CN113595453B - High-response rotary transformer decoding method and system - Google Patents
High-response rotary transformer decoding method and system Download PDFInfo
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- CN113595453B CN113595453B CN202110670861.0A CN202110670861A CN113595453B CN 113595453 B CN113595453 B CN 113595453B CN 202110670861 A CN202110670861 A CN 202110670861A CN 113595453 B CN113595453 B CN 113595453B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F38/00—Adaptations of transformers or inductances for specific applications or functions
- H01F38/18—Rotary transformers
Abstract
The invention discloses a decoding method and a decoding system for a high-response rotary transformer, wherein the decoding method for the high-response rotary transformer comprises the steps of driving the rotary transformer by utilizing an excitation signal; collecting sine and cosine envelope signals and excitation signals output by a rotary transformer; demodulating the sine and cosine envelope signals by combining with an excitation signal, and filtering by using a three-stage adaptive notch filter to obtain filtered sine and cosine signals; the filtered sine and cosine signals are decoded through a normalized phase-locked loop to obtain a rotor position and a rotor angular frequency; the rotor information is obtained by decoding the output signal of the rotary transformer, so that the position of the rotor of the motor can be tracked in real time, and accurate position information is provided for the driving of the motor; meanwhile, the phase delay of the generated signal is avoided in the acquisition process, the response speed and the reliability of the acquired rotor position are improved, and the performance of a control system is optimized.
Description
Technical Field
The invention relates to the technical field of a rotary transformer control decoding circuit, in particular to a high-response rotary transformer decoding method and system.
Background
In the face of increasingly severe environmental crisis and energy crisis, the importance of energy conservation and emission reduction work is self-evident, and automobile energy consumption is the main cause of atmospheric pollution and greenhouse effect and also the root cause of petroleum pressure. Under such a background, new energy vehicles have been developed vigorously in recent years.
The core component of the new energy automobile driving system is a driving Motor, and a Permanent Magnet Synchronous Motor (PMSM) has the characteristics of high power density, simple structure, low noise, high efficiency and the like, so that the driving system is widely applied to driving of new energy automobiles. Vector control is generally adopted in the current permanent magnet synchronous motor control system, and the vector control needs to acquire accurate rotor position information. The rotary transformer serving as a position sensor has the advantages of long service life, simplicity in maintenance, high precision, high reliability, suitability for various severe working places and the like, has advantages compared with other position sensors, and is widely applied to the new energy automobile industry.
At present, researchers at home and abroad propose various resolver decoding algorithms, such as cordic (coordinate Rotation Digital computer) algorithm, Synchronous Rotating coordinate system Phase-Locked Loop (SRF-PLL) algorithm, and the like. Signals output by the resolver are sine and cosine envelope signals, and firstly, the signals need to be demodulated to remove excitation signals in the envelope signals and convert the excitation signals into standard sine and cosine signals. In the prior art, a low-pass filter is mostly used for demodulating a sine and cosine envelope signal, but the low-pass filter can bring a phase delay problem, influence the accuracy of rotor position estimation and reduce the response speed of a system.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides a high-response resolver decoding method and system, which can solve the problem of phase delay caused by a low-pass filter during demodulation.
In order to solve the technical problems, the invention provides the following technical scheme: generating an excitation signal and sending the excitation signal to the primary side of a rotary transformer; collecting sine envelope signals, cosine envelope signals and the excitation signals output by a rotary transformer; demodulating the sine envelope signal and the cosine envelope signal by combining the excitation signal, and filtering by using a three-stage adaptive notch filter to obtain a filtered sine signal and a filtered cosine signal; and the filtered sine signal and the filtered cosine signal are processed by a normalized phase-locked loop to be decoded to obtain the rotor position and the rotor angular frequency.
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: the excitation signal may comprise a signal that includes,
U ref ＝V sin(ω e t)
wherein, U ref For the excitation signal, V is the amplitude of the excitation signal, ω e T is the time, the angular frequency of the excitation signal.
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: the sinusoidal envelope signal may comprise a sinusoidal envelope signal,
U sin ＝kV sin(ω e t)sinθ m
wherein, U sin For the sinusoidal envelope signal, k is the transformation ratio of the resolver, θ m Is the angular position of the rotor of the resolver.
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: the cosine envelope signal comprises a signal having a cosine envelope,
U cos ＝kV sin(ω e t)cosθ m
wherein, U cos Is the cosine envelope signal.
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: the demodulation comprises that the sine and cosine envelope signals U after demodulation can be obtained by multiplying the collected sine and cosine envelope signals with the excitation signal sin '、U cos '：
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: the filtering comprises designing the three-stage adaptive notch filter based on a notch filter, and filtering the demodulated sine and cosine envelope signals by using the three-stage adaptive notch filter to obtain a sine signal U s And cosine signal U c ：
High response resolver solution as described in the present inventionA preferred version of the code method, wherein: the three-stage adaptive notch filter comprises a notch filter according to a notch angular frequency omega 0 Notch depth and notch bandwidth B ω Calculating a notch coefficient xi 1 、ξ 2 ：
Combining said notch coefficient xi 1 、ξ 2 Three notch filters are cascaded to design the three-stage adaptive notch filter, wherein the notch angular frequency of the first stage notch filter is fixed 2 omega e The notch frequency of the second stage notch angle filter is 2 omega e -ω m The notch angular frequency of the third-stage notch filter is 2 omega e +ω m 。
As a preferable aspect of the decoding method for a high-response resolver according to the present invention, the method comprises: obtaining the rotor position and rotor angular frequency comprises obtaining an input error epsilon of the normalized phase-locked loop n Comprises the following steps:
wherein the content of the first and second substances,
rotor position of observation, epsilon, for normalized phase-locked loop output n The input error of the phase-locked loop after normalization;
the transfer function g(s) of the normalized phase-locked loop is:
wherein k is p 、k i Proportional term and integral term of the phase-locked loop PI regulator; setting the bandwidth of the normalized phase-locked loop according to the speed regulation range of the motor control system, and further estimatingAnd outputting the rotor position and the rotor angular frequency.
As a preferable aspect of the high-response resolver decoding system of the present invention, wherein: the system comprises a signal excitation module, a signal receiving module and a signal processing module, wherein the signal excitation module is used for generating an excitation signal and transmitting the excitation signal to a rotary transformer; the rotary transformer and the signal excitation module are used for receiving the excitation signal and generating sine and cosine envelope signals; the signal acquisition module is connected with the input end and the output end of the rotary transformer and is used for acquiring the sine and cosine envelope signals and the excitation signal; the demodulation module is connected with the signal acquisition module and is used for demodulating the sine envelope signal and the cosine envelope signal; the filtering module is connected with the demodulation module and is used for filtering high-frequency signals in signals output by the demodulation module and acquiring sine and cosine signals only containing rotor position information; and the rotor position calculation module is connected with the filtering module and is used for decoding sine and cosine signals which only contain rotor position information and are output by the filtering module to obtain the rotor position and the rotor angular frequency.
The invention has the beneficial effects that: the invention can acquire the rotor information by decoding the output signal of the rotary transformer, track the position of the motor rotor in real time and provide accurate position information for motor driving; meanwhile, the phase delay of the generated signal is avoided in the acquisition process, the response speed and the reliability of the acquired rotor position are improved, and the performance of a control system is optimized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic flowchart of a decoding method for a high-response resolver according to a first embodiment of the present invention;
fig. 2 is a block diagram illustrating a decoding method for a high-response resolver according to a first embodiment of the present invention;
FIG. 3 is a diagram illustrating a normalized phase-locked loop of a decoding method for a high-response resolver according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the amplitude-frequency characteristic of the low-pass filter of the decoding method for the high-response resolver according to the first embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the phase-frequency characteristics of the low-pass filter of the decoding method for the high-response resolver according to the first embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the amplitude-frequency characteristics of a notch filter of a decoding method for a high-response resolver according to a first embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating the phase-frequency characteristics of a notch filter of a decoding method for a high-response resolver according to a first embodiment of the present invention;
fig. 8 is a schematic diagram illustrating an equivalent structure of a normalized phase-locked loop of a decoding method for a high-response resolver according to a first embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating a comparison of rotor position waveforms for a decoding method of a high-response resolver according to a second embodiment of the present invention;
FIG. 10 is a schematic diagram of a rotor frequency waveform observed in a high response resolver decoding method according to a second embodiment of the present invention;
FIG. 11 is a schematic diagram of a frequency waveform fed back to a second stage notch filter in a high response resolver decoding method according to a second embodiment of the present invention;
FIG. 12 is a schematic diagram of a frequency waveform fed back to a third stage notch filter in a high response resolver decoding method according to a second embodiment of the present invention;
fig. 13 is a schematic structural diagram of a high-response resolver decoding system according to a third embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 8, a first embodiment of the present invention provides a high-response resolver decoding method, including:
s1: and generating an excitation signal and sending the excitation signal to the primary side of the rotary transformer.
The expression for the stimulus signal is:
U ref ＝V sin(ω e t)
wherein, U ref For the excitation signal, V is the amplitude of the excitation signal, ω e T is the time, the angular frequency of the excitation signal.
S2: and acquiring a sine envelope signal, a cosine envelope signal and an excitation signal output by the rotary transformer through the ADC module.
The resolver is one of electromagnetic sensors, and is composed of a stator and a rotor; the excitation voltage is applied to a stator winding on the primary side of the rotary transformer, and a rotor winding on the secondary side of the rotary transformer obtains induced electromotive force, namely a sine envelope signal and a cosine envelope signal, through electromagnetic coupling:
wherein, U sin Being a sinusoidal envelope signal, U cos Is a cosine envelope signal, k is the transformation ratio of the resolver, theta m Is the angular position of the rotor of the resolver, and: theta m ＝ω m t，ω m Is the resolver rotor angular frequency.
S3: and demodulating the sine envelope signal and the cosine envelope signal by combining the excitation signal, and filtering by using a three-stage adaptive notch filter to obtain a filtered sine signal and a filtered cosine signal.
(1) Demodulation
The collected sine and cosine envelope signals are multiplied by the excitation signal to obtain the demodulated sine and cosine envelope signals U sin '、U cos '：
The above equations are integrated and subtracted:
as can be seen from the expression after the sum and difference are integrated, the multiplied signal can be regarded as the angular frequency omega m 、2ω e 、2ω e -ω m And 2 omega e +ω m Since the frequency of the excitation signal is much higher than the rotor frequency, the high-frequency signal can be filtered by using a low-pass filter, and the amplitude-frequency characteristic and the phase-frequency characteristic of the low-pass filter are distributed as shown in fig. 4 and 5, which shows that the use of the low-pass filter brings about a large phase delay.
(2) Designing a three-stage adaptive notch filter
Since the frequency of the high-frequency signal is known, the embodiment does not use a low-pass filter, but uses a three-stage adaptive notch filter to filter the high-frequency signal; as shown in fig. 6 and 7, the notch filter may cause a large phase shift to signals near the notch frequency, and cause a small phase shift to signals of other frequencies, so that the use of the notch filter instead of the low-pass filter may reduce the phase delay and improve the response speed; a notch filter refers to a filter that can rapidly attenuate an input signal at a certain frequency point to achieve a filtering effect that prevents the signal at the frequency from passing through. Using notch filtersTo make the angular frequency 2 omega e 、2ω e -ω m And 2 omega e +ω m Respectively, due to omega m Can be varied and therefore an adaptive notch filter is designed to automatically adjust the notch frequency.
Specifically, a three-stage adaptive notch filter is designed based on a notch filter, wherein a transfer function of the notch filter can be expressed as:
in the formula, ω 0 For notching angular frequency, xi 1 、ξ 2 Is a notch coefficient; the notch filter has three indexes, namely notch angular frequency omega 0 Notch depth and notch bandwidth B ω (ii) a Xi can be calculated according to three indexes set in expectation 1 、ξ 2 And completing the design of a three-level self-adaptive notch filter, wherein the calculation formula of the notch coefficient is as follows:
three notch filters are cascaded, and the notch angular frequency of the first stage notch filter is fixed 2 omega e The notch angular frequency of the second stage notch filter is 2 omega e -ω m The notch angular frequency of the third-stage notch filter is 2 omega e +ω m The notch angular frequencies of the second and third stage notch filters vary with the rotor angular frequency.
Filtering the demodulated sine and cosine envelope signals by utilizing a three-level adaptive notch filter to obtain a sine signal U s And cosine signal U c ：
S4: and (4) enabling the filtered sine signal and the filtered cosine signal to pass through a normalized phase-locked loop to be decoded to obtain the rotor position and the rotor angular frequency.
Since the amplitude of the signal is amplified in the demodulation process, the fluctuation of the error is increased when the signal passes through the phase-locked loop, and therefore the phase-locked loop is subjected to normalization processing.
Normalized input error epsilon of phase-locked loop n Comprises the following steps:
wherein the content of the first and second substances,
the rotor observation position output by the normalized phase-locked loop is shown, and epsilon is the input error of the phase-locked loop before normalization;
the input error epsilon expression of the phase-locked loop before normalization is as follows:
when in use
When the temperature of the water is higher than the set temperature,
normalized input error epsilon of phase-locked loop n Can be expressed as:
where Δ θ is the difference between the actual rotor position and the estimated rotor position,
thus, an equivalent normalized phase-locked loop is obtained, as shown in fig. 8;
the transfer function g(s) of the normalized phase-locked loop is:
wherein k is p 、k i Proportional term and integral term of PI regulator in phase-locked loop;
as can be seen from the transfer function g(s), if the PI parameter is fixed, the bandwidth of the normalized pll is also unchanged, which can be expressed as:
the transfer function g(s) of the normalized pll is equivalent to adding a closed-loop zero to the standard second-order transfer function, and the transfer function can be expressed as:
where xi is damping coefficient, 2 xi omega n ＝k p ，ω n 2 ＝k i ，ω n Is the rotation speed; according to the relevant theory of automatic control, the closed loop zero point can reduce the damping coefficient of the system and improve the dynamic performance of the system, but can cause overshoot; for a second-order system, the system is generally designed to be in an underdamping state, a damping coefficient xi is generally set to be between 0.4 and 0.8, the influence of a closed loop zero point is considered, the damping coefficient is set to be between 0.8 and 1.2, and meanwhile xi is set to be 1 for facilitating system parameter setting; at this time:
the simplified expression of the normalized phase-locked loop bandwidth obtained by combining the above formula is as follows:
the transfer function of the normalized phase-locked loop at this time is:
according to the normalized phase-locked loop bandwidth simplified expression, the parameters of the PI regulator can be obtained by setting a proper bandwidth according to the speed regulation range of the motor control system, and then the rotor position and the rotor angular frequency are estimated.
Preferably, the present embodiment normalizes the amplitude to make the estimated rotor position more accurate.
Example 2
In order to verify and explain the technical effect adopted in the method, the embodiment selects a method of demodulating and filtering by using a low-pass filter to perform a comparison test with the method, and compares the test result by a scientific demonstration means to verify the real effect of the method.
A simulation model shown in FIG. 2 is constructed in Simulink, excitation voltage is a sine signal with the amplitude of 10V and the frequency of 10KHz, the rotor frequency is set to be 200Hz, and sine and cosine envelope signals are obtained by multiplying sine and cosine signals with the frequency of 200Hz and an excitation signal.
The cut-off frequency of the low-pass filter used for comparison is set to 2000Hz, the simulation time is set to 0.6s, the simulation result is shown in FIG. 9, the solid line sawtooth wave is the rotor position decoded by the method, the dotted line sawtooth wave is the rotor position decoded by using the low-pass filter, and the solid line sine wave is a sine signal with the set frequency of 200 Hz; the turning time point of the ideal rotor position should be the same as the peak time point of the sinusoidal signal, and it can be seen in fig. 9 that the low-pass filter brings a phase delay so that the rotor position lags behind the ideal position, while the rotor position decoded by the method has no phase delay.
In order to verify that the three-stage adaptive notch filter designed in the method can adaptively adjust the notch frequency, the rotor frequency is set to be 800Hz, the observed rotor frequency is shown in FIG. 10, and the frequencies fed back to the second-stage notch filter and the third-stage notch filter are shown in FIGS. 11 and 12.
The method can track the position of the motor rotor in real time, provides accurate position information for motor driving, improves response speed, avoids position errors caused by phase lag, and improves reliability of the obtained rotor position and system robustness.
Example 3
Referring to fig. 13, a third embodiment of the present invention, which is different from the first embodiment, provides a high-response resolver decoding system, including:
a signal excitation module 100 for generating an excitation signal and for transmitting the excitation signal to the resolver 200; specifically, the signal excitation module 100 generates an excitation signal using a signal generator, and then sends the excitation signal to the resolver 200.
A rotary transformer 200 and a signal excitation module 100, which are used for receiving an excitation signal and generating sine and cosine envelope signals; specifically, after receiving the excitation signal, the resolver 200 drives the primary side of the resolver 200 to drive the secondary side, thereby generating an induced sine and cosine envelope signal.
The signal acquisition module 300 is connected to the input end and the output end of the resolver 200, and the signal acquisition module 300 of this embodiment may adopt, for example, an ADC module, which is used to acquire the sine and cosine envelope signals and the excitation signal.
The demodulation module 400 is connected to the signal acquisition module 300, and is configured to demodulate the sine and cosine envelope signals; and multiplying the excitation signal by the sine and cosine envelope signals to complete demodulation.
The filtering module 500 is connected to the demodulating module 400, and filters the signal output by the demodulating module 400 by using a three-stage adaptive notch filter to filter out the high frequency signal therein, so as to obtain the sine signal and the cosine signal only containing the rotor position information.
The rotor position calculating module 600 is connected to the filtering module 500, and decodes the sine and cosine signals output by the filtering module 500 and only containing the rotor position information by using the normalized phase-locked loop, so as to obtain the rotor position and the rotor angular frequency.
The high-response resolver decoding system provided by the embodiment tracks the position of the rotor of the motor in real time, provides accurate position information for driving the motor, and improves decoding speed and decoding precision; the reliability of the obtained rotor position and the system robustness are improved.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein. A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
As used in this application, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being: a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of example, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (3)
1. A resolver decoding method, comprising: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
driving a resolver with an excitation signal;
the excitation signal includes:
U ref ＝Vsin(ω e t)
wherein, U ref For the excitation signal, V is the amplitude of the excitation signal, ω e Is the angular frequency of the excitation signal, t is time;
collecting sine envelope signals, cosine envelope signals and the excitation signals output by a rotary transformer;
the sinusoidal envelope signal comprises:
U sin ＝kVsin(ω e t)sinθ m
wherein, U sin For the sinusoidal envelope signal, k is the transformation ratio of the resolver, θ m Is the rotor angular position of the resolver;
the cosine envelope signal comprises:
U cos ＝kVsin(ω e t)cosθ m
wherein, U cos Is the cosine envelope signal;
demodulating the sine envelope signal and the cosine envelope signal by combining the excitation signal, and filtering by using a three-stage adaptive notch filter to obtain a filtered sine signal and a filtered cosine signal;
the demodulation includes:
the collected sine and cosine envelope signals are multiplied by the excitation signal to obtain the demodulated sine and cosine envelope signals U sin '、U cos '：
The filtering includes:
designing the three-stage adaptive notch filter based on the notch filter, and filtering the demodulated sine and cosine envelope signals by using the three-stage adaptive notch filter to obtain a sine signal U s And cosine signal U c ：
The three-stage adaptive notch filter includes:
from notch angular frequency ω in notch filter 0 Notch depth and notch bandwidth B ω Calculating a notch coefficient xi 1 、ξ 2 ：
Combining said notch coefficient xi 1 、ξ 2 Three notch filters are cascaded to design the three-stage adaptive notch filter, where ω is m For the resolver rotor angular frequency, the first stage notch filter notch frequency is fixed 2 ω e The notch frequency of the second stage notch filter is 2 omega e -ω m The notch frequency of the third-stage notch filter is 2 ω e +ω m ；
And the filtered sine signal and the filtered cosine signal are processed by a normalized phase-locked loop to be decoded to obtain the rotor position and the rotor angular frequency.
2. The resolver decoding method according to claim 1, wherein: obtaining the rotor position and rotor angular frequency comprises,
normalized input error epsilon of phase-locked loop n Comprises the following steps:
wherein the content of the first and second substances,
the rotor observation position is output by the normalized phase-locked loop;
the transfer function g(s) of the normalized phase-locked loop is:
wherein k is p 、k i Proportional term and integral term of the phase-locked loop PI regulator;
and setting the bandwidth of the normalized phase-locked loop according to the speed regulation range of the motor control system, and further estimating the rotor position and the rotor angular frequency.
3. A system applying the resolver decoding method according to claim 1, wherein: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a signal excitation module (100) for generating an excitation signal and for transmitting said excitation signal to a rotary transformer (200);
the rotary transformer (200) is connected with the signal excitation module (100) and is used for receiving the excitation signal and generating sine and cosine envelope signals;
the signal acquisition module (300) is connected with the input end and the output end of the rotary transformer (200) and is used for acquiring the sine and cosine envelope signals and the excitation signal;
the demodulation module (400) is connected with the signal acquisition module (300) and is used for demodulating the sine envelope signal and the cosine envelope signal;
the filtering module (500) is connected with the demodulation module (400) and is used for filtering high-frequency signals in the output signals of the demodulation module (400) and acquiring sine and cosine signals only containing rotor position information;
and the rotor position calculation module (600) is connected with the filtering module (500) and is used for decoding sine and cosine signals which only contain rotor position information and are output by the filtering module (500) to obtain the rotor position and the rotor angular frequency.
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