CN114759852A - High-frequency square wave driven rotary transformer decoding device and method - Google Patents

High-frequency square wave driven rotary transformer decoding device and method Download PDF

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CN114759852A
CN114759852A CN202210362442.5A CN202210362442A CN114759852A CN 114759852 A CN114759852 A CN 114759852A CN 202210362442 A CN202210362442 A CN 202210362442A CN 114759852 A CN114759852 A CN 114759852A
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signal
square wave
rotary transformer
circuit
sine
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吴春
支恩
郑露华
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Zhejiang University of Technology ZJUT
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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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K7/00—Modulating pulses with a continuously-variable modulating signal
    • H03K7/08—Duration or width modulation ; Duty cycle modulation
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/1205—Multiplexed conversion systems
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/124—Sampling or signal conditioning arrangements specially adapted for A/D converters
    • H03M1/1245—Details of sampling arrangements or methods

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Abstract

A high-frequency square wave driven rotary transformer decoding device comprises a main control chip: at least one path of square wave signal can be generated, and the square wave signal comprises two analog-to-digital converter (ADC) channels; single-phase half-bridge and driver chip: amplifying the high-frequency square wave signal through a single-phase half bridge, and applying the signal to a primary excitation winding; the signal conditioning circuit: and conditioning orthogonal signals which are output by the rotary transformer and contain the position information of the rotor magnetic pole of the rotary transformer to obtain sine and cosine signals which can be directly sampled by the ADC. And provides a decoding method of the resolver driven by the high-frequency square wave. The invention does not need to use a special decoding chip for the rotary transformer, the excitation signal of the rotary transformer is a high-frequency square wave voltage signal, single-phase half-bridge amplification is adopted for generation, the implementation is easy, and the hardware circuit cost is low.

Description

High-frequency square wave driven rotary transformer decoding device and method
Technical Field
The invention belongs to the technical field of signal processing, and particularly relates to a high-frequency square-wave-driven rotary transformer decoding device and method.
Background
The permanent magnet synchronous motor has the advantages of large torque, high efficiency, high precision and the like, and becomes the first choice of a high-performance alternating current motor system. In order to realize the vector control of the permanent magnet synchronous motor, the position of the magnetic pole of the rotor needs to be accurately obtained in real time. Currently, position sensors are commonly used to detect the rotor magnetic pole positions, including photoelectric encoders, magnetic encoders, rotary transformers, and the like. Among them, the resolver is widely used in a high-reliability motor system because of its advantages of strong anti-vibration capability, high position detection accuracy, and the like.
Generally, a set of high-frequency sine voltage excitation signals are applied to a primary excitation winding of a rotary transformer, the rotary transformer is influenced by the variation of the magnetic resistance of a rotor, secondary induction windings are distributed orthogonally, and a pair of high-frequency sine and cosine voltage signals containing the position information of the magnetic poles of the rotor are induced. And then, taking measures such as conditioning, sampling, phase locking and the like on the two high-frequency sine and cosine signals to obtain the magnetic pole position and the rotating speed of the rotor. At present, a common resolver decoding mode is to use a special decoding chip, and the patents of patent "detection method for resolver loop fault of aviation starting motor by using AD2S1210 resolver decoding chip" (inventor: Zhao Peng, Piyi, Zhao Yong, Dudongquan, Li is true and precious, application number: CN201911082852.9) and "frequency division method and system for resolver feedback signal based on AD2S1210 resolver decoding chip" (inventor: Majiayi, bear Wei, Zhang Ning, application number: CN202011313287.5) adopt AD2S1210 chip to generate excitation signal, demodulate rotor magnetic pole position, and then send the detected position information to a main control chip through serial/parallel communication bus.
However, the use of a resolver-specific decoding chip presents some problems. Firstly, the price of the current special decoding chip is generally higher, which can increase the system cost; secondly, communication interfaces, amplification conditioning circuits, signal conditioning circuits and the like of the decoding chip and the main control chip need to be designed. A rotary transformer decoding circuit design based on AD2S1210 is introduced in the paper < CHEM > rotating transformer decoding circuit design based on AD2S1210 (author: Liu Yu Yi, Zheng Jie, Liyan, Tian Gui Ping, Wei, Chen Jie, published in the < Infrared technology >, 2016, 38 (12): 1042 1046) and < CHE 6803-based permanent magnet synchronous motor rotor position detection circuit design (author: Cheng Jie, Wurui, published in the < micromotor >, 2016, 49 (12): 76-79), but the problems of complex hardware design, multiple connecting wires, multiple fault sources and the like exist, and the reliability of the whole system is reduced.
Disclosure of Invention
In order to solve the problems of the rotary transformer special decoding chip, the invention provides a rotary transformer decoding device and method driven by high-frequency square waves.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a high frequency square wave driven resolver decoding apparatus, the resolver decoding apparatus comprising:
a main control chip: at least one path of high-frequency square wave signal can be generated, and the high-frequency square wave signal comprises two analog-to-digital conversion channels ADC;
single-phase half-bridge and driver chip: amplifying the high-frequency square wave signal through a single-phase half bridge, and applying the high-frequency square wave signal to a primary excitation winding;
the signal conditioning circuit: and conditioning the sine and cosine differential signals output by the rotary transformer to obtain sine and cosine single-ended voltage signals which can be directly sampled by the ADC.
Further, the high-frequency square wave excitation signal is output by PWM generated by a certain clock channel of the main control chip and amplified to the high-frequency square wave excitation signal with the amplitude required by the rotary transformer through the single-phase half bridge.
Still further, the signal conditioning circuit comprises a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage lifting circuit and a resistance voltage dividing circuit.
Furthermore, the ADC sampling trigger signal and the PWM output signal in the analog-to-digital conversion module have a linkage mechanism, and the ADC sampling trigger signal is generated by another channel of the same clock, so that the phase of the ADC sampling time relative to the square wave excitation signal is not deviated.
A method of decoding a high frequency square wave driven resolver, the method comprising the steps of:
1) the high-frequency square wave signal output by the main control chip is used as an original excitation signal, is amplified to a square wave excitation signal with the amplitude required by the rotary transformer through a single-phase half bridge, and is applied to a primary excitation winding of the rotary transformer;
2) the orthogonal signal output by the rotary transformer is conditioned through a signal conditioning circuit to obtain sine and cosine single-ended voltage signals which can be directly sampled by an ADC;
3) and sampling the sine signal and the cosine signal through the main control chip ADC to obtain digital information required by soft decoding, and obtaining the position of the magnetic pole of the rotor through the soft decoding.
Further, in the step 1), the process of generating the original high-frequency square wave excitation signal is as follows:
the selected main control chip is provided with ADC sampling, PWM output of pulse width modulation signals and a linkage mechanism of PWM events and ADC sampling signal sources, one path of PWM signals with the duty ratio of 50%, namely square wave signals, is output by a certain channel of a high-level timer of the main control chip, and the frequency of the square wave is determined by the frequency of excitation signals required by the rotary transformer.
In the step 1), the process of amplifying the excitation signal by the single-phase half bridge is as follows:
and the high-frequency square wave signal is sent to the input end of the single-phase half bridge and amplified to the square wave excitation signal with the amplitude required by the rotary transformer through the single-phase half bridge.
In the step 2), the signal conditioning process is as follows:
the signal conditioning circuit conditions orthogonal signals which are output by the rotary transformer and contain rotor magnetic pole position information, and circuit conditioning such as common-mode inductance, filtering, difference, voltage lifting, resistance voltage division and the like is performed to obtain sine and cosine signals which can be directly sampled by an ADC (analog-to-digital converter), wherein the expression of the signal conditioning circuit is as follows:
ua(t)＝Us·sin(ωt)·sin(θr)+Uoffset (1)
ub(t)＝Us·sin(ωt)·cos(θr)+Uoffset (2)
in the formula ua(t) is a sinusoidal signal containing rotor magnetic pole information, the frequency of the sinusoidal signal is consistent with the frequency of the excitation signal, the amplitude of the sinusoidal signal is in a sinusoidal relationship with the position of the rotor magnetic pole of the rotary transformer, UsIs a sinusoidal signal amplitude, UoffsetIs the bias voltage, omega is the frequency of the excitation signal, thetarFor the resolver rotor pole angle, the electrical position of the motor rotor pole is calculated as follows:
Figure BDA0003584466550000031
in the formula, thetaeIs the electrical position of the motor pole, PmAnd PrThe number of pole pairs for the motor and resolver, respectively.
The differential signal conditioning process of the signal conditioning circuit is as follows: the signal conditioning circuit consists of a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage lifting circuit and a resistance voltage-dividing circuit, wherein the common-mode inductor can effectively inhibit common-mode interference, and the RC filter circuit can effectively filter high-frequency interference signals; the differential circuit processes the differential signal to obtain a single-ended signal, the sine and cosine signal is lifted to be more than 0V through the voltage lifting circuit, and then resistance voltage division is carried out to enable the signal to be in the range of 0-3.3V, so that the follow-up main control chip ADC can effectively acquire the sine and cosine signal.
In the step 3), the sampling process of the main control chip ADC is as follows: selecting a capturing comparison signal of the other channel of the timer, wherein a channel2 of the TIM2, namely TIM2_ CH2 is selected as a trigger source for sampling two ADC channels, and the two ADC channels correspondingly acquire a sine signal and a cosine signal output by the signal conditioning circuit respectively;
the sine and cosine signals obtained by collection are represented by the following formula:
Figure BDA0003584466550000032
k in the formula is a sine signal amplitude acquisition coefficient and a cosine signal amplitude acquisition coefficient, the value range is 0-1, the larger K is, the higher the signal to noise ratio is, and the better the anti-interference performance is; the magnitude of K is determined by the ADC sampling time, i.e. the capture comparison value of channel2 of TIM2, since the main control chip samples the sine and cosine signals at a fixed time within each cycle of the excitation signal, t of sin (ω t) in (1) and (3) is a fixed time, and combining (1), (3) and (4), we get the following equation:
K＝sin(ωt) (5)
changing the capture comparison value CCR of the channel2 of the TIM2, namely changing the value t, and further controlling the magnitude of the amplitude acquisition coefficient K;
the soft solution process comprises the following steps: the main control chip performs soft decoding on sine and cosine signals obtained by ADC sampling, an inverse tangent method or a PLL phase-locked loop is selected as a soft decoding mode, and the position and the rotating speed of a rotary transformer rotor are obtained through the soft decoding; and then the position and the rotating speed of the magnetic pole of the motor rotor are obtained through the corresponding relation between the magnetic pole of the motor and the magnetic pole of the rotary transformer rotor.
The invention relates to a high-frequency square wave driven rotary transformer decoding device, which is mainly characterized in that:
1) the decoding device comprises a main control chip, a single-phase half-bridge and a driving chip thereof, a signal conditioning circuit and the like, and the hardware cost is low because the decoding chip is not needed and the related hardware is a conventional device;
2) the excitation signal of the rotary transformer is not required to be a sine signal, only one path of square wave is needed to excite high-frequency voltage, and the requirement on the excitation signal is low;
3) the excitation signal amplifying circuit adopts a half-bridge driving circuit, so that the output current is large and the load capacity is strong;
4) the main control chip samples sine and cosine voltage signals output by the rotary transformer through an analog-to-digital converter (ADC), a digital communication interface is not needed, and the implementation is easy;
in the invention, a high-frequency square wave signal output by a main control chip is used as an original excitation signal, and is amplified by single-phase half-bridge driving to generate a high-frequency square wave excitation signal with higher voltage and stronger driving capability, and the high-frequency square wave excitation signal is applied to a primary excitation winding. The rotary transformer outputs sine and cosine differential signals, and the sine and cosine differential signals are conditioned by the signal conditioning circuit to obtain sine and cosine single-ended analog signals. Sampling the sine single-ended signal and the cosine single-ended signal through a main control chip ADC to obtain digital information required by soft decoding; the sampling time of the ADC of the main control chip is determined by the capture comparison value of the other channel under the same clock of the PWM channel which generates square wave excitation. The same clock can ensure that the phase of the ADC sampling time relative to the square wave excitation signal of the rotary transformer does not deviate, so that sine and cosine signals can be accurately acquired.
The invention has the beneficial effects that: a special decoding chip for the rotary transformer is not needed, an excitation signal of the rotary transformer is a high-frequency square wave voltage signal, single-phase half-bridge amplification is adopted for generation, the implementation is easy, and the hardware circuit cost is low.
Drawings
FIG. 1 is a schematic diagram of the decoding circuit of the resolver of the present invention;
FIG. 2 is a schematic diagram of a single phase half bridge drive circuit of the present invention;
FIG. 3 is a sinusoidal signal conditioning circuit of the resolver decoding circuit of the present invention;
FIG. 4 is a cosine signal conditioning circuit of the resolver decoding circuit of the present invention;
FIG. 5 is a schematic diagram of the ADC sampling structure of the resolver decoding circuit of the present invention;
FIG. 6 shows the sine and cosine modulated signals measured by the experiment of the present invention;
FIG. 7 shows soft-decodable sine and cosine signals and decoded rotor magnetic pole positions measured experimentally in accordance with the present invention.
Detailed Description
The invention will be further explained with reference to the accompanying drawings
Referring to fig. 1 to 7, a resolver decoding apparatus driven by a high-frequency square wave includes:
a main control chip: at least one path of high-frequency square wave signal can be generated, and the high-frequency square wave signal comprises two ADC channels;
single-phase half-bridge and driver chip: amplifying the high-frequency square wave signal through a single-phase half bridge, and applying the high-frequency square wave signal to a primary excitation winding;
the signal conditioning circuit: and conditioning the sine and cosine differential signals output by the rotary transformer, and processing to obtain sine and cosine single-ended voltage signals which can be directly sampled by the ADC.
Further, the high-frequency square wave excitation signal is output by PWM generated by a certain clock channel of the main control chip and amplified to the high-frequency square wave excitation signal with the amplitude required by the rotary transformer through the single-phase half bridge.
Still further, the signal conditioning circuit comprises a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage-boosting circuit and a resistance voltage-dividing circuit.
Furthermore, the ADC sampling trigger signal and the PWM output signal in the analog-to-digital conversion module have a linkage mechanism, and the ADC sampling trigger signal is generated by another channel of the same clock, so that the phase of the ADC sampling time relative to the square wave excitation signal is not deviated.
A decoding method of a rotary transformer driven by high-frequency square waves comprises the following steps:
step 1), the selected main control chip should have ADC sampling, pulse width modulation signal (PWM) output, and a linkage mechanism of a PWM event and an ADC sampling signal source, wherein the selected main control chip is STM32F429, and the process is as follows:
step 1.1) as shown in fig. 1, a certain channel of a certain clock of STM32F429 (for example, channel1 of TIM2, i.e., TIM2_ CH1) outputs a PWM square wave signal with a duty ratio of 50%, and the frequency of the square wave is determined by the frequency of the excitation signal required by the resolver. The square wave signal can be used as the excitation signal of the rotary transformer, and the square wave signal only needs to inject a signal with a certain frequency into the rotary transformer, the signal does not need to be a sine signal, and the rotary transformer can sense and output an orthogonal signal containing the position information of the rotor magnetic pole of the rotary transformer. The position and the rotating speed of the rotor of the rotary transformer can be obtained by conditioning the orthogonal signals, sampling by an ADC (analog to digital converter), and phase-locking the orthogonal digital signals by adopting a phase-locked loop; and then the position and the rotating speed of the magnetic pole of the motor rotor can be obtained through the corresponding relation between the magnetic pole of the motor and the magnetic pole of the rotary transformer rotor.
Step 1.2) as shown in fig. 1 and fig. 2, sending the square wave signal to the input end of the single-phase half-bridge, and amplifying the square wave signal to a square wave excitation signal with the amplitude required by the rotary transformer through a drive bridge;
step 1.3) as shown in fig. 1, sending the square wave excitation signal amplified and output by the drive bridge to a rotary transformer, and outputting two groups of sine and cosine differential signals which are respectively marked as sin +, sin-, cos + and cos-by the rotary transformer;
step 2) as shown in fig. 1, sending the sinusoidal differential signal output by the rotary transformer to a sinusoidal signal conditioning circuit, and processing the differential signal through a common-mode inductor, a filter, a differential circuit, a voltage-raising circuit and a resistance voltage-dividing circuit to obtain a sinusoidal single-ended signal (as shown in fig. 6), wherein the expression is as follows:
ua(t)＝Us·sin(ωt)·sin(θr)+Uoffset (1)
in the formula, ua(t) is a sinusoidal signal containing rotor magnetic pole information, the frequency of the sinusoidal signal is consistent with the frequency of the excitation signal, the amplitude of the sinusoidal signal is in a sinusoidal relationship with the position of the rotor magnetic pole of the rotary transformer, UsIs a sinusoidal signal amplitude, UoffsetIs the bias voltage, omega is the frequency of the excitation signal, thetarFor the resolver rotor pole angle, the electrical position of the motor rotor pole is calculated as follows;
Figure BDA0003584466550000051
in the formula, thetaeFor electrical position of motor pole, PmAnd PrThe number of pole pairs for the motor and resolver, respectively.
As shown in fig. 1, the cosine differential signal output by the resolver is sent to a cosine signal conditioning circuit, and the differential signal is processed by a common-mode inductor, a filter, a differential circuit, a voltage raising circuit and a resistance voltage dividing circuit, so as to obtain a cosine single-ended signal (as shown in fig. 6), which has the following expression:
ub(t)＝Us·sin(ωt)·cos(θr)+Uoffset (3)
fig. 3 is a sinusoidal signal conditioning circuit device, which is composed of a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage-boosting circuit, and a resistor-voltage divider circuit. The common-mode inductor is L1, and can effectively suppress common-mode interference; the RC filter circuit consists of R1, C2, R2 and C1, the resistance value and the capacitance value of the RC filter circuit are selected according to the filter frequency, and the RC filter circuit can effectively filter high-frequency interference signals; the differential circuit consists of R3, R4, R6, C7, C4, R5 and an operational amplifier, and is used for processing sinusoidal differential signals to obtain sinusoidal single-ended signals; the voltage boost circuit consists of Vref _2.5V (boost voltage), C4 and R5, and is used for boosting the sine signal to be more than 0V; the resistance voltage-dividing circuit consists of R7, R8 and C4, and the function of the resistance voltage-dividing circuit is to control sinusoidal signals within a range of 0-3.3V by signals, so that the follow-up master control chip ADC can effectively acquire the sinusoidal signals.
FIG. 4 is a schematic diagram of a cosine signal conditioning circuit device, which is designed to be identical to a sine signal conditioning circuit device;
step 3) as shown in fig. 1 and fig. 5, selecting the capture comparison signal of the other Channel of the timer in step 1) (here, Channel2 of TIM2, i.e., TIM2_ CH2 is selected, as shown in fig. 5) as a trigger source for sampling two ADCs (e.g., ADC1_ Channel1 and ADC1_ Channel2), where the two ADCs respectively correspond to the sine single-ended signal and the cosine single-ended signal output by the acquisition signal processing circuit, and the reason why the ADC trigger source must select the other Channel of the same clock (i.e., TIM2) in step 1) is to ensure that the sampling time of the two ADCs does not deviate from the phase of the excitation signal, so that the envelope of the positive and negative signals can be accurately acquired, i.e., U in cosines of equations (1) and (3)ssin(θr),Uscos(θr) Collecting;
the sine and cosine signals acquired in step 3.1) can be represented by the following formula:
Figure BDA0003584466550000061
k in the formula (4) is a sine and cosine signal amplitude acquisition coefficient, the value range is 0-1, the larger K is, the higher the signal-to-noise ratio is, the better the anti-interference performance is, and the value of K is determined by ADC sampling time, namely by a capture comparison value (CCR setting, see FIG. 5) of a channel 2(TIM2_ CH2) of TIM 2. Since the main control chip samples the sine signal and the cosine signal at a fixed time in each period of the excitation signal, t of sin (ω t) in equations (1) and (3) is a fixed time, and the following equations (1), (3) and (4) are combined to obtain the following equation:
K＝sin(ωt) (5)
changing the capture comparison value CCR of the channel 2(TIM2_ CH2) of the TIM2, namely changing the value of t, and further controlling the magnitude of the amplitude acquisition coefficient K;
and 3.2) obtaining sine and cosine signals obtained after two paths of ADC sampling and rotor angles obtained by decoding are shown in figure 7, and obtaining the magnetic pole position and speed of the rotor by phase-locking the sine and cosine digital signals obtained by sampling in a main control chip program by adopting a phase-locked loop. The soft decoding method can select an anti-tangential method, a PLL (phase locked loop) and the like.
Therefore, by the method, under the condition of not using a decoding chip, sine and cosine signals containing the magnetic pole position information of the rotary transformer rotor which can be subjected to soft decoding can be obtained only by a hardware circuit consisting of a plurality of conventional devices and an analog-to-digital converter (ADC).
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.

Claims (10)

1. A resolver decoding apparatus driven by a high-frequency square wave, the resolver decoding apparatus comprising:
a main control chip: at least one path of high-frequency square wave signal can be generated, and the high-frequency square wave signal comprises two analog-to-digital conversion channels ADC;
single-phase half-bridge and driver chip: amplifying the high-frequency square wave signal through a single-phase half bridge, and applying the signal to a primary excitation winding;
the signal conditioning circuit: and conditioning the sine and cosine differential signals output by the rotary transformer to obtain sine and cosine single-ended voltage signals which can be directly sampled by the ADC.
2. The decoding device of claim 1, wherein the high-frequency square wave driving signal is output by PWM from a clock channel of the main control chip and amplified by the single-phase half-bridge to the high-frequency square wave driving signal with the amplitude required by the resolver.
3. The high-frequency square-wave driven resolver decoding device according to claim 1 or 2, wherein the signal conditioning circuit comprises a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage boost circuit and a resistance voltage divider circuit.
4. The high-frequency square-wave driven resolver decoding device according to claim 2, wherein the ADC sampling trigger signal in the analog-to-digital conversion module and the PWM output signal have a linkage mechanism, and the ADC sampling trigger signal is generated by another channel of the same clock, so as to ensure that the ADC sampling time does not deviate from the phase of the square-wave excitation signal.
5. A decoding method implemented by the high-frequency square-wave driven resolver decoding device according to claim 1, wherein the method comprises the steps of:
1) the high-frequency square wave signal output by the main control chip is used as an original excitation signal, is amplified to a square wave excitation signal with the amplitude required by the rotary transformer through a single-phase half bridge, and is applied to a primary excitation winding of the rotary transformer;
2) the orthogonal signal output by the rotary transformer is conditioned through a signal conditioning circuit to obtain sine and cosine single-ended voltage signals which can be directly sampled by an ADC;
3) and sampling the sine signal and the cosine signal through the main control chip ADC to obtain digital information required by soft decoding, and obtaining the position of the magnetic pole of the rotor through the soft decoding.
6. The decoding method according to claim 5, wherein in the step 1), the process of generating the original high-frequency square wave excitation signal is:
the selected main control chip is provided with ADC sampling, PWM output of pulse width modulation signals and a linkage mechanism of PWM events and ADC sampling signal sources; a PWM signal with the duty ratio of 50%, namely a square wave signal, is output by a certain channel of the high-level timer of the main control chip, and the frequency of the square wave is determined by the frequency of an excitation signal required by the rotary transformer.
7. The decoding method according to claim 5 or 6, wherein in the step 1), the single-phase half-bridge amplifies the excitation signal by:
and the high-frequency square wave signal is sent to the input end of the single-phase half bridge and amplified to the square wave excitation signal with the amplitude required by the rotary transformer through the single-phase half bridge.
8. The decoding method according to claim 6, wherein in the step 2), the signal conditioning process is:
the signal conditioning circuit conditions orthogonal signals which are output by the rotary transformer and contain rotor magnetic pole position information, and circuit conditioning such as common-mode inductance, filtering, difference, voltage lifting, resistance voltage division and the like is performed to obtain sine and cosine signals which can be directly sampled by an ADC (analog-to-digital converter), wherein the expression of the signal conditioning circuit is as follows:
ua(t)＝Us·sin(ωt)·sin(θr)+Uoffset (1)
ub(t)＝Us·sin(ωt)·cos(θr)+Uoffset (2)
in the formula ua(t) is a sinusoidal signal containing rotor magnetic pole information, the frequency of the sinusoidal signal is consistent with the frequency of the excitation signal, the amplitude of the sinusoidal signal is in a sinusoidal relationship with the position of the rotor magnetic pole of the rotary transformer, and UsIs the amplitude of the sinusoidal signal, UoffsetIs a bias voltageω is the frequency of the excitation signal, θrFor the resolver rotor pole angle, the electrical position of the motor rotor pole is calculated as follows:
Figure FDA0003584466540000021
in the formula, thetaeFor electrical position of motor pole, PmAnd PrThe number of pole pairs of the motor and the rotary transformer are respectively.
9. The decoding method of claim 8, wherein the signal conditioning circuit conditions the differential signal by:
the signal conditioning circuit consists of a common-mode inductor, an RC filter circuit, a differential operational amplifier circuit, a voltage lifting circuit and a resistance voltage-dividing circuit, wherein the common-mode inductor can effectively inhibit common-mode interference, and the RC filter circuit can effectively filter high-frequency interference signals; the differential circuit processes the differential signal to obtain a single-ended signal, the sine and cosine signal is lifted to be more than 0V through the voltage lifting circuit, and then resistance voltage division is carried out to enable the signal to be in the range of 0-3.3V, so that the follow-up main control chip ADC can effectively acquire the sine and cosine signal.
10. The decoding method according to claim 8, wherein in the step 3), the ADC sampling process of the main control chip is:
selecting a capturing comparison signal of the other channel of the timer, namely selecting channel2 of TIM2, namely TIM2_ CH2 as trigger sources of two paths of ADC sampling, wherein the two paths of ADCs respectively correspond to a sine signal and a cosine signal output by the signal conditioning circuit;
the sine and cosine signals obtained by collection are represented by the following formula:
Figure FDA0003584466540000022
k in the formula is a sine signal amplitude acquisition coefficient and a cosine signal amplitude acquisition coefficient, the value range is 0-1, the larger K is, the higher the signal to noise ratio is, and the better the anti-interference performance is; the magnitude of K is determined by the ADC sampling time, i.e. by the capture comparison value of channel2 of TIM2, and since the main control chip samples the sine signal and the cosine signal at a fixed time in each cycle of the excitation signal, t of sin (ω t) in (1) and (3) is a fixed time, and combining (1), (3) and (4), the following formula is obtained:
K＝sin(ωt) (5)
changing the capture comparison value CCR of the channel2 of the TIM2, namely changing the value of t, and further controlling the magnitude of the amplitude acquisition coefficient K;
the soft solution process comprises the following steps:
the main control chip performs soft decoding on sine and cosine signals obtained by ADC sampling, an inverse tangent method or a PLL phase-locked loop is selected as a soft decoding mode, and the position and the rotating speed of a rotary transformer rotor are obtained through the soft decoding; and then the position and the rotating speed of the magnetic pole of the motor rotor are obtained through the corresponding relation between the magnetic pole of the motor and the magnetic pole of the rotary transformer rotor.
CN202210362442.5A 2022-04-07 2022-04-07 High-frequency square wave driven rotary transformer decoding device and method Pending CN114759852A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115912800A (en) * 2022-12-09 2023-04-04 南京理工大学 Motor rotation-transformation integrated rotor position detection method
CN116827204A (en) * 2023-08-30 2023-09-29 南京理工大学 Servo motor rotary transformer decoding system based on low-energy carrier feedback

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115912800A (en) * 2022-12-09 2023-04-04 南京理工大学 Motor rotation-transformation integrated rotor position detection method
CN116827204A (en) * 2023-08-30 2023-09-29 南京理工大学 Servo motor rotary transformer decoding system based on low-energy carrier feedback
CN116827204B (en) * 2023-08-30 2023-11-21 南京理工大学 Servo motor rotary transformer decoding system based on low-energy carrier feedback

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