CN115494758A - Data acquisition device and decoding method of rotary transformer - Google Patents
Data acquisition device and decoding method of rotary transformer Download PDFInfo
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- CN115494758A CN115494758A CN202211064106.9A CN202211064106A CN115494758A CN 115494758 A CN115494758 A CN 115494758A CN 202211064106 A CN202211064106 A CN 202211064106A CN 115494758 A CN115494758 A CN 115494758A
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- G05B19/00—Programme-control systems
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Abstract
The application provides a resolver's data acquisition device and decoding method, belongs to conversion motor control field, the device includes: the motor speed conversion circuit, the double-excitation sine and cosine differential output circuit and the double-sine and cosine differential signal input circuit. The method comprises the following steps: generating sine and cosine excitation signals; converting the sine and cosine excitation signals into sine and cosine differential signals, wherein the sine and cosine differential signals are used as the input of a rotary transformer; receiving sine and cosine differential signals generated by a rotary transformer; converting sine and cosine differential signals generated by a rotary transformer into sine and cosine response signals which can be identified by a motor speed conversion circuit; obtaining a motor angle according to the sine and cosine excitation signal and the sine and cosine response signal; and obtaining the motor speed according to the motor angle. The device replaces a special rotary transformer decoding chip, the hardware device is strong in universality, the hardware development period and cost are reduced, and the sampling precision and the calculation precision are improved.
Description
Technical Field
The application belongs to the field of control over a variable-current motor, and particularly relates to a data acquisition device and a decoding method for a rotary transformer.
Background
The resolver is called a resolver for short, is a sensor for collecting the position and the speed of a motor, and is also called an encoder. Compared with an encoder in the photoelectric technology, the rotary transformer has the adaptability to severe environments such as heat resistance, vibration resistance, impact resistance, oil stain resistance, corrosion resistance and the like, and is widely applied to the field of control over frequency converter motors in large-scale factories. At present, for signal acquisition of the rotary transformer, a special integrated chip of foreign manufacturers or an MCU interface with special rotary transformer decoding integration is adopted, and the special rotary transformer integrated chip is subjected to register configuration through software, so that speed and position data in a register are read. Such dedicated integrated chips are often out of supply and are generally expensive; the rotary transformer in the current market has various types, and comprises a pair of single excitation differential signal inputs and two pairs of sine and cosine differential signal outputs; two pairs of double-excitation sine and cosine differential inputs are also provided, and two pairs of sine and cosine differential signals are output; and two pairs of double-excitation sine and cosine differential inputs and one pair of differential signal outputs are also arranged. And different special rotary transformer decoding integrated chips are adopted, so that the difference of hardware acquisition devices is larger, the development period and the cost of hardware are increased, and the requirement on the universality of the hardware is not facilitated.
Disclosure of Invention
Based on the technical problem, the application provides a data acquisition device and a decoding method of a rotary transformer.
In a first aspect, the present application provides a data acquisition device for a resolver, comprising: the motor speed conversion circuit, the double-excitation sine and cosine differential output circuit and the double-sine and cosine differential signal input circuit;
the output end of the motor speed conversion circuit is connected with the input end of the double-excitation sine-cosine differential output circuit, the output end of the double-excitation sine-cosine differential output circuit is connected with the input end of the rotary transformer, the output end of the rotary transformer is connected with the input end of the double-sine-cosine differential signal input circuit, and the output end of the double-sine-cosine differential signal input circuit is connected with the input end of the motor speed conversion circuit;
the motor speed conversion circuit is used for generating sine and cosine excitation signals, receiving sine and cosine response signals output by the double sine and cosine differential signal input circuit at the same time, obtaining a motor angle according to the sine and cosine excitation signals and the sine and cosine response signals, and obtaining a motor speed according to the motor angle;
the double-excitation sine and cosine differential output circuit is used for converting the sine and cosine excitation signals into sine and cosine differential signals, and the sine and cosine differential signals are used as the input of the rotary transformer;
the double sine and cosine differential signal input circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine response signals which can be identified by the motor speed conversion circuit.
The data acquisition device of the rotary transformer further comprises a communication circuit used for communication between the main controller and the motor speed conversion circuit.
The data acquisition device of the rotary transformer further comprises a signal isolation circuit, and the signal isolation circuit is used for carrying out signal isolation between the double-excitation sine and cosine differential output circuit and the rotary transformer and between the double-sine and cosine differential signal input circuit and the rotary transformer.
The double-excitation sine-cosine differential output circuit comprises: the digital-to-analog conversion circuit, the push-pull drive circuit and the single-end to differential circuit;
the first output end of the digital-to-analog conversion circuit is connected with the first input end of the push-pull driving circuit, the first output end of the push-pull driving circuit is connected with the first input end of the single-ended to differential conversion circuit, the second output end of the digital-to-analog conversion circuit is connected with the second input end of the push-pull driving circuit, the second output end of the push-pull driving circuit is connected with the second input end of the single-ended to differential conversion circuit, and the first output end, the second output end, the third output end and the fourth output end of the single-ended to differential conversion circuit are respectively connected with the first input end, the second input end, the third input end and the fourth input end of the signal isolation circuit;
the digital-to-analog conversion circuit is used for converting the sine and cosine excitation signals into analog signals;
the push-pull driving circuit is used for amplifying the analog signal to a preset multiple according to the requirement of the rotary transformer to obtain an analog amplified signal;
the single-ended to differential conversion circuit is used for converting the analog amplification signal into sine and cosine differential signals.
The double sine-cosine differential signal input circuit comprises: the circuit comprises a differential-to-single-ended circuit, an operational amplifier conditioning circuit and an analog-to-digital conversion circuit;
the first input end, the second input end, the third input end and the fourth input end of the differential-to-single-ended circuit are respectively connected with the first output end, the second output end, the third output end and the fourth output end of the signal isolation circuit, the first output end of the differential-to-single-ended circuit is connected with the first input end of the operational amplifier conditioning circuit, the first output end of the operational amplifier conditioning circuit is connected with the first input end of the analog-to-digital conversion circuit, the second output end of the differential-to-single-ended circuit is connected with the second input end of the operational amplifier conditioning circuit, and the second output end of the operational amplifier conditioning circuit is connected with the second input end of the analog-to-digital conversion circuit;
the differential-to-single-ended circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals;
the operational amplifier conditioning circuit is used for reducing the sine and cosine single-ended signal to a preset multiple according to the requirement of the analog-to-digital conversion circuit to obtain a reduced sine and cosine single-ended signal;
the analog-to-digital conversion circuit is used for converting the reduced sine-cosine single-ended signal into the sine-cosine response signal.
The motor speed conversion circuit is realized by adopting a programmable logic array or a programmable chip.
The motor angle is calculated according to the following formula:
wherein E is E_F For the sine differential signal output by the rotary transformer, the sine differential signal is reversely deduced from the sine response signal according to the principle of the double sine-cosine differential signal input circuit, E G_H For the cosine differential signal output by the rotary transformer, the cosine differential signal is reversely derived from the cosine response signal according to the principle of a double sine-cosine differential signal input circuit, E A_B The sine differential signal is reversely deduced from the sine exciting signal according to the principle of a double-excitation sine and cosine differential output circuit, and E is the sine differential signal input by the rotary transformer C_D The cosine differential signal is input into the rotary transformer, the cosine differential signal is reversely deduced from the cosine excitation signal according to the principle of a double-excitation sine and cosine differential output circuit, and theta is the angle of the motor.
The motor speed is calculated according to the following formula:
wherein, theta 2 Is T 2 Time of day motor angle, θ 1 Is T 1 The motor angle is the instant.
In a second aspect, the present application provides a data decoding method for a resolver, which is implemented by using the data acquisition device for a resolver, and includes the following steps:
generating sine and cosine excitation signals;
converting the sine and cosine excitation signals into sine and cosine differential signals, wherein the sine and cosine differential signals are used as the input of a rotary transformer;
receiving sine and cosine differential signals generated by a rotary transformer;
converting the sine and cosine differential signals generated by the rotary transformer into sine and cosine response signals which can be identified by the motor speed conversion circuit;
obtaining a motor angle according to the sine and cosine excitation signal and the sine and cosine response signal;
and obtaining the motor speed according to the motor angle.
The data decoding method of the rotary transformer further comprises the following steps: and signal isolation processing is required before the sine and cosine differential signals are input into the rotary transformer.
The step of converting the sine and cosine excitation signal into a sine and cosine differential signal comprises the following steps:
converting the sine and cosine excitation signals into analog signals;
amplifying the analog signal to a preset multiple according to the requirements of the rotary transformer to obtain an analog amplified signal;
and converting the analog amplification signal into a sine and cosine differential signal.
The step of converting the sine and cosine differential signal into a sine and cosine response signal comprises the following steps:
converting the sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals;
reducing the sine and cosine single-ended signal to a preset multiple to obtain a reduced sine and cosine single-ended signal;
and converting the reduced sine and cosine single-ended signal into the sine and cosine response signal.
The motor speed is obtained according to the motor angle, and the method comprises the following steps:
calculating the motor angle difference between the previous moment and the next moment;
calculating the time difference between the previous moment and the next moment;
and dividing the motor angle difference value by the time difference value to obtain the motor speed.
The motor angle is calculated according to the following formula:
wherein E is E_F For the sine differential signal output by the rotary transformer, the sine differential signal is reversely deduced from the sine response signal according to the principle that the sine differential signal is converted into the sine response signal, E G_H A cosine differential signal is reversely derived from the cosine response signal according to the principle that the sine-cosine differential signal is converted into sine-cosine response signal, and E is output by the rotary transformer A_B For the sine differential signal input by the rotary transformer, the sine differential signal is reversely deduced from the sine excitation signal according to the principle that the sine excitation signal is converted into the sine differential signal, E C_D The cosine differential signal is input into the rotary transformer, the cosine differential signal is reversely deduced from the cosine excitation signal according to the principle that the sine-cosine excitation signal is converted into the sine-cosine differential signal, and theta is the angle of the motor.
The motor speed is calculated according to the following formula:
wherein, theta 2 Is T 2 Time of day motor angle θ 1 Is T 1 The motor angle is the instant.
The beneficial technical effects are as follows:
the application provides a resolver's data acquisition device and decoding method, has cancelled special resolver decoding chip, adopts soft decoding to realize special chip hard decoding function, therefore this application can be suitable for the resolver signal acquisition of most different grade type, and hardware device commonality is strong, has reduced hardware development cycle and cost.
The FPGA is adopted to realize the speed and position soft decoding function, the sampling precision and the calculation precision are improved, and the method has the advantages of flexible and various programming.
Drawings
Fig. 1 is a schematic block diagram of a data acquisition device of a resolver according to an embodiment of the present disclosure;
fig. 2 is an internal schematic block diagram of a dual-excitation sine-cosine differential output circuit and a dual-sine-cosine differential signal input circuit according to an embodiment of the present application;
fig. 3 is a flowchart of a data decoding method of a resolver according to an embodiment of the present disclosure;
FIG. 4 is a flowchart illustrating a process of converting sine and cosine excitation signals into sine and cosine differential signals according to an embodiment of the present application;
fig. 5 is a flowchart illustrating a process of converting a sine-cosine differential signal into a sine-cosine response signal according to an embodiment of the present application.
Detailed Description
The disclosure will be further described with reference to the embodiments shown in the drawings.
In this embodiment, the motor speed conversion circuit is implemented by a Field Programmable Gate Array (FPGA), and the same method can also be implemented by a programmable chip, but the data sampling precision and the calculation precision of the motor speed conversion circuit are much poorer than those of the FPGA.
The motor speed conversion circuit (FPGA) is used for generating sine and cosine excitation signals, and the sine and cosine excitation signals comprise: DA _ data (an internal Digital quantity of the FPGA), DA _ cs _ n (the FPGA generates a DA chip select signal according to a DA (Digital to Analog) chip driving timing requirement in the Digital-to-Analog conversion circuit), and DA _ wr _ n (a DA write enable signal), wherein the Digital-to-Analog conversion circuit converts the DA _ data, the DA _ cs _ n, and the DA _ wr _ n into sina1 (a sine excitation Analog quantity) and a cosa1 (a cosine excitation Analog quantity) according to the received sine and cosine excitation signals.
The push-pull driving circuit amplifies received sina1 (sine excitation analog quantity) and cosa1 (cosine excitation analog quantity) to preset times according to the requirements of the rotary transformer to obtain analog amplification signals, sina2 (sine analog amplification signals) and cosa2 (cosine analog amplification signals).
The single-end to differential conversion circuit converts received sina2 (sine analog amplification signal) and cosa2 (cosine analog amplification signal) into sine and cosine differential signals which can be identified by the rotary transformer, and the signals are respectively as follows: differential sinusoidal signals: sina + and sina-, differential cosine signal: cosa + and cosa-.
In order to avoid acquisition device to receive influence such as external surge and suffer damage, set up signal isolation circuit, with differential sinusoidal signal: sina + and sina-, differential cosine signal: cosa + and cosa-, convert the difference sinusoidal signal after signal isolation respectively: ex-sina + and Ex-sina-, differential cosine signal: ex-cosa + and Ex-cosa-.
According to the output differential sinusoidal signal of the rotary transformer: sina + and sina-, differential cosine signal: cosa + and cosa-, and a differential sinusoidal signal is obtained through a signal isolation circuit: sina + and sina-, differential cosine signal: cosa + and cosa-, and sina +, sina-, cosa + and cosa-are converted into sine-cosine single-ended signals through the differential-to-single-ended circuit: sina4 (sine single-ended signal), cosa4 (cosine single-ended signal). According to the requirement of the analog-to-digital conversion circuit, the operational amplifier conditioning circuit is adopted to convert sine and cosine analog signals: sina4 and cosa4 are reduced to a preset multiple to obtain reduced sine-cosine single-ended signals sina5 and cosa5, the Analog-to-Digital conversion circuit receives the reduced sine-cosine single-ended signals sina5 and cosa5, an AD chip selection signal (AD _ cs _ n) is generated through sina2 (sine excitation Digital quantity) and cosa2 (cosine excitation Digital quantity) according to an AD (Analog to Digital) chip manual driving time sequence in the Analog-to-Digital conversion circuit, the DA reads an enable signal (AD _ rd _ n), AD _ data is obtained through Analog-to-Digital conversion, the FPGA reads AD _ data, and the final motor rotating speed is obtained through FPGA internal conversion.
In a first aspect, the present application provides a data acquisition device for a resolver, as shown in fig. 1, including: the motor speed conversion circuit, the double-excitation sine and cosine differential output circuit and the double-sine and cosine differential signal input circuit;
the output end of the motor speed conversion circuit is connected with the input end of the double-excitation sine-cosine differential output circuit, the output end of the double-excitation sine-cosine differential output circuit is connected with the input end of the rotary transformer, the output end of the rotary transformer is connected with the input end of the double-sine-cosine differential signal input circuit, and the output end of the double-sine-cosine differential signal input circuit is connected with the input end of the motor speed conversion circuit;
the motor speed conversion circuit is used for generating sine and cosine excitation signals, receiving sine and cosine response signals output by the double sine and cosine differential signal input circuit at the same time, obtaining a motor angle according to the sine and cosine excitation signals and the sine and cosine response signals, and obtaining a motor speed according to the motor angle;
the double-excitation sine and cosine differential output circuit is used for converting the sine and cosine excitation signals into sine and cosine differential signals, and the sine and cosine differential signals are used as the input of the rotary transformer;
the double sine and cosine differential signal input circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine response signals which can be identified by the motor speed conversion circuit.
As shown in fig. 1, the data acquisition device of the resolver further includes a communication circuit for communication between the main controller and the motor speed conversion circuit. The resolver signal sampling device and the main control unit can adopt various communication modes, such as optical fiber communication, 485 communication, ethernet communication, EMIF (External Memory Interface) bus communication directly with a main controller and the like, and the position and speed data are transmitted to the main controller by adopting a reasonable communication mode according to the speed and position information calculated by the FPGA. So that a Master controller MCU (Master Control Unit) performs motor algorithm Control.
As shown in fig. 1, the data acquisition device of the rotary transformer further includes a signal isolation circuit for performing signal isolation between the double-excitation sine-cosine differential output circuit and the rotary transformer and between the double-sine-cosine differential signal input circuit and the rotary transformer.
The double-excitation sine-cosine differential output circuit, as shown in fig. 2, includes: the digital-to-analog conversion circuit, the push-pull drive circuit and the single-end to differential circuit;
the first output end of the digital-to-analog conversion circuit is connected with the first input end of the push-pull drive circuit, the first output end of the push-pull drive circuit is connected with the first input end of the single-ended to differential conversion circuit, the second output end of the digital-to-analog conversion circuit is connected with the second input end of the push-pull drive circuit, the second output end of the push-pull drive circuit is connected with the second input end of the single-ended to differential conversion circuit, and the first output end, the second output end, the third output end and the fourth output end of the single-ended to differential conversion circuit are respectively connected with the first input end, the second input end, the third input end and the fourth input end of the signal isolation circuit;
the digital-to-analog conversion circuit is used for converting the sine and cosine excitation signals into analog signals; the analog signal includes: sina1 (sine-excited analog quantity) and cosa1 (cosine-excited analog quantity).
The push-pull driving circuit is used for amplifying the analog signal to a preset multiple according to the requirement of the rotary transformer to obtain an analog amplified signal; the analog amplified signal includes: sina2 (sine analog amplified signal) and cosa2 (cosine analog amplified signal).
The single-ended to differential conversion circuit is used for converting the analog amplification signal into sine and cosine differential signals. The sine and cosine differential signal comprises: differential sinusoidal signals: sina + and sina-, differential cosine signal: cosa + and cosa-.
The double sine and cosine differential signal input circuit, as shown in fig. 2, includes: the circuit comprises a differential-to-single-ended circuit, an operational amplifier conditioning circuit and an analog-to-digital conversion circuit;
the first input end, the second input end, the third input end and the fourth input end of the differential-to-single-ended circuit are respectively connected with the first output end, the second output end, the third output end and the fourth output end of the signal isolation circuit, the first output end of the differential-to-single-ended circuit is connected with the first input end of the operational amplifier conditioning circuit, the first output end of the operational amplifier conditioning circuit is connected with the first input end of the analog-to-digital conversion circuit, the second output end of the differential-to-single-ended circuit is connected with the second input end of the operational amplifier conditioning circuit, and the second output end of the operational amplifier conditioning circuit is connected with the second input end of the analog-to-digital conversion circuit;
the differential-to-single-ended circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals; the sine and cosine differential signal output by the rotary transformer comprises: differential sinusoidal signals: sina + and sina-, differential cosine signal: cosa + and cosa-, the sine-cosine single-ended signal comprising: sina4 (sine single ended signal), cosa4 (cosine single ended signal).
The operational amplifier conditioning circuit is used for reducing the sine and cosine single-ended signal to a preset multiple according to the requirement of the analog-to-digital conversion circuit to obtain a reduced sine and cosine single-ended signal, and the reduced sine and cosine single-ended signal comprises: sina5, cosa5;
the analog-to-digital conversion circuit is used for converting the reduced sine-cosine single-ended signal into the sine-cosine response signal.
The motor speed conversion circuit is realized by adopting a programmable logic array or a programmable chip.
Because FPGA has the IP CORE (IP CORE) with flexible and rich programming and the high-efficiency parallel data sampling and data processing operational capability, the computational accuracy and the sampling computation real-time performance of data can be ensured, the method is realized by adopting a software programming mode based on FPGA devices, and the realization steps are as follows:
(A) Generating sine and cosine excitation signals: discretizing sine signals and cosine signals according to DA sampling periods and sine and cosine excitation periods, and storing discretized digital quantities in a Read Only Memory (ROM) area in an FPGA chip; driving a DA chip, reading ROM data, transmitting the ROM data to the DA chip, and converting digital quantity into sine and cosine excited analog signals;
(B) Digital quantity reading of analog signal: the sine and cosine excitation signals and sine and cosine signals output by the rotary transformer are read by driving the AD chip, and E is acquired E_F 、E G_H 、E A_B 、E C_D An analog quantity signal;
(C) Digital operation: e is realized by utilizing multiplication IP core in FPGA compiling software to realize multiplication operation E_F E A_B 、E G_ H E C_D 、E E_F E C_D 、E G_H E A_B Obtaining Y and X by addition and subtraction operation;
(D) Calculating the angle of the motor: realizing the arc tangent operation of Y/X by using an FPGA compiling software arc tangent IP core to obtain a motor angle;
the motor angle is calculated according to the following formula:
wherein, E E_F For the sine differential signal output by the rotary transformer, the sine differential signal is reversely deduced from the sine response signal according to the principle of the double sine and cosine differential signal input circuit, E G_H For the cosine differential signal output by the rotary transformer, the cosine differential signal is reversely derived from the cosine response signal according to the principle of a double sine-cosine differential signal input circuit, E A_B The sine differential signal is reversely deduced from the sine exciting signal according to the principle of a double-excitation sine and cosine differential output circuit, and E is the sine differential signal input by the rotary transformer C_D Cosine difference for resolver inputDividing signals, reversely deducing cosine differential signals from cosine excitation signals according to a double-excitation sine and cosine differential output circuit principle, wherein theta is a motor angle.
(E) Calculating the speed of the motor: obtaining the motor speed by utilizing the differential of the motor angle, namely the speed is the angle change d theta in a sampling period (time dT), and utilizing FPGA compiling software to divide an IP core to realize the calculation of the motor speed; the motor speed is calculated according to the following formula:
wherein, theta 2 Is T 2 Time of day motor angle, θ 1 Is T 1 The motor angle is the instant.
(F) The FPGA is communicated with the main control unit: and the FPGA transmits the calculated motor angle and position information to the main control unit in a communication mode, and provides a control algorithm input source.
In a second aspect, the present application provides a data decoding method for a resolver, which is implemented by using a data acquisition device for the resolver, as shown in fig. 3, and includes the following steps:
step S1: generating sine and cosine excitation signals;
step S2: converting the sine and cosine excitation signals into sine and cosine differential signals, wherein the sine and cosine differential signals are used as the input of a rotary transformer;
and step S3: receiving sine and cosine differential signals generated by a rotary transformer;
and step S4: converting sine and cosine differential signals generated by a rotary transformer into sine and cosine response signals which can be identified by a motor speed conversion circuit;
step S5: obtaining a motor angle according to the sine and cosine excitation signal and the sine and cosine response signal;
step S6: and obtaining the motor speed according to the motor angle.
The data decoding method of the rotary transformer further comprises the following steps: and signal isolation processing is required before the sine and cosine differential signals are input into the rotary transformer.
As shown in fig. 4, the converting the sine and cosine excitation signal into a sine and cosine differential signal includes the following steps:
step S2.1: converting the sine and cosine excitation signals into analog signals;
step S2.2: amplifying the analog signal to a preset multiple according to the requirement of the rotary transformer to obtain an analog amplified signal;
step S2.3: and converting the analog amplification signal into a sine and cosine differential signal.
As shown in fig. 5, the converting the sine and cosine differential signal into a sine and cosine response signal includes the following steps:
step S4.1: converting the sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals;
s4.2, reducing the sine and cosine single-ended signals to a preset multiple to obtain reduced sine and cosine single-ended signals;
step S4.3: and converting the reduced sine-cosine single-ended signal into the sine-cosine response signal.
The motor speed is obtained according to the motor angle, and the method comprises the following steps:
calculating the motor angle difference between the previous moment and the next moment;
calculating the time difference between the previous moment and the next moment;
and dividing the motor angle difference value by the time difference value to obtain the motor speed.
The motor angle is calculated according to the following formula:
wherein E is E_F Sinusoidal differential signals for the resolver output, according to positiveConversion of cosine differential signals into sine-cosine response signals the sine differential signals are derived back from the sine response signals, E G_H A cosine differential signal is reversely derived from the cosine response signal according to the principle that the sine-cosine differential signal is converted into sine-cosine response signal, and E is output by the rotary transformer A_B For the sine differential signal input by the rotary transformer, the sine differential signal is reversely deduced from the sine excitation signal according to the principle that the sine excitation signal is converted into the sine differential signal, E C_D The cosine differential signal is input into the rotary transformer, the cosine differential signal is reversely deduced from the cosine excitation signal according to the principle that the sine-cosine excitation signal is converted into the sine-cosine differential signal, and theta is the angle of the motor.
The motor speed is calculated according to the following formula:
wherein, theta 2 Is T 2 Time of day motor angle, θ 1 Is T 1 The motor angle is the instant.
The embodiments in the present disclosure are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments.
The scope of the present disclosure is not limited to the above-described embodiments, and it is apparent that various modifications and variations can be made to the present disclosure by those skilled in the art without departing from the scope and spirit of the present disclosure. It is intended that the present disclosure also cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (11)
1. A resolver data acquisition apparatus, comprising: the motor speed conversion circuit, the double-excitation sine and cosine differential output circuit and the double-sine and cosine differential signal input circuit;
the output end of the motor speed conversion circuit is connected with the input end of the double-excitation sine-cosine differential output circuit, the output end of the double-excitation sine-cosine differential output circuit is connected with the input end of the rotary transformer, the output end of the rotary transformer is connected with the input end of the double-sine-cosine differential signal input circuit, and the output end of the double-sine-cosine differential signal input circuit is connected with the input end of the motor speed conversion circuit;
the motor speed conversion circuit is used for generating sine and cosine excitation signals, receiving sine and cosine response signals output by the double sine and cosine differential signal input circuit at the same time, obtaining a motor angle according to the sine and cosine excitation signals and the sine and cosine response signals, and obtaining a motor speed according to the motor angle;
the double-excitation sine and cosine differential output circuit is used for converting the sine and cosine excitation signals into sine and cosine differential signals, and the sine and cosine differential signals are used as the input of the rotary transformer;
the double sine and cosine differential signal input circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine response signals which can be identified by the motor speed conversion circuit.
2. The resolver data acquisition device according to claim 1, further comprising a communication circuit for communication between a main controller and the motor speed conversion circuit.
3. The resolver data acquisition device according to claim 2, further comprising a signal isolation circuit for signal isolation between the double-excitation sine-cosine differential output circuit and the resolver and between the double-sine-cosine differential signal input circuit and the resolver.
4. The resolver data collecting device according to claim 3, wherein the double-excitation sine-cosine differential output circuit comprises: the device comprises a digital-to-analog conversion circuit, a push-pull driving circuit and a single-end to differential circuit;
the first output end of the digital-to-analog conversion circuit is connected with the first input end of the push-pull driving circuit, the first output end of the push-pull driving circuit is connected with the first input end of the single-ended to differential conversion circuit, the second output end of the digital-to-analog conversion circuit is connected with the second input end of the push-pull driving circuit, the second output end of the push-pull driving circuit is connected with the second input end of the single-ended to differential conversion circuit, and the first output end, the second output end, the third output end and the fourth output end of the single-ended to differential conversion circuit are respectively connected with the first input end, the second input end, the third input end and the fourth input end of the signal isolation circuit;
the digital-to-analog conversion circuit is used for converting the sine and cosine excitation signals into analog signals;
the push-pull driving circuit is used for amplifying the analog signal to a preset multiple according to the requirement of the rotary transformer to obtain an analog amplified signal;
the single-ended to differential circuit is used for converting the analog amplification signal into a sine and cosine differential signal.
5. The resolver data acquisition device according to claim 4, wherein the double sine and cosine differential signal input circuit comprises: the circuit comprises a differential-to-single-ended circuit, an operational amplifier conditioning circuit and an analog-to-digital conversion circuit;
the first input end, the second input end, the third input end and the fourth input end of the differential-to-single-ended circuit are respectively connected with the first output end, the second output end, the third output end and the fourth output end of the signal isolation circuit, the first output end of the differential-to-single-ended circuit is connected with the first input end of the operational amplifier conditioning circuit, the first output end of the operational amplifier conditioning circuit is connected with the first input end of the analog-to-digital conversion circuit, the second output end of the differential-to-single-ended circuit is connected with the second input end of the operational amplifier conditioning circuit, and the second output end of the operational amplifier conditioning circuit is connected with the second input end of the analog-to-digital conversion circuit;
the differential-to-single-ended circuit is used for converting sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals;
the operational amplifier conditioning circuit is used for reducing the sine and cosine single-ended signal to a preset multiple according to the requirement of the analog-to-digital conversion circuit to obtain a reduced sine and cosine single-ended signal;
the analog-to-digital conversion circuit is used for converting the reduced sine-cosine single-ended signal into the sine-cosine response signal.
6. The resolver data acquisition device according to claim 5, wherein the motor speed conversion circuit is implemented using a programmable logic array or a programmable chip.
7. A data decoding method of a rotary transformer is realized by the data acquisition device of the rotary transformer of any one of claims 1 to 6, and is characterized by comprising the following steps:
generating sine and cosine excitation signals;
converting the sine and cosine excitation signals into sine and cosine differential signals, wherein the sine and cosine differential signals are used as the input of a rotary transformer;
receiving sine and cosine differential signals generated by a rotary transformer;
converting the sine and cosine differential signals generated by the rotary transformer into sine and cosine response signals which can be identified by the motor speed conversion circuit;
obtaining a motor angle according to the sine and cosine excitation signal and the sine and cosine response signal;
and obtaining the motor speed according to the motor angle.
8. The data decoding method of a resolver according to claim 7, further comprising: and signal isolation processing is required before the sine and cosine differential signals are input into the rotary transformer.
9. The resolver data decoding method according to claim 8, wherein the converting the sin-cos excitation signal into the sin-cos differential signal includes the steps of:
converting the sine and cosine excitation signals into analog signals;
amplifying the analog signal to a preset multiple according to the requirement of the rotary transformer to obtain an analog amplified signal;
and converting the analog amplification signal into a sine and cosine differential signal.
10. The resolver data decoding method according to claim 9, wherein the converting the sine-cosine differential signal into a sine-cosine response signal comprises:
converting the sine and cosine differential signals output by the rotary transformer into sine and cosine single-ended signals;
reducing the sine and cosine single-ended signal to a preset multiple to obtain a reduced sine and cosine single-ended signal;
and converting the reduced sine and cosine single-ended signal into the sine and cosine response signal.
11. The resolver data decoding method according to claim 10, wherein the obtaining of the motor speed from the motor angle comprises the steps of:
calculating the motor angle difference between the previous moment and the next moment;
calculating the time difference between the previous moment and the next moment;
and dividing the motor angle difference value by the time difference value to obtain the motor speed.
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| CN116754002A (en) * | 2023-08-16 | 2023-09-15 | 深蓝(天津)智能制造有限责任公司 | Measurement error fitting method and system for rotary transformer |
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| CN116754002A (en) * | 2023-08-16 | 2023-09-15 | 深蓝(天津)智能制造有限责任公司 | Measurement error fitting method and system for rotary transformer |
| CN116754002B (en) * | 2023-08-16 | 2023-11-14 | 深蓝(天津)智能制造有限责任公司 | Measurement error fitting method and system for rotary transformer |
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