resolver is represented by the following equation (2):
V1＝k*E m *sinωt*sinθ (2)
the cosine signal output by the resolver is represented by the following formula (3):
V2＝k*E m *sinωt*cosθ (3)
the resultant signal is represented by the following formula (4) or formula (5):
in the above formula (1), formula (3), formula (4), and formula (5): v is the excitation signal, E m For the effective value of the exciting voltage, s, of the primary coil of the rotary transformerin ω t is an angle sine value of a primary coil excitation signal, V1 is a sine signal output by the rotary transformer, V2 is a cosine signal output by the rotary transformer, and k is a transformation ratio; and theta is a rotation angle.
The phase difference between the automatic acquisition excitation signal and the synthesized signal is as follows: and acquiring zero-crossing signals or peak signals of the excitation signals and the synthesized signals, and capturing the phase difference of the excitation signals and the synthesized signals.
The signal acquisition and compensation method of the resolver of the embodiment specifically comprises the following steps:
(1) The sine signal and the cosine signal output by the rotary transformer are collected, the adder is used to obtain the synthesized signal, and the operational amplifier circuit generates the square wave signal of the zero crossing point (in the embodiment, taking the addition as an example, the synthesized signal lags behind the output sine signal by 45 degrees, and if the subtraction is used, the synthesized signal leads the sine signal by 45 degrees).
(2) And acquiring a zero crossing point of an excitation signal of the rotary transformer, and acquiring a square wave signal of the zero crossing point through an operational amplifier circuit and the like.
(3) The time difference t1 between the excitation signal and the zero point of the synthesized signal is captured with the MCU processor, see fig. 1 in particular.
(4) Converting the time difference t1 in the step (3) into a phase difference α, wherein the frequency of the excitation signal is, the phase difference between the synthesized signal and the excitation signal is the following formula (6):
α＝t 1 *f*360° (6)
wherein: f is the frequency of the excitation signal;
(5) Due to the fixed lag sinusoidal signal of the composite signal of 45 °, it can be obtained that the phase difference β between the output sinusoidal signal of the resolver and the excitation signal is the following equation (7):
β＝α-45° (7)
(6) And (5) judging whether the phase difference beta in the step (5) exceeds a designed preset value, if the phase difference is too large, generating an error prompt by the system, and forbidding operation.
(7) If the phase difference in the step (5) is within the designed preset range, converting the phase difference into the time difference t between the excitation signal and the sinusoidal signal output by the rotary transformer 2 (the following equation (8)).
t 2 ＝β/(f*360°) (8)
(8) The AD synchronous sampling is triggered at the zero point of the excitation signal, but with a certain delay sample time added.
Delay sample time = (1/4 excitation signal period) + (term [ 7 ] time difference)
＝1/(4*f)+t 2
The delay of 1/4 of the excitation signal period is mainly to ensure sampling at the peak point of the excitation signal to ensure a better signal-to-noise ratio. And meanwhile, the time difference between the excitation signal and the output signal is delayed so as to compensate the phase difference brought by the physical device. The invention adopts a mode of delaying 1/4 of the period of the excitation signal to obtain a peak value sampling point, and if a hardware comparison mode is adopted to obtain the peak value point of the excitation signal, the invention also belongs to the protection range of the patent.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A signal acquisition and compensation method of a rotary transformer is characterized in that: triggering the AD conversion function of outputting sine and cosine signals by the rotary transformer at the peak point of the excitation signal by utilizing the self synchronous sampling function of the MCU processor; simultaneously, adding or subtracting a sine signal and a cosine signal output by the rotary transformer to obtain a new synthetic signal;
after a system is powered on or before a motor runs every time, automatically capturing the phase difference between an excitation signal and a synthesized signal, if the phase difference is within a preset range, converting the phase difference into the time difference between an excitation frequency and a sine signal or a cosine signal output by a rotary transformer, automatically setting the time difference in an AD delay conversion register of an MCU (microprogrammed control unit) processor, triggering AD synchronous sampling at a zero point of the excitation signal, but increasing a certain delay sampling time, wherein the delay sampling time = (1/4 excitation signal time) + (the time difference); if the phase difference exceeds the preset range, an error is reported, and the operation is forbidden.
2. The signal acquisition and compensation method of a resolver according to claim 1, wherein: the step of triggering the resolver to output the AD conversion function of the sine signal and the cosine signal at the peak point of the excitation signal refers to triggering an AD synchronous sampling module in the MCU processor to perform synchronous sampling by using the peak point of the excitation signal.
3. The signal acquisition and compensation method of a resolver according to claim 2, wherein: the step of adding or subtracting the sine signal and the cosine signal output by the rotary transformer to obtain a new synthesized signal specifically means that the sine signal and the cosine signal output by the rotary transformer are processed by a trigonometric function of addition or subtraction to obtain a group of new signals, and the new signals are synthesized signals.
4. A method of signal acquisition and compensation for a resolver according to claim 3, wherein: the phase difference between the synthesized signal and the output sine and cosine signals is fixed.
5. The signal acquisition and compensation method of a resolver according to claim 4, wherein: the excitation signal is represented by the following formula (1):
the sinusoidal signal output by the resolver is represented by the following equation (2):
the cosine signal output by the resolver is represented by the following formula (3):
the resultant signal is represented by the following formula (4) or formula (5):
in the above formula (1), formula (3), formula (4), and formula (5):
in order to excite the signal(s),
is an effective value of the exciting voltage of the primary coil of the rotary transformer,
is the value of the angle sine of the primary coil excitation signal,
is a sinusoidal signal output by the rotary transformer,
is the cosine signal output by the rotary transformer,
is a transformation ratio;
is the angle of rotation.
6. The signal acquisition and compensation method of a resolver according to claim 5, wherein: the phase difference between the automatic acquisition excitation signal and the synthesized signal is as follows: and acquiring zero-crossing signals or peak signals of the excitation signals and the synthesized signals, and capturing the phase difference of the excitation signals and the synthesized signals.
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