CN115189607A - Rotary transformer decoding method based on DSP - Google Patents
Rotary transformer decoding method based on DSP Download PDFInfo
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- CN115189607A CN115189607A CN202210847274.9A CN202210847274A CN115189607A CN 115189607 A CN115189607 A CN 115189607A CN 202210847274 A CN202210847274 A CN 202210847274A CN 115189607 A CN115189607 A CN 115189607A
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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
- H02P13/00—Arrangements for controlling transformers, reactors or choke coils, for the purpose of obtaining a desired output
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- 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
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/66—Digital/analogue converters
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Abstract
The invention discloses a rotary transformer decoding method based on DSP, which comprises the following steps: 1) Building a rotary transformer decoding system; 2) The excitation generating module (4) processes the received digital signals, converts the digital signals into two-phase orthogonal excitation signals, and respectively transmits the two-phase orthogonal excitation signals to the first stator winding (1) and the second stator winding (2) of the rotary transformer; 3) The rotor winding (3) of the resolver generates an induction signal e B (ii) a 4) And calculating the duty ratio according to the period and the high level time of the second square wave signal (15), and calculating the relative displacement of the stator and the rotor of the rotary transformer according to the variation relation of the duty ratio and the displacement. The invention adopts the phase discrimination mode to decode the output signal of the rotary transformer, avoids using a high-resolution A/D chip and reduces the hardware cost of the decoding circuit.
Description
Technical Field
The invention relates to the field of transformer decoding, in particular to a rotary transformer decoding method based on a DSP.
Background
The rotary transformer is a position measuring device, has higher precision, wider temperature range and excellent anti-vibration performance, can reliably work in severe environment, and is widely applied to servo systems or speed regulating systems operating under severe working conditions.
In the traditional resolver, an AD2S1210 decoding chip is mainly used as a cooperative processor, the AD2S1210 is controlled by a main control chip, and resolved data is directly read.
At present, most of resolver decoding methods adopt an amplitude discrimination mode for decoding, and the decoding mode needs to use a high-resolution A/D chip to perform A/D conversion on the output signal of the resolver, so that the hardware cost is high.
Disclosure of Invention
The invention aims to provide a rotary transformer decoding method based on DSP, which comprises the following steps:
1) A rotary transformer decoding system is set up and comprises an excitation generating module, an induction signal conditioning module and a DSP main control module;
2) The DSP main control module transmits two groups of digital signals with the same amplitude and orthogonal phases to the excitation generation module;
3) The excitation generating module processes the received digital signals, converts the digital signals into two-phase orthogonal excitation signals, and respectively transmits the two-phase orthogonal excitation signals to a first stator winding and a second stator winding of the rotary transformer.
The first stator winding and the second stator winding have the same number of turns and are perpendicular to each other.
The two orthogonal excitation signals are respectively marked as e S1 (t)、e S2 (t), namely:
e S1 (t)＝Asinωt (1)
e S2 (t)＝Acosωt (2)
in the formula, ω is an angular frequency.
The excitation generating module comprises a D/A conversion circuit and a first amplifying circuit.
The step of processing the received digital signal by the excitation generating module comprises:
3.1 A D/A conversion circuit of the excitation generation module performs digital-to-analog conversion on the received digital signal, converts the digital signal into an excitation signal and transmits the excitation signal to an amplification circuit;
3.2 A first amplification circuit of the excitation generation module amplifies the excitation signal.
4) After receiving the excitation signal, the rotor winding of the rotary transformer generates an induction signal e B ；
5) The induction signal conditioning module acquires an induction signal e of the rotary transformer B Processing to obtain a first square wave signal;
sensing signal e B As follows:
e B ＝-kAcosωtsinθ+kAsinωtcosθ (3)
＝kAsin(ωt-θ)
wherein k represents a constant coefficient; a is the carrier amplitude; omega is angular frequency; t is time; θ is the phase, which is equal to the relative displacement of the resolver stator and rotor.
The induction signal conditioning module comprises a second amplifying circuit, a filter circuit, a shaping circuit and an exclusive-OR gate.
The induction signal conditioning module is used for conditioning induction signals e of the rotary transformer B The step of performing the treatment comprises:
5.1 A second amplifying circuit of the induction signal conditioning module amplifies the acquired induction signal and transmits the amplified induction signal to a filter circuit;
5.2 The filter circuit filters the amplified induction signal and transmits the induction signal to the shaping circuit;
5.3 The shaping circuit converts the filtered induction signal into a first square wave signal with a frequency-invariant phase and a displacement in direct proportion.
6) The DSP main control module generates a PWM signal with the same frequency as the induction signal and transmits the PWM signal to the induction signal conditioning module;
7) The induction signal conditioning module carries out logic transformation on the first square wave signal and the PWM signal to obtain a second square wave signal with a path of duty ratio changing along with displacement, and the second square wave signal is transmitted to the DSP main control module;
the step of the induction signal conditioning module performing logic transformation on the first square wave signal and the PWM signal comprises the following steps: and an exclusive-OR gate of the induction signal conditioning module performs exclusive-OR gate logic conversion on the first square wave signal and the PWM signal.
8) After receiving the second square wave signal, the DSP main control module inputs the second square wave signal to a rising edge capturing unit and a falling edge capturing unit of the DSP main control module respectively;
the rising edge capturing unit calculates the period of the second square wave signal, and the falling edge capturing unit calculates the high level time of the second square wave signal;
9) And calculating the duty ratio according to the period and the high level time of the second square wave signal, and calculating the relative displacement of the stator and the rotor of the rotary transformer according to the variation relation between the duty ratio and the displacement.
The technical effect of the invention is undoubted, and the invention provides the rotary transformer decoding method based on the DSP, and the decoding method adopts a phase discrimination mode to decode the output signal of the rotary transformer, thereby avoiding using a high-resolution A/D chip and reducing the hardware cost of a decoding circuit.
The invention adopts exclusive-or logic to convert the phase calculation into duty ratio calculation, and adopts the input capture unit of the DSP to calculate the duty ratio, thereby being convenient and quick and having low cost.
Drawings
FIG. 1 is a schematic diagram of a rotary transformer;
FIG. 2 is a block diagram of a resolver decoding circuit;
FIG. 3 is a schematic diagram of the XOR logic conversion of square wave signals;
in the figure: the device comprises a first stator winding 1, a second stator winding 2, a rotor winding 3, an excitation generating module 4, an induction signal conditioning module 5, a DSP main control module 6, a D/A (digital/analog) conversion circuit 7, a first amplifying circuit 8, a second amplifying circuit 9, a filter circuit 10, a shaping circuit 11, an exclusive-OR gate 12, a first square wave signal 13, a PWM (pulse-width modulation) signal 14 and a second square wave signal 15.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and modifications can be made without departing from the technical idea of the invention and the scope of the invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 3, a resolver decoding method based on a DSP includes the steps of:
1) A rotary transformer decoding system is set up, and comprises an excitation generating module 4, an induction signal conditioning module 5 and a DSP main control module 6;
2) The DSP main control module 6 transmits two groups of digital signals with the same amplitude and orthogonal phases to the excitation generating module 4;
3) The excitation generating module 4 processes the received digital signal, converts the digital signal into two-phase orthogonal excitation signals, and respectively transmits the two-phase orthogonal excitation signals to the first stator winding 1 and the second stator winding 2 of the rotary transformer.
The first stator winding 1 and the second stator winding 2 have the same number of turns and are perpendicular to each other.
The two orthogonal excitation signals are respectively marked as e S1 (t)、e S2 (t), namely:
e S1 (t)＝Asinωt (1)
e S2 (t)＝Acosωt (2)
in the formula, ω is an angular frequency.
The excitation generating module 4 comprises a D/a conversion circuit 7 and a first amplifying circuit 8.
The step of processing the received digital signal by the excitation generating module 4 includes:
3.1 D/a conversion circuit 7 of the excitation generation module 4 performs digital-to-analog conversion on the received digital signal, converts the digital signal into an excitation signal, and transmits the excitation signal to an amplification circuit 8;
3.2 The first amplification circuit 8 of the excitation generation module 4 amplifies the excitation signal.
4) After receiving the excitation signal, the rotor winding 3 of the rotary transformer generates an induction signal e B ；
5) The induction signal conditioning module 5 collects the induction signal e of the rotary transformer B And processing the signals to obtain a first square wave signal 13;
sensing signal e B As follows:
e B ＝-kAcosωtsinθ+kAsinωtcosθ (3)
＝kAsin(ωt-θ)
where k represents a constant coefficient associated with the sensor; a is the carrier amplitude; omega is angular frequency; t is time; θ is the phase, which is equal to the relative displacement of the resolver stator and rotor.
The sensing signal conditioning module 5 comprises a second amplifying circuit 9, a filter circuit 10, a shaping circuit 11 and an exclusive-or gate 12.
The induction signal conditioning module 5 is used for conditioning the induction signal e of the rotary transformer B The step of performing the treatment comprises:
5.1 The second amplifying circuit 9 of the sensing signal conditioning module 5 amplifies the collected sensing signal and transmits the amplified sensing signal to the filter circuit 10;
5.2 The filter circuit 10 filters the amplified induction signal and transmits the filtered induction signal to the shaping circuit 11;
5.3 The shaping circuit 11 converts the filtered sensing signal into a first square wave signal 13 with a frequency-invariant phase proportional to the displacement.
6) The DSP main control module 6 generates a PWM signal 14 with the same frequency as the induction signal and transmits the PWM signal to the induction signal conditioning module 5;
7) The induction signal conditioning module 5 performs logic conversion on the first square wave signal 13 and the PWM signal 14 to obtain a second square wave signal 15 with a duty ratio changing along with displacement, and transmits the second square wave signal 15 to the DSP main control module 6;
the step of performing logic transformation on the first square wave signal 13 and the PWM signal 14 by the sensing signal conditioning module 5 includes: the exclusive or gate 12 of the sensing signal conditioning module 5 performs exclusive or gate logic conversion on the first square wave signal 13 and the PWM signal 14.
8) After receiving the second square wave signal 15, the DSP main control module 6 inputs the second square wave signal 15 to the rising edge capturing unit and the falling edge capturing unit of the DSP main control module 6, respectively;
the rising edge capturing unit calculates the period of the second square wave signal 15, and the falling edge capturing unit calculates the high level time of the second square wave signal 15;
9) And calculating the duty ratio according to the period and the high level time of the second square wave signal 15, and calculating the relative displacement between the stator and the rotor of the rotary transformer according to the variation relation between the duty ratio and the displacement. The duty cycle is the ratio of the time that the high level occupies within one period.
Example 2:
a resolver decoding method based on DSP includes the following contents:
1. the phase detection working mode of the rotary transformer is a detection mode for determining the displacement to be detected according to the phase of the induction signal in the rotor winding of the rotary transformer. The rotary transformer stator is composed of two windings (serial number 1 and serial number 2) which have the same number of turns and are perpendicular to each other, and the rotor is composed of one winding (serial number 3). Two orthogonal excitation signals (formula 1 and formula 2) are respectively introduced into the two windings of the stator, and the phase of an induction signal (formula 3) generated in the rotor winding is the relative displacement theta of the stator and the rotor. The relative displacement of the stator and rotor can be calculated from the phase of the signal induced in the rotor.
e S1 (t)＝Asinωt (1)
e S2 (t)＝Acosωt (2)
e B ＝-kAcosωtsinθ+kAsinωtcosθ (3)
＝kAsin(ωt-θ)
2. And the DSP main control module (serial number 6) is respectively connected with the excitation generation module (serial number 4) and the induction signal conditioning module (serial number 5). The DSP main control module outputs a PWM (serial number 13) with the same frequency as the induction signal frequency through a PWM module of the DSP to be used as a reference signal of the induction signal conditioning module, and simultaneously, two groups of amplitude sequences corresponding to signals with the same amplitude and the same phase and orthogonal are stored in a ROM of the DSP to be used as the input of the excitation generating module.
3. The excitation signal is generated by an excitation generating module, the excitation generating module generates a two-phase orthogonal signal by adopting a DDS technology, and the two-phase orthogonal signal is amplified by an amplifying circuit (serial number 8) and then is used as a rotary transformer excitation. The DDS technology converts digital signals output by the DSP main control module into analog signals through a D/A conversion circuit (serial number 7).
4. And the induction signal is conditioned by the induction signal conditioning module and then input into the DSP for displacement resolution. The induction signal conditioning module consists of an amplifying circuit (serial number 9), a filter circuit (serial number 10), a shaping circuit (serial number 11) and an exclusive-OR gate (serial number 12). The induction signal is amplified and filtered by an amplifying circuit and a filtering circuit, and then converted into a square wave signal 1 (serial number 14) with the frequency unchanged and the phase proportional to the displacement by a shaping circuit. And the square wave signal 1 and PWM output by the DSP main control module are subjected to logic conversion through an exclusive OR gate to obtain a square wave signal 2 (serial number 15) with the duty ratio changing along with displacement. And resolving the duty ratio of the square wave signal 2 to obtain the relative displacement between the stator and the rotor of the rotary transformer.
5. And the DSP main control module adopts an input capture module of the DSP to carry out duty ratio calculation on the square wave signal 2. The square wave signal 2 is used as an input signal for the capturing units CAP1 and CAP 2. CAP1 is set as rising edge capture, CAP2 is set as falling edge capture, the period of the square wave signal 2 is calculated in CAP1, and the high level time of the square wave signal 2 is calculated in CAP 2. And finally, calculating the duty ratio of the square wave signal 2 according to the obtained period and the high level time.
Example 3:
a method of a rotary transformer decoding system based on DSP comprises an excitation generation module, an induction signal conditioning module and a DSP main control module.
The DSP is used as a rotary transformer decoding main control chip, two groups of amplitude sequences corresponding to signals with the same amplitude and orthogonal phases are stored in a ROM of the DSP, and the sequences are converted into analog signals through a D/A conversion circuit to be used as excitation of the rotary transformer; the DSP outputs a path of PWM as a reference signal, and a square wave signal 1 obtained by amplifying, filtering and shaping the reference signal and an induction signal output by the rotary transformer is converted into a square wave signal 2 with the duty ratio changing along with the relative displacement change between the stator and the rotor through XOR logic; the square wave signal 2 is used as an input signal of a DSP input capture unit, and the duty ratio of the square wave signal 2 is calculated through the input capture unit, so that the relative displacement between the rotor and the stator of the rotary transformer is calculated.
The invention adopts a phase discrimination mode to decode the rotary transformer.
The present invention uses exclusive or logic to convert the phase calculation into a duty cycle calculation.
The invention adopts the input capture unit of the DSP to calculate the duty ratio.
Claims (9)
1. A rotary transformer decoding method based on DSP is characterized by comprising the following steps:
1) And constructing the rotary transformer decoding system, which comprises an excitation generating module (4), an induction signal conditioning module (5) and a DSP main control module (6).
2) And the DSP main control module (6) transmits two groups of digital signals with the same amplitude and orthogonal phases to the excitation generating module (4).
3) The excitation generating module (4) processes the received digital signals, converts the digital signals into two-phase orthogonal excitation signals, and respectively transmits the two-phase orthogonal excitation signals to the first stator winding (1) and the second stator winding (2) of the rotary transformer.
4) After receiving the excitation signal, the rotor winding (3) of the rotary transformer generates an induction signal e B ；
5) The induction signal conditioning module (5) collects an induction signal e of the rotary transformer B And processing the signal to obtain a first square wave signal (13);
6) The DSP main control module (6) generates a PWM signal (pulse width modulation) signal (14) with the same frequency as the induction signal and transmits the PWM signal to the induction signal conditioning module (5);
7) The induction signal conditioning module (5) carries out logic transformation on the first square wave signal (13) and the PWM signal (14) to obtain a second square wave signal (15) with a path of duty ratio changing along with displacement, and the second square wave signal is transmitted to the DSP main control module (6);
8) After receiving the second square wave signal (15), the DSP main control module (6) respectively inputs the second square wave signal (15) to a rising edge capturing unit and a falling edge capturing unit of the DSP main control module (6);
the rising edge capturing unit calculates the period of the second square wave signal (15), and the falling edge capturing unit calculates the high level time of the second square wave signal (15);
9) And calculating the duty ratio according to the period and the high level time of the second square wave signal (15), and calculating the relative displacement of the stator and the rotor of the rotary transformer according to the variation relation of the duty ratio and the displacement.
2. The DSP-based resolver decoding method of claim 1, wherein: the two orthogonal excitation signals are respectively denoted as e S1 (t)、e S2 (t), namely:
e s1 (t)＝Asinωt (I)
e s2 (t)＝Acosωt (2)
in the formula, ω is an angular frequency.
3. The DSP-based resolver decoding method of claim 1, wherein: the first stator winding (1) and the second stator winding (2) are equal in turn number and perpendicular to each other.
4. The DSP-based resolver decoding method of claim 1, wherein: the excitation generating module (4) comprises a D/A conversion circuit (7) and a first amplifying circuit (8).
5. The DSP-based resolver decoding method according to claim 4, wherein: the step of processing the received digital signal by the excitation generation module (4) comprises:
1) A D/A conversion circuit (7) of the excitation generating module (4) performs digital-to-analog conversion on the received digital signal, converts the digital signal into an excitation signal and transmits the excitation signal to an amplifying circuit (8);
2) The first amplifying circuit (8) of the excitation generating module (4) amplifies the excitation signal.
6. The DSP-based resolver decoding method of claim 1, wherein: the induction signal conditioning module (5) comprises a second amplifying circuit (9), a filter circuit (10), a shaping circuit (11) and an exclusive-OR gate (12).
7. The DSP-based resolver decoding method of claim 1, wherein: the induction signal conditioning module (5) is used for conditioning the induction signal e of the rotary transformer B The step of performing the treatment comprises:
1) The second amplifying circuit (9) of the induction signal conditioning module (5) amplifies the acquired induction signal and transmits the amplified induction signal to the filter circuit (10);
2) The filter circuit (10) filters the amplified induction signal and transmits the filtered induction signal to the shaping circuit (11);
3) The shaping circuit (11) converts the filtered induction signal into a first square wave signal (13) with a frequency-invariant phase and a displacement in direct proportion.
8. The DSP-based resolver decoding method of claim 1, wherein: the step of performing logic transformation on the first square wave signal (13) and the PWM signal (14) by the induction signal conditioning module (5) comprises the following steps: an exclusive-OR gate (12) of the induction signal conditioning module (5) carries out exclusive-OR gate logic conversion on the first square wave signal (13) and the PWM signal (14).
9. The DSP-based resolver decoding method of claim 1, wherein: sensing signal e B As follows:
e B ＝-kA cosωt sinθ+kA sinωt cosθ (3)
＝kA sin(ωt-θ)
wherein k represents a constant coefficient; a is the carrier amplitude; omega is angular frequency; t is time; θ is the phase, and its value is equal to the relative displacement of the resolver stator and rotor.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1338492A1 (en) * | 2002-02-22 | 2003-08-27 | Alstom Transport S.p.A. | System for occupancy detection in a railroad line and for digital communication with trains that run along said railroad line |
| CN204271968U (en) * | 2014-11-28 | 2015-04-15 | 湖北三江航天红峰控制有限公司 | A kind of resolver digital decoding control circuit based on DSP |
| CN111313764A (en) * | 2018-12-10 | 2020-06-19 | 波音公司 | Negative slope voltage frequency for starting variable frequency independent speed motor and speed control |
| WO2021073139A1 (en) * | 2019-10-14 | 2021-04-22 | 中车永济电机有限公司 | Self-detection system for connection lines of rotary transformer |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1338492A1 (en) * | 2002-02-22 | 2003-08-27 | Alstom Transport S.p.A. | System for occupancy detection in a railroad line and for digital communication with trains that run along said railroad line |
| CN204271968U (en) * | 2014-11-28 | 2015-04-15 | 湖北三江航天红峰控制有限公司 | A kind of resolver digital decoding control circuit based on DSP |
| CN111313764A (en) * | 2018-12-10 | 2020-06-19 | 波音公司 | Negative slope voltage frequency for starting variable frequency independent speed motor and speed control |
| WO2021073139A1 (en) * | 2019-10-14 | 2021-04-22 | 中车永济电机有限公司 | Self-detection system for connection lines of rotary transformer |
Non-Patent Citations (2)
| Title |
|---|
| 周曼;易吉良;吕道轩;: "基于DSP的旋转变压器角度解码方法", 电子世界, no. 14, 23 July 2018 (2018-07-23) * |
| 崔波;徐衍亮;张云;: "基于DSP的旋转变压器解码系统设计", 微电机, no. 04, 28 April 2017 (2017-04-28) * |
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