CN112511174B - Rotary soft decoding method meeting functional safety requirements - Google Patents
Rotary soft decoding method meeting functional safety requirements Download PDFInfo
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- CN112511174B CN112511174B CN202011024398.4A CN202011024398A CN112511174B CN 112511174 B CN112511174 B CN 112511174B CN 202011024398 A CN202011024398 A CN 202011024398A CN 112511174 B CN112511174 B CN 112511174B
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Abstract
The invention provides a rotary transformer soft decoding method meeting functional safety requirements, and relates to the field of rotary transformer soft decoding, wherein the method comprises the following steps of 1: generating a rotary variation excitation signal, and carrying out waveform verification on the rotary variation excitation signal; step 2: acquiring a rotary-change output signal, and performing VADC soft decoding processing and rotary-change soft decoding processing on the rotary-change output signal; and step 3: and carrying out result verification on the VADC soft decoding processing result and the rotation soft decoding processing result. The method can realize the validity diagnosis of the rotary-change excitation signal without adding extra cost, can configure the characteristics of the rotary-change excitation signal and the processing parameters of the rotary-change excitation signal according to requirements, and effectively diagnose the rotary-change soft decoding result of the rotary-change output signal, thereby greatly improving the safety of the automobile electric control system and meeting the functional safety requirement.
Description
Technical Field
The invention relates to the field of soft decoding of a rotary transformer, in particular to a rotary transformer soft decoding method meeting functional safety requirements.
Background
The development of automobile electromotion and intellectualization makes an automobile electric control system more complex, the functional safety requirement gradually becomes a focus and a hot point of attention, and the development of the automobile electric control system is more challenging due to the functional safety requirement. The resolver is widely applied to an automobile electric control system and used for resolving the angle of a motor, and if the resolver only adopts a DSADC (Delta Sigma ADC) module of a main MCU for resolving a resolver signal in order to save cost, functional safety cannot be met, and the safety of a product is reduced; or a spin-on hard decoding chip is additionally purchased and matched with the DSADC module soft decoding scheme of the main MCU to achieve higher safety performance, but the product cost is increased along with the high safety performance.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a method for soft-decoding of a digital signal with rotation-varying excitation signal, which generates a digital sequence of the rotation-varying excitation signal, checks the waveform of the output rotation-varying excitation signal, and simultaneously checks the result of the soft-decoding of the DSADC module with the VADC soft-decoding result, thereby meeting the requirement of functional safety without increasing the cost.
The invention provides a rotary soft decoding method meeting the functional safety requirement, which comprises the following steps:
step 1: generating a rotary change excitation signal, and carrying out waveform verification on the rotary change excitation signal;
step 2: acquiring a rotary-change output signal, and performing VADC soft decoding processing and rotary-change soft decoding processing on the rotary-change output signal;
and step 3: and performing result verification on the VADC soft decoding processing result and the rotary soft decoding processing result.
In an embodiment of the present invention, the process of step 1 includes:
step 101: generating a rotary-change excitation signal digital sequence with a preset frequency a through a GTM module of a main MCU;
step 102: configuring a register of a main MCU, and outputting a rotary change excitation signal in a PWM (pulse width modulation) wave form with a variable duty ratio and a preset frequency b through a register channel;
step 103: configuring a register of the DSADC module, and outputting a rotational excitation signal sampling result and a rotational excitation signal through a register channel to generate a rotational output signal;
step 104: and verifying the waveform of the sampling result of the rotary change excitation signal and the waveform of the digital sequence of the rotary change excitation signal through the main MCU, wherein if the verification is passed, the rotary change excitation signal is valid, and otherwise, the rotary change excitation signal is invalid.
In an embodiment of the present invention, the step 2 process includes:
step 201: generating a sampling trigger signal with a preset frequency c by a GTM module of a main MCU, and carrying out VADC down-sampling on the rotary output signal by a VADC module of the main MCU to realize VADC soft decoding processing;
step 202: and performing signal modulation, CIC filtering, FIR filtering, bias compensation, signal inversion and signal integration on the rotary-change output signal through a DSADC module of the main MCU to realize the rotary-change soft decoding processing.
In an embodiment of the present invention, the step 3 process includes:
step 301: and (4) checking the result of the VADC soft decoding processing result and the rotation soft decoding processing result, if the checking is passed, the rotation soft decoding processing result is valid, otherwise, the rotation soft decoding processing result is invalid.
In an embodiment of the present invention, before the verification of the soft decoding result and the VADC soft decoding result, a time compensation process needs to be performed on the soft decoding result.
In an embodiment of the invention, the predetermined frequency a is 10KHZ, the predetermined frequency b is 500KHZ, and the predetermined frequency c is 20KHZ.
In an embodiment of the invention, the configuration parameters for configuring the register of the DSADC module include a CIC filter decimation rate of 50 and an fir filter decimation rate of 2.
In an embodiment of the present invention, the digital sequence of the rotating excitation signal is composed of 50 points extracted from a periodic sine wave and is biased as a whole.
As described above, the method for performing soft rotation decoding meeting the functional safety requirement of the present invention has the following advantages: the method can realize the validity diagnosis of the rotary-change excitation signal without adding extra cost, can configure the characteristics of the rotary-change excitation signal and the processing parameters of the rotary-change excitation signal according to requirements, and effectively diagnose the rotary-change soft decoding result of the rotary-change output signal, thereby greatly improving the safety of the automobile electric control system and meeting the functional safety requirement.
Drawings
Fig. 1 is a schematic diagram of a soft transcoding process for satisfying functional safety requirements in an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a specific implementation in embedded software according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example 1:
referring to fig. 1, the present invention provides a method for performing a rotation soft decoding process to meet functional safety requirements, the method comprising the following steps:
step 1: generating a rotary variation excitation signal, and carrying out waveform verification on the rotary variation excitation signal;
specifically, the flow of the step 1 is as follows:
step 101: generating a rotary-change excitation signal digital sequence with a preset frequency of 10KHZ in a preset way through a GTM (clock) module of a main MCU;
wherein, the digital sequence of the rotary change excitation signal is formed by extracting 50 points from a sine wave of one period and carrying out bias on the whole.
Step 102: AFD, FIFO, F2A, ARU and ATOM registers of the main MCU are configured, and the output of a rotary-change excitation signal in a PWM wave form with variable duty ratio and 500KHZ frequency is realized through a rotary-change excitation signal generating mechanism;
wherein, the rotary change excitation signal generation mechanism is as follows: firstly, writing a preset generated rotary-change excitation signal digital sequence into an FIFO register through an AFD register; then the digital sequence of the rotary change excitation signal in the FIFO register sequentially passes through the F2A, ARU and ATOM registers, and the rotary change excitation signal is output through the ATOM registers.
Step 103: configuring a DSADC module register of a main MCU, and outputting a rotary change excitation signal sampling result and a rotary change excitation signal through a register channel; wherein, the output rotary change excitation signal is a rotary change output signal;
the DSADC module register configuration parameters comprise a CIC filtering decimation rate of 50 and an FIR filtering decimation rate of 2.
Step 104: and verifying the waveform of the sampling result of the rotary change excitation signal and the waveform of the digital sequence of the rotary change excitation signal through the main MCU, wherein if the verification is passed, the rotary change excitation signal is valid, and otherwise, the rotary change excitation signal is invalid.
Step 2: acquiring a rotary-change output signal, and performing VADC soft decoding processing and rotary-change soft decoding processing on the rotary-change output signal;
specifically, the flow of the step 2 is as follows:
step 201: generating a trigger signal with a preset frequency of 20KHZ by a GTM module of a main MCU, and realizing VADC down-sampling of a peak value of a rotary-change output signal by a sampling synchronization mechanism to realize VADC soft decoding processing;
wherein, the sampling synchronization mechanism is as follows: and (3) associating the ATOM channel output by the rotary change excitation signal with the ATOM channel triggered by VADC down sampling, and ensuring that the timing initial values (CN 0) of the two ATOM channels start to time at the same time.
Step 202: the method comprises the steps that a DSADC module of a main MCU is used for carrying out signal modulation, CIC filtering, FIR filtering, offset compensation, signal turnover, signal integration and other processing on a rotary-change output signal, rotary-change soft decoding processing is achieved, the time difference between rotary-change excitation signal input and rotary-change soft decoding result output is obtained through a time compensation mechanism, and time compensation is added;
wherein, the time compensation mechanism is as follows: time stamps for inputting and outputting of the excitation signals of the DSADC module are captured through the TIM channel respectively, so that time consumed by the DSADC module for processing the rotary-change excitation signals is compensated, synchronization and verifiability of final angle signals can be guaranteed through time compensation, synchronization of motor angle signals and current signals can also be guaranteed through time compensation, and accurate control of a motor is achieved.
And step 3: checking the result of the VADC soft decoding processing result and the result of the rotation soft decoding processing result;
specifically, the flow in the step 3 is as follows:
step 301: the VADC soft decoding processing result and the rotary soft decoding processing result are subjected to result verification, if the verification is passed, the rotary soft decoding processing result is valid, otherwise, the rotary soft decoding processing result is invalid, the rotary soft decoding processing result after the DSADC module is subjected to time compensation is verified with the VADC soft decoding processing result, the rotary soft decoding result of the DSADC module is diagnosed in real time, the validity of the rotary soft decoding result can be effectively identified, the safety of an automobile electric control system is greatly improved, and the requirement of functional safety is met;
and verifying the rotation soft decoding result of the DSADC module and the VADC synchronous down-sampling result, wherein the verified diagnosis threshold value adopts a 6sigma value of a plurality of test results.
Example 2:
the method for carrying out the soft decoding on the resolver meeting the functional safety requirement, which is provided by the embodiment 1, is mainly applied to the real-time monitoring of the resolver signal of the motor angle, so that the product cost cannot be increased;
referring to fig. 2, the implementation method is as follows:
1) According to the configuration requirement in the embodiment 1, correspondingly configuring the driving of the main MCU;
2) The main MCU performs polling capture on the rotary change excitation signal acquired by the DSADC module, and performs normalization processing and offset processing to obtain a rotary change excitation signal stoping waveform;
3) Checking the rotary change excitation signal extraction waveform and the original rotary change excitation signal waveform, wherein the check threshold value is reasonably set according to the actual condition;
4) If the verification is passed, the rotary-change excitation signal is effective, the DSADC module processing and time compensation of the rotary-change excitation signal are required, and a VADC down-sampling result output by the rotary-change excitation signal is obtained at the same time, otherwise, the rotary-change excitation signal generated by the ATOM channel is not credible, a rotary-change excitation signal error fault is reported, and corresponding safety processing operation is carried out;
5) Reasonably setting a rotation soft decoding result check threshold value, and checking a rotation soft decoding processing result of the DSADC module and a VADC down-sampling result;
6) If the check is passed, the result of the rotation soft decoding processing is available; otherwise, the result of the rotation-change soft decoding processing is unavailable, the error fault of the result of the rotation-change soft decoding processing is reported, and corresponding safe processing operation is carried out.
In conclusion, the method can realize the validity diagnosis of the rotary-change excitation signal without increasing extra cost, can configure the characteristics of the rotary-change excitation signal and the processing parameters of the rotary-change excitation signal according to requirements, can effectively diagnose the rotary-change soft decoding result of the rotary-change output signal, improves the robustness of the automobile electric control system, and meets the functional safety requirement. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (6)
1. A method of transcoding soft decoding to meet functional safety requirements, the method comprising the steps of:
step 1: generating a rotary change excitation signal, and carrying out waveform verification on the rotary change excitation signal, wherein the waveform verification comprises the following steps:
step 101: generating a rotary-change excitation signal digital sequence with a preset frequency a through a GTM module of a main MCU;
step 102: configuring a register of a main MCU, and outputting a rotary change excitation signal in a PWM (pulse width modulation) wave form with a variable duty ratio and a preset frequency b through a register channel;
step 103: configuring a register of the DSADC module, and outputting a rotational excitation signal sampling result and a rotational excitation signal through a register channel to generate a rotational output signal;
step 104: verifying the waveform of the sampling result of the rotary change excitation signal and the waveform of the digital sequence of the rotary change excitation signal through the main MCU, wherein if the verification is passed, the rotary change excitation signal is valid, otherwise, the rotary change excitation signal is invalid;
step 2: acquiring a rotary-change output signal, and performing VADC soft decoding processing and rotary-change soft decoding processing on the rotary-change output signal;
and step 3: and (3) performing result verification on the VADC soft decoding processing result and the rotation soft decoding processing result, wherein the result verification comprises the following steps:
step 301: and checking the result of the VADC soft decoding processing result and the rotation soft decoding processing result, wherein if the checking is passed, the rotation soft decoding processing result is valid, otherwise, the rotation soft decoding processing result is invalid.
2. The method for performing the rotation-to-soft decoding according to claim 1, wherein the step 2 comprises the following specific steps:
step 201: generating a sampling trigger signal with a preset frequency c by a GTM module of a main MCU, and carrying out VADC down-sampling on the rotary output signal by a VADC module of the main MCU to realize VADC soft decoding processing;
step 202: and performing signal modulation, CIC filtering, FIR filtering, bias compensation, signal inversion and signal integration on the rotary-change output signal through a DSADC module of the main MCU to realize the rotary-change soft decoding processing.
3. A method of transcoding soft decoding to meet functional safety requirements as claimed in claim 2, wherein: before the verification of the rotation soft decoding processing result and the VADC soft decoding processing result, time compensation processing needs to be carried out on the rotation soft decoding processing result.
4. A method of transcoding soft decoding to meet functional safety requirements as claimed in claim 1, wherein: the preset frequency a is 10KHZ, the preset frequency b is 500KHZ, and the preset frequency c is 20KHZ.
5. A method of transcoding soft decoding to meet functional safety requirements as claimed in claim 1, wherein: the configuration parameters of the register configuring the DSADC module comprise a CIC filtering decimation rate of 50 and an FIR filtering decimation rate of 2.
6. A method of transcoding soft decoding to meet functional safety requirements as claimed in claim 1, wherein: the digital sequence of the rotary change excitation signal is formed by extracting 50 points from a periodic sine wave and carrying out bias on the whole.
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