CN114465544B - Rotary-variable decoding device and automobile - Google Patents
Rotary-variable decoding device and automobile Download PDFInfo
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- CN114465544B CN114465544B CN202210327249.8A CN202210327249A CN114465544B CN 114465544 B CN114465544 B CN 114465544B CN 202210327249 A CN202210327249 A CN 202210327249A CN 114465544 B CN114465544 B CN 114465544B
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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
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2066—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to a single other coil
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention provides a rotary-variable decoding device, comprising: a sine wave generator that outputs a sine signal; the excitation amplifying module amplifies the sinusoidal signals and outputs a first group of differential signals; a rotary transformer for outputting a second group of differential signals and a third group of differential signals after being supplied with power by the first group of differential signals; the first processing module is used for respectively shrinking the first group of differential signals to the third group of differential signals and then adding bias voltage to obtain first data, second data and third data; obtaining a first rotation angle based on the obtained first data, second data and third data; the second processing module is used for respectively shrinking the first to third groups of differential signals and then adding bias voltage to the first to third groups of differential signals to respectively obtain fourth data, fifth data and sixth data; obtaining a second rotation angle based on the obtained fourth data, fifth data and sixth data; and the position result checking module is used for checking the first rotation angle and the second rotation angle and outputting the rotation angle when the checking is passed.
Description
Technical Field
The invention belongs to a motor controller of a new energy automobile electric drive system, and particularly relates to a rotary-variable decoding device and an automobile, wherein the rotary-variable decoding device meets the functional safety level C and above.
Background
With the development of the automobile industry, the more complex an automobile electronic system is, the greater the risk caused by the faults of the electric and electronic system is, so that the safety of the automobile function is important. The power related parts of the automobile are important, and the motor controller for driving the motor in the new energy automobile is required to meet the functional safety level C and above. An important function of the motor controller is to detect the position of the motor rotor and to convert the output signal of the resolver into a position signal based on the detection, known as resolver decoding.
In view of this, it is necessary to invent a rotary decoding method satisfying the functional security level C and above.
Disclosure of Invention
The invention aims to provide a rotary-transformer decoding device and an automobile which meet the functional safety level C and above.
The technical scheme of the invention is as follows:
the invention provides a rotary-variable decoding device, comprising:
a sine wave generator that outputs a sine signal having a specific frequency and a specific amplitude;
the sine wave sounder amplifies the sine signals output by the sine wave sounder and then outputs a first group of differential signals VP and VN;
a resolver which outputs second and third sets of differential signals COS+ and COS-and SIN-after being supplied with power from the first set of differential signals VP and VN;
the first processing module PART1 is configured to respectively shrink the first set of differential signals VP and VN, the second set of differential signals cos+ and COS-, and the third set of differential signals sin+ and SIN-, and then apply bias voltages to the first set of differential signals VP and VN, the second set of differential signals cos+ and COS-, and the third set of differential signals sin+ and SIN-, so as to respectively obtain first data VPN1, second data COS1, and third data SIN1; obtaining a first rotation angle according to a first preset calculation mode based on the obtained first data VPN1, second data COS1 and third data SIN1;
the second processing module PART2 is configured to respectively reduce the first set of differential signals VP and VN, the second set of differential signals cos+ and COS-and the third set of differential signals sin+ and SIN-and then add bias voltages to the first set of differential signals VP and VN, the second set of differential signals cos+ and COS-and the third set of differential signals sin+ and SIN-to respectively obtain fourth data VPN2, fifth data COS2 and sixth data SIN2; obtaining a second rotation angle according to a second preset calculation mode based on the obtained fourth data VPN2, fifth data COS2 and sixth data SIN2; the first preset calculation mode and the second preset calculation mode are different;
and the position result checking module is used for checking the first rotation angle and the second rotation angle according to a preset mode and outputting the rotation angle when the checking is passed.
Preferably, the first processing module PART1 includes:
the first subtracting and biasing unit is used for subtracting the first group of differential signals VP and VN output by the excitation amplifying module, then shrinking according to a first preset shrinking mode, and adding the reduced difference value and a first preset biasing voltage to obtain first data VPN1;
the second subtracting and biasing unit is used for subtracting the second group of differential signals COS+ and COS-output by the rotary transformer, then shrinking according to a second preset shrinking mode, and adding the reduced difference value with a second preset biasing voltage to obtain second data COS1;
a third subtracting and biasing unit, which subtracts a third group of differential signals SIN+ and SIN-outputted by the rotary transformer, then reduces the differential signals according to a third preset reduction mode, and adds the reduced difference with a third preset bias voltage to obtain third data SIN1;
a first ADC acquisition unit that acquires respective output data of the first, second, and third subtracting and biasing units;
a first monitoring unit, which monitors the first data VPN1, the second data COS1 and the third data SIN1 collected by the first ADC collecting unit;
and the first calculation unit is used for obtaining a first rotation angle according to a first preset calculation mode based on the obtained first data VPN1, second data COS1 and third data SIN1 after the first monitoring unit monitors that no abnormality exists.
Preferably, the second processing module PART2 includes:
a fourth subtracting and biasing unit, which subtracts the first group of differential signals VP and VN output by the excitation amplifying module, then reduces the first group of differential signals VP and VN according to a fourth preset reduction mode, and adds the reduced difference value and a fourth preset bias voltage to obtain fourth data VPN2;
a fifth subtracting and biasing unit, which subtracts the second group of differential signals COS+ and COS-output by the rotary transformer, then reduces the second group of differential signals according to a fifth preset reduction mode, and adds the reduced difference value with a fifth preset bias voltage to obtain fifth data COS2;
a sixth subtracting and biasing unit, which subtracts a third group of differential signals SIN+ and SIN-outputted by the rotary transformer, then reduces the differential signals according to a sixth preset reduction mode, and adds the reduced difference with a sixth preset bias voltage to obtain sixth data SIN2;
a second ADC acquisition unit that acquires respective output data of the fourth, fifth, and sixth subtracting and biasing units;
the second monitoring unit is used for carrying out abnormal monitoring on the fourth data VPN2, the fifth data COS2 and the sixth data SIN2 acquired by the second ADC acquisition unit;
and the second calculation unit is used for obtaining a second rotation angle according to a second preset calculation mode based on the obtained fourth data VPN2, the fifth data COS2 and the sixth data SIN2 after the second monitoring unit monitors that no abnormality exists.
Preferably, the position result checking module outputs the rotation angle when the difference between the first rotation angle and the second rotation angle is lower than a preset difference.
The invention also provides an automobile comprising the rotary-variable decoding device.
The beneficial effects of the invention are as follows:
the method monitors the rotation acquisition by a simpler detection method, and achieves the effect of achieving the function safety ASIL C.
Drawings
Fig. 1 is a schematic view of the apparatus of the present invention.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings, as follows:
referring to fig. 1, the present embodiment provides a rotary transformer decoding device satisfying the functional security level C and above, which is composed of a first processing module PART1, a second processing module PART2, a sine wave generator 31, an excitation amplifying module 41, a rotary transformer 61, and a position and angle result checking module 51. Wherein the first processing module PART1 comprises: a first subtracting and biasing unit 11, a second subtracting and biasing unit 12, a third subtracting and biasing unit 13, a first ADC acquisition unit 14, a first monitoring unit 15, a first calculation unit 16; the second processing module PART2 comprises: a fourth subtracting and biasing unit 21, a fifth subtracting and biasing unit 22, a sixth subtracting and biasing unit 23, a second ADC acquisition unit 24, a second monitoring unit 25, a second calculation unit 26.
The first subtracting and biasing unit 11 subtracts the first set of differential signals VP and VN, and then reduces the first data VPN1 after adding the first preset bias voltage according to the fourth preset reduction mode, and then sends the first data VPN1 to the first ADC collecting unit 14.
The second subtracting unit 12 subtracts the second set of differential signals cos+ and COS-and then reduces the second data COS1, to which the second preset bias voltage is added, according to the second preset reduction mode, to the first ADC acquisition unit 14.
The third subtracting and biasing unit 13 subtracts the third differential signal sin+ from the SIN-and then reduces the third data SIN1, which is added with the third preset bias voltage, according to a third preset reduction mode, and then supplies the third data SIN1 to the first ADC collecting unit 14.
The first to third subtracting and biasing units perform the shrinking process, that is, after the corresponding value is shrunk to a specific voltage value (e.g., 5V), may be realized by designing some formulas. The first to third predetermined bias voltages are predetermined values, such as 2.5V.
The first ADC collecting unit 14 sends the collected first data VPN1, second data COS1, and third data SIN1 to the first monitoring unit 15.
The first monitoring unit 15 performs monitoring analysis on the first data VPN1, the second data COS1, and the third data SIN 1.
The first calculating unit 16 decodes and calculates the first rotation angle information according to the first data VPN1, the second data COS1 and the third data SIN 1.
Wherein the first calculating unit 16 calculates the first rotation angle information based on the second data COS1 and the second data SIN1 after the predetermined requirement is satisfied according to the first data VPN 1.
The fourth subtracting and biasing unit 21 subtracts the first set of differential signals VP and VN, and then reduces the fourth data VPN2 after adding the fourth preset bias voltage according to a fourth preset reduction mode, and then sends the fourth data VPN2 to the ADC collecting unit 24.
The fifth subtracting unit 23 subtracts the differential signal cos+ from COS-and then reduces the fifth data COS2 after adding the fifth preset bias voltage according to the fifth preset reduction mode, and supplies the reduced fifth data COS2 to the ADC collecting unit 24.
The sixth subtracting and biasing unit 22 subtracts the differential signal sin+ from the SIN-and then reduces the differential signal sin+ according to a sixth predetermined reduction mode, and then adds the sixth data SIN2 with a sixth predetermined bias voltage to the ADC collecting unit 24.
Similarly, when the fourth to sixth subtracting and biasing units perform the shrinking process, the corresponding values may be reduced to a specific voltage value (e.g. 5V), and then, a few formulas may be specifically selected to be designed. The fourth to sixth preset bias voltages are preset values, such as 2.5V.
The second ADC acquisition unit 24 sends the acquired data VPN2, COS2, SIN2 to the monitoring unit 25.
The second monitoring unit 25 performs monitoring analysis on the data VPN2, COS2, SIN2.
The second calculation unit 26 calculates the first rotation angle information based on the data VPN2, COS2, SIN2 decoding.
Wherein the second calculation unit 26 calculates the above-mentioned second rotation angle information based on the fifth data COS5 and the sixth data SIN6 after the predetermined requirement is satisfied according to the fourth data VPN 2.
The sine wave generator 31 can stably output a sine signal of a specific frequency and a specific amplitude.
The excitation amplification module 41 amplifies the sine signal generated by the sine wave generator 31 and outputs differential signals VP and VN.
The rotary transformer 61 outputs two sets of differential signals, a second set of differential signals COS+ and COS-, and a third set of differential signals SIN+ and SIN-, respectively, after being supplied with power by the first set of differential signals VP and VN.
The power supplies of PART1 and PART2 are completely different independent power supplies.
The first ADC acquisition unit 14 and the second ADC acquisition unit 24 are different ADC modules, and the power supply and the ADC reference power supply are completely different independent power supplies.
The first computing unit 16 and the second computing unit 26 employ the same or different computing principles.
For example, arctan (SIN 1/cos 1) (i.e., arctangent) is used to calculate the first and second desired rotation angles, or sinA is used to calculate cosC-cosA sinc=0, where a is the actual rotation angle value (sinA is SIN1 or SIN2, cosA is cos1 or cos 2), and C is the assumed value (i.e., the desired first or second rotation angle in the present embodiment), and C is adjusted to continuously approach a by the formula.
The position and angle result check 51 compares the first calculation unit 16 with the second calculation unit 26, and gives an angle position when the check passes; and outputting alarm information if the verification is not passed.
The first step: the sine wave generator 31 continuously outputs a sine wave signal of a particular frequency and amplitude.
And a second step of: the excitation amplification module 41 amplifies the sine wave signal to produce a first set of differential signals VP and VN of greater amplitude.
And a third step of: the first subtracting and biasing unit 11 performs subtracting on the differential signals VP and VN, and then reduces and adds a first preset bias voltage; the second subtracting and biasing unit 21 subtracts the first set of differential signals VP and VN and then reduces the difference and adds a fourth predetermined bias voltage.
Fourth step: the resolver 61 is powered by the first set of differential signals VP and VN, outputs the second set of differential signals cos+ and COS-, and the third set of differential signals sin+ and SIN-which have magnitudes that vary periodically as the motor rotor rotates.
Fifth step: the second subtracting and biasing unit 12 subtracts the second group of differential signals COS+ and COS-and then reduces the second group of differential signals and adds a second preset bias voltage to output second data COS1; the fifth subtracting and biasing unit 23 subtracts the second group of differential signals COS+ and COS-and then reduces the second group of differential signals and adds a fifth preset bias voltage to output fifth data COS2; the third subtracting and biasing unit 13 performs subtraction on the differential signal sin+ and SIN-and then reduces the differential signal sin+ and adds a third preset bias voltage to output third data SIN1; the sixth subtracting and biasing unit 22 subtracts the differential signal sin+ and SIN-and then reduces the differential signal sin+ and adds a sixth predetermined bias voltage to output sixth data SIN2. The 4 sets of signal amplitudes vary periodically with motor rotor rotation.
Sixth step: the ADC acquisition unit 14 acquires the first data VPN1, the second data COS1, and the third data SIN1 signals; the ADC collecting unit 24 collects the fourth data VPN2, the fifth data COS2, the sixth data SIN2 signals;
seventh step: the monitoring unit 15 monitors and analyzes the signals of the first data VPN1, the second data COS1 and the third data SIN1, and outputs a detection abnormality alarm when the signals are abnormal. The monitoring unit 25 monitors and analyzes the signals of the fourth data VPN2, the fifth data COS2 and the sixth data SIN2, and outputs a detection abnormality alarm when the signals are abnormal. And after the abnormal alarm is output, the alarm is not executed continuously, and the processing is required to be waited. The signal anomalies relate to anomalies in the first set of differential signals VP and VN, open circuit shorts in the second set of differential signals COS+ and COS-open circuit shorts, and open circuit shorts in the third set of differential signals SIN+ and SIN-open circuit shorts. The eighth step is performed when the first monitoring unit 15 and the second monitoring unit 25 monitor that the signal is not abnormal.
Eighth step: the first calculation unit 16 calculates from the first data VPN1, the second data COS1, and the third data SIN1 signals, and outputs the second rotation Angle information Angle1. The second calculation unit 26 calculates from the fourth data VPN2, the fifth data COS2, and the sixth data SIN2 signals, and outputs the second rotation Angle information Angle2.
Ninth step: the position Angle result verification 51 compares the first rotation Angle1 with the second rotation Angle2, and if the error is smaller than a specific value, the verification is passed, and real-time Angle information Angle is output; otherwise, the verification fails, and an abnormal detection alarm is output. And after the abnormal alarm is output, the alarm is not executed continuously, and the processing is required to be waited.
Specifically, the outputted real-time Angle information Angle is one of the first Angle1 and the second Angle2, specifically, preset.
Tenth step: and periodically repeating the sixth step to the ninth step.
The present invention has been disclosed in the preferred embodiments, but the present invention is not limited thereto, and the technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.
Claims (4)
1. A rotary decoding device, comprising:
a sine wave generator that outputs a sine signal having a specific frequency and a specific amplitude;
the excitation amplifying module amplifies the sine signal output by the sine wave generator and outputs a first group of differential signals VP and VN;
a resolver which outputs second and third sets of differential signals COS+ and COS-and SIN-after being supplied with power from the first set of differential signals VP and VN;
the first processing module PART1 is configured to sequentially perform subtraction on the first set of differential signals VP and VN, perform reduction on the obtained difference according to a first preset reduction manner, add a first preset bias voltage to the reduced difference to obtain first data VPN1, sequentially perform subtraction on the second set of differential signals cos+ and COS-, perform reduction on the obtained difference according to a second preset reduction manner, add a second preset bias voltage to the reduced difference to obtain second data COS1, sequentially perform subtraction on the third set of differential signals sin+ and SIN-, perform reduction on the obtained difference according to a third preset reduction manner, and add a third preset bias voltage to the reduced difference to obtain third data SIN1; obtaining a first rotation angle according to a first preset calculation mode based on the obtained first data VPN1, second data COS1 and third data SIN1;
the second processing module PART2 is configured to sequentially perform subtraction on the first set of differential signals VP and VN, perform reduction on the obtained difference according to a fourth preset reduction manner, add a fourth preset offset voltage to the reduced difference to obtain fourth data VPN2, sequentially perform subtraction on the second set of differential signals cos+ and COS-, perform reduction on the obtained difference according to a fifth preset reduction manner, add a fifth preset offset voltage to the reduced difference to obtain fifth data COS2, sequentially perform subtraction on the third set of differential signals sin+ and SIN-, perform reduction on the obtained difference according to a sixth preset reduction manner, and add a sixth preset offset voltage to the reduced difference to obtain sixth data SIN2; obtaining a second rotation angle according to a second preset calculation mode based on the obtained fourth data VPN2, fifth data COS2 and sixth data SIN2; the first preset calculation mode and the second preset calculation mode are different;
and the position result verification module is used for verifying the first rotation angle and the second rotation angle according to a preset mode, and outputting the rotation angle when the difference value of the first rotation angle and the second rotation angle is lower than a preset difference value.
2. The rotary transformer decoding device according to claim 1, wherein the first processing module PART1 comprises:
the first subtracting and biasing unit is used for subtracting the first group of differential signals VP and VN output by the excitation amplifying module, then shrinking according to a first preset shrinking mode, and adding the reduced difference value with a first preset biasing voltage of 2.5V to obtain first data VPN1;
the second subtracting and biasing unit is used for subtracting the second group of differential signals COS+ and COS-output by the rotary transformer, then shrinking according to a second preset shrinking mode, and adding the reduced difference value with a second preset biasing voltage to obtain second data COS1;
a third subtracting and biasing unit, which subtracts a third group of differential signals SIN+ and SIN-outputted by the rotary transformer, then reduces the differential signals according to a third preset reduction mode, and adds the reduced difference with a third preset bias voltage to obtain third data SIN1;
a first ADC acquisition unit that acquires respective output data of the first, second, and third subtracting and biasing units;
a first monitoring unit, which monitors the first data VPN1, the second data COS1 and the third data SIN1 collected by the first ADC collecting unit;
and the first calculation unit is used for obtaining a first rotation angle according to a first preset calculation mode based on the obtained first data VPN1, second data COS1 and third data SIN1 after the first monitoring unit monitors that no abnormality exists.
3. The rotary transformer decoding device according to claim 1, wherein the second processing module PART2 comprises:
a fourth subtracting and biasing unit, which subtracts the first group of differential signals VP and VN output by the excitation amplifying module, then reduces the first group of differential signals VP and VN according to a fourth preset reduction mode, and adds the reduced difference value and a fourth preset bias voltage to obtain fourth data VPN2;
a fifth subtracting and biasing unit, which subtracts the second group of differential signals COS+ and COS-output by the rotary transformer, then reduces the second group of differential signals according to a fifth preset reduction mode, and adds the reduced difference value with a fifth preset bias voltage to obtain fifth data COS2;
a sixth subtracting and biasing unit, which subtracts a third group of differential signals SIN+ and SIN-outputted by the rotary transformer, then reduces the differential signals according to a sixth preset reduction mode, and adds the reduced difference with a sixth preset bias voltage to obtain sixth data SIN2;
a second ADC acquisition unit that acquires respective output data of the fourth, fifth, and sixth subtracting and biasing units;
the second monitoring unit is used for carrying out abnormal monitoring on the fourth data VPN2, the fifth data COS2 and the sixth data SIN2 acquired by the second ADC acquisition unit;
and the second calculation unit is used for obtaining a second rotation angle according to a second preset calculation mode based on the obtained fourth data VPN2, the fifth data COS2 and the sixth data SIN2 after the second monitoring unit monitors that no abnormality exists.
4. An automobile comprising the rotary decoding device according to any one of claims 1 to 3.
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