CN116539070B - Digital decoding method, chip, system, vehicle machine and medium of rotary transformer - Google Patents

Digital decoding method, chip, system, vehicle machine and medium of rotary transformer Download PDF

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CN116539070B
CN116539070B CN202310808747.9A CN202310808747A CN116539070B CN 116539070 B CN116539070 B CN 116539070B CN 202310808747 A CN202310808747 A CN 202310808747A CN 116539070 B CN116539070 B CN 116539070B
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sine
cosine
parameter
amplitude
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CN116539070A (en
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吴少风
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Shenzhen Lichi Semiconductor Technology Co ltd
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Shenzhen Lichi Semiconductor Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds

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  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

A digital decoding method, chip, system, car machine and medium of rotary transformer, the digital decoding method of rotary transformer includes: performing amplitude sampling on a signal to be decoded to determine an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information, bias information and amplitude information of an alternating current output signal generated by the rotary transformer; performing envelope processing on the amplitude sampling signal to determine a first sine and cosine envelope signal; acquiring amplitude parameters, bias parameters and quadrature phase deviation parameters of a first sine and cosine envelope signal determined by offline identification, and determining a standard sine and cosine signal based on the first sine and cosine envelope signal; at least one of a rotational angle position parameter and an angular velocity parameter of the resolver is determined based on the standard sine and cosine signals. By the digital decoding method of the rotary transformer, the rotary digital decoding can also prevent excessive MCU resources from being occupied while effectively avoiding the influence of non-ideal factors on the rotary test result.

Description

Digital decoding method, chip, system, vehicle machine and medium of rotary transformer
Technical Field
The application relates to the technical field of motor control, in particular to a digital decoding method, a chip, a system, a vehicle machine and a medium of a rotary transformer.
Background
The rotary transformer (Resolver) is a special motor device for measuring the angular position and the angular speed, has the characteristics of pollution resistance, vibration resistance, easy assembly, high reliability and high precision, and is widely applied to the fields of industrial production, robots, automobiles and the like. In the rotary motor control system, a rotation angle or a rotation speed of a motor is detected by adopting rotation, so that a negative feedback closed loop is formed, and the motor is accurately controlled.
In a driving motor electric control system of an electric automobile, a rotational variation is generally adopted as an angular position sensor of a motor so as to realize control of moment, rotation speed and position. The rotation transformer receives a high-frequency excitation input signal, the input signal is output after amplitude modulation of a rotation angle position, the output signal is a sine and cosine function of the angle position, and the rotation angle and rotation speed information can be obtained only by digitally decoding the sine and cosine signal.
In the related art, the ideal sine and cosine signal is usually subjected to the rotation digital decoding, but in practice, due to factors such as technology and assembly, the rotation output position signal is often not the ideal sine and cosine signal, so that the rotation test precision is low. In addition, when the chip is used for performing the rotation digital decoding, the problems of large calculation amount and excessive MCU (Microcontroller Unit, microcontroller) resource occupation generally exist, and the control performance of the electric control system is seriously affected. This further increases the difficulty of performing a rotation-digital decoding of the non-ideal sine-cosine signal. Therefore, how to improve the testing precision of the rotation variation and control the calculated amount of the MCU is a urgent problem to be solved.
Disclosure of Invention
In order to solve at least one problem in the prior art, the application aims to provide a digital decoding method, a chip, a system, a vehicle machine and a medium of a rotary transformer, which can effectively avoid the influence of nonideal factors on a rotary transformation test result, and simultaneously prevent excessive MCU resources from being occupied by rotary digital decoding, so that the high test precision of the rotary transformer and the control of MCU calculation amount can be considered.
In order to achieve the above object, the present application provides a digital decoding method of a resolver, applied to a digital decoding chip of a resolver, comprising:
acquiring a signal to be decoded output by the rotary transformer, sampling the amplitude of the signal to be decoded, and determining an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal;
envelope processing is carried out on the amplitude sampling signal, and a first sine and cosine envelope signal is determined;
acquiring amplitude parameters, bias parameters and quadrature phase deviation parameters of the first sine and cosine envelope signals, and determining standard sine and cosine signals based on the first sine and cosine envelope signals; wherein the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined by offline identification;
At least one of a rotational angle position parameter and an angular velocity parameter of the resolver is determined based on the standard sine and cosine signal.
Further, the step of determining the amplitude parameter, the bias parameter and the quadrature phase deviation parameter through offline identification includes:
performing low-pass filtering on the first sine and cosine envelope signals to determine second sine and cosine envelope signals;
acquiring a first phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signal, and carrying out phase shift on the first sine and cosine envelope signal according to the first phase shift to determine a third sine and cosine envelope signal;
searching a peak value of the second sine and cosine envelope signal, triggering to sample the peak value of the third sine and cosine envelope signal so as to determine a peak value to be identified;
and determining the amplitude parameter, the bias parameter and the quadrature phase deviation parameter of the first sine and cosine envelope signal according to the peak value to be identified.
Further, after the step of peak-to-peak sampling the third sine-cosine envelope signal, the method further comprises:
and carrying out the low-pass filtering on the collected peak-to-peak value of the third sine and cosine envelope signal to determine the peak-to-be-identified peak value.
Further, after the step of determining the amplitude parameter, the bias parameter, and the quadrature phase deviation parameter of the first sine-cosine envelope signal, the method further comprises:
the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are stored for loading when solving the standard sine and cosine signal.
Further, the signal to be decoded further includes excitation signal frequency information, gain information and bias information of the signal to be decoded.
Furthermore, the excitation signal corresponding to the signal to be decoded is a sine and cosine excitation signal;
the signal to be decoded comprises an actual sine signal and an actual cosine signal; wherein, the liquid crystal display device comprises a liquid crystal display device,
the actual cosine signal is determined based on the gain and the bias of the actual cosine signal and the frequency, the amplitude, the bias and the time parameters of the cosine signal generated by the rotary transformer;
the actual sinusoidal signal is based on the frequency of the excitation signal of the signal to be decoded, the gain and bias of the actual sinusoidal signal, the frequency, amplitude, bias and time parameters of the sinusoidal signal generated by the rotary transformer, and the quadrature phase deviation of the ac output signal generated by the rotary transformer.
Further, the step of performing envelope processing on the amplitude sampling signal to determine a first sine and cosine envelope signal includes:
and according to the sign of the carrier signal of the signal to be decoded, carrying out folding processing on the amplitude sampling signal, extracting an envelope of the amplitude sampling signal subjected to the folding processing, and determining the first sine and cosine envelope signal.
Still further, before the step of performing the folding processing on the amplitude sampling signal, the method further includes:
and adopting a finite impulse response filter to carry out high-pass filtering on the amplitude sampling signal so as to eliminate the direct current bias of the signal to be decoded.
Further, the excitation signal corresponding to the signal to be decoded is a square wave excitation signal, and the duty ratio of the square wave excitation signal is 50%;
the step of performing amplitude sampling on the signal to be decoded to determine an amplitude sampling signal includes:
and performing amplitude sampling at the center positions of the high-level signal and the low-level signal of the signal to be decoded to obtain the amplitude sampling signal.
Further, the first sine-cosine envelope signal comprises a first cosine envelope signal and a first sine envelope signal;
The first cosine envelope signal is determined based on a phase parameter, the amplitude parameter, and the bias parameter of the first cosine envelope signal;
the first sinusoidal envelope signal is determined based on the quadrature phase deviation parameter of the alternating output signal generated by the rotary transformer, a phase parameter of the first sinusoidal envelope signal, the amplitude parameter, and the bias parameter.
Further, the standard sine and cosine signals are determined based on the first sine and cosine envelope input signals and a transformation matrix; wherein, the liquid crystal display device comprises a liquid crystal display device,
the first sine and cosine envelope input signal is determined based on a phase parameter of the first sine and cosine envelope signal and the quadrature phase deviation parameter;
the transformation matrix is determined based on the quadrature phase deviation parameter.
In order to achieve the above object, the present application also provides a digital decoding chip of a resolver, including:
the peak value sampling module is configured to acquire a signal to be decoded output by the rotary transformer, sample the amplitude of the signal to be decoded and determine an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal;
The envelope processing module is configured to carry out envelope processing on the amplitude sampling signal and determine a first sine and cosine envelope signal;
a normalization module configured to obtain an amplitude parameter, a bias parameter, and a quadrature phase deviation parameter of the first sine-cosine envelope signal, determine a standard sine-cosine signal based on the first sine-cosine envelope signal; wherein the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined by offline identification;
a resolution module configured to determine at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the standard sine and cosine signal.
In order to achieve the above object, the present application also provides a digital decoding system of a resolver, comprising:
a digital decoding chip of the rotary transformer as described above, configured to generate an excitation signal;
a signal processing circuit including an excitation signal processing module configured to amplify the input excitation signal;
a resolver configured to generate an ac output signal based on the input amplified excitation signal;
the signal processing circuit further comprises an alternating current output signal processing module, wherein the alternating current output signal processing module is configured to perform signal processing on the input alternating current output signal to generate a signal to be decoded;
The digital decoding chip is further configured to calculate at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the input signal to be decoded.
Still further, the system is configured to employ a square wave excitation signal; the square wave excitation signal comprises a first square wave excitation signal and a second square wave excitation signal which is complementary or nearly complementary with the first square wave excitation signal;
the excitation signal processing module of the signal processing circuit comprises a left bridge arm and a right bridge arm; the exciting winding of the rotary transformer is connected between the left bridge arm and the right bridge arm in a bridging way and is coupled with the left bridge arm and the right bridge arm to form an H-bridge structure;
the left bridge arm is configured to input the first square wave excitation signal and amplify the first square wave excitation signal; the right bridge arm is configured to input the second square wave excitation signal and amplify the second square wave excitation signal.
Still further, the left leg includes:
the first operational amplifier is characterized in that the in-phase end of the first operational amplifier is used for inputting the first square wave excitation signal, the inverting end of the first operational amplifier is grounded through a first resistor, and the output end of the first operational amplifier is connected with one end of the excitation winding;
The first operational amplifier comprises a first resistor and a second resistor, wherein one end of the second resistor is connected with the inverting end of the first operational amplifier, and the other end of the second resistor is connected with a power supply;
the positive electrode of the first diode is grounded, the negative electrode of the first diode is connected with the output end of the first operational amplifier, the positive electrode of the second diode is connected with the output end of the first operational amplifier, and the negative electrode of the second diode is connected with the power supply.
Still further, the right leg includes:
the second operational amplifier is used for inputting the second square wave excitation signal, the inverting terminal of the second operational amplifier is grounded through a third resistor, and the output terminal of the second operational amplifier is connected with the other end of the excitation winding;
one end of the fourth resistor is connected with the inverting end of the second operational amplifier, and the other end of the fourth resistor is connected with a power supply;
the positive electrode of the third diode is grounded, the negative electrode of the third diode is connected with the output end of the second operational amplifier, the positive electrode of the fourth diode is connected with the output end of the second operational amplifier, and the negative electrode of the fourth diode is connected with the power supply.
In order to achieve the above object, the present application further provides a vehicle machine, including: a digital decoding system for a rotary transformer as described above.
To achieve the above object, the present application also provides a computer-readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the digital decoding method of a resolver as described above.
The digital decoding method, the chip, the system, the vehicle and the medium of the rotary transformer comprise the steps of obtaining a signal to be decoded output by the rotary transformer, carrying out amplitude sampling on the signal to be decoded, determining an amplitude sampling signal, wherein the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal, determining a first sine and cosine envelope signal by carrying out envelope processing on the amplitude sampling signal, and determining a standard sine and cosine signal based on the first sine and cosine envelope signal by obtaining amplitude parameters, offset parameters and quadrature phase deviation parameters of the first sine and cosine envelope signal, wherein the amplitude parameters, the offset parameters and the quadrature phase deviation parameters are determined through off-line identification, and determining at least one of a corner position parameter and an angular velocity parameter of the rotary transformer based on the standard sine and cosine signal. Therefore, the rotating digital decoding can also prevent excessive MCU resources from being occupied while effectively avoiding the influence of non-ideal factors on the rotating testing result, thereby being capable of considering the high testing precision of the rotary transformer and the control of the calculated amount of the MCU. In addition, the corresponding circuit has simple structure, is beneficial to reducing the occupied amount of the silicon chip area and has cost advantage.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and do not limit the application. In the drawings:
FIG. 1 is a flow chart of a digital decoding method of a resolver according to an embodiment of the present application;
FIG. 2 is a schematic diagram of amplitude sampling of a signal to be decoded of a sine wave according to an embodiment of the present application;
FIG. 3 is a waveform diagram of a square wave excitation signal according to an embodiment of the present application;
FIG. 4 is a schematic diagram of amplitude sampling of a signal to be decoded corresponding to the square wave excitation signal in FIG. 3;
FIG. 5 is a schematic diagram of a first sine-cosine envelope signal corresponding to the signal to be decoded of the sine wave in FIG. 2;
FIG. 6 is a flowchart illustrating steps for determining parameters by offline identification according to an embodiment of the present application;
FIG. 7 is a schematic diagram of peak-to-peak extraction of a first sine-cosine envelope signal without noise according to an embodiment of the present application;
fig. 8 is a schematic diagram of a phase locked loop according to an embodiment of the present application;
FIG. 9 is a flow chart of a method of digital decoding of a resolver according to another embodiment of the present application;
FIG. 10 is a block diagram of a digital decoding chip of a resolver according to an embodiment of the present application;
FIG. 11 is a block diagram of a digital decoding system of a resolver according to an embodiment of the present application;
FIG. 12 is a schematic diagram of an excitation signal processing module and excitation windings according to an embodiment of the present application
Fig. 13 is a block diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the application is susceptible of embodiment in the drawings, it is to be understood that the application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the application. It should be understood that the drawings and embodiments of the application are for illustration purposes only and are not intended to limit the scope of the present application.
It should be understood that the various steps recited in the method embodiments of the present application may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the application is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, units, or data and not for limiting the order or interdependence of the functions performed by such devices, modules, units, or data.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise. "plurality" is understood to mean two or more.
Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a digital decoding method of a resolver according to an embodiment of the present application, and the digital decoding method of the resolver of the present application will be described in detail with reference to fig. 1.
In step 101, a signal to be decoded output by the rotary transformer is obtained, and the signal to be decoded is subjected to amplitude sampling to determine an amplitude sampling signal.
It should be noted that the digital decoding method of the resolver according to the present application is applied to a digital decoding chip of the resolver. Specifically, the digital decoding chip outputs an excitation signal (for example, a sine wave signal) to the rotary transformer, and the rotary transformer generates an actual sine signal and an actual cosine signal of an angular position, that is, a signal to be decoded, after amplitude modulation of the angular position of the input excitation signal, and outputs the signal to be decoded to the digital decoding chip, so that the digital decoding chip performs digital decoding. In order to make efficient use of the resolution of the amplitude, the sampling is performed at the peaks of the signal to be decoded, as shown in fig. 2, forming a high frequency digital signal alternating between peaks-valleys.
The signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal. Specifically, in practice, the rotation is affected by factors such as manufacturing and mounting, and the output is usually not an ideal ac output signal, but there are differences in amplitude, phase, and offset. Therefore, the signal to be decoded in the present application refines the quadrature phase deviation information, the bias information and the amplitude information of the ac output signal of the resolver. The quadrature phase deviation information refers to deviation of quadrature phases of two paths of alternating current output signals generated by the rotation; the bias information of the alternating current output signals refers to the bias existing on two paths of alternating current output signals generated by the rotation; the amplitude information of the ac output signal refers to the amplitude of the two ac output signals generated by the rotation. By decoding the alternating current output signal with the information, the influence of non-ideal factors on the rotation change test result can be effectively avoided, and the improvement of the test precision is facilitated.
In the embodiment of the application, the signal to be decoded also comprises excitation signal frequency information, gain information and bias information of the signal to be decoded. Specifically, the two paths of alternating current output signals of the rotation change can be adopted by the MCU through signal processing of an external circuit, and parameter errors respectively introduced by the signal processing circuit to the two paths of signals are not completely consistent, so that in order to further improve the test precision, the signal to be decoded also comprises excitation signal frequency information, gain information and bias information of the signal to be decoded. The excitation signal frequency information can be an output value of the frequency of the excitation signal after the amplitude modulation of the rotation position; the gain information of the signal to be decoded can be the gain of two paths of alternating current output signals of the rotary transformer and is mainly generated by an excitation signal and output signal circuit; the bias information of the signal to be decoded can be the bias of the two paths of alternating current output signals of the rotation change.
It is understood that the ac output signal as the signal to be decoded may be a sine wave signal or a square wave signal. Specifically, when the excitation signal is a sine wave signal, the signal to be decoded is the sine wave signal; when the excitation signal is a square wave signal, the signal to be decoded is a square wave signal.
As an embodiment, the excitation signal corresponding to the signal to be decoded is a sine-cosine excitation signal. The signal to be decoded comprises an actual sine signal and an actual cosine signal. The actual cosine signal is determined based on the gain and the bias of the actual cosine signal and the frequency, the amplitude, the bias and the time parameters of the cosine signal generated by the rotary transformer; the actual sinusoidal signal is determined based on the frequency of the excitation signal of the signal to be decoded, the gain and bias of the actual sinusoidal signal, the frequency, amplitude, bias and time parameters of the sinusoidal signal produced by the resolver, and the quadrature phase deviation of the ac output signal produced by the resolver.
In a specific example, the expression of the signal to be decoded may be:
(1)
Wherein X is an actual cosine signal, Y is an actual sine signal, omega 0 G is the frequency of the excitation signal of the signal to be decoded 1 For gain of actual cosine signal, G 2 For gain of actual sinusoidal signal, C 1 For the bias of the actual cosine signal C 2 For the bias of the actual sine signal, phi is the quadrature phase deviation of the sine and cosine signals generated by the rotary transformer, A 1 Amplitude of cosine signal generated for rotary transformer, A 2 Amplitude of sinusoidal signal generated for rotary transformer, B 1 Bias of cosine signal generated by rotary transformer, B 2 For the bias of sine signal generated by the rotary transformer, t is the time parameter of sine and cosine signal generated by the rotary transformer, and ω is the frequency of sine and cosine signal generated by the rotary transformer.
Amplitude sampling is carried out on the signal to be decoded in the formula (1), and the expression of the obtained amplitude sampling signal is as follows:
(2)
Wherein X is D Is the amplitude sampling signal of the actual cosine signal, Y D For an amplitude sampled signal of an actual sinusoidal signal, T is a time parameter of the amplitude sampled signal,，k=0,1,2,……。
as another embodiment, the excitation signal corresponding to the signal to be decoded is a square wave excitation signal, and as shown in fig. 3, the duty cycle of the square wave excitation signal is 50%. In this case, the signal to be decoded is also a square wave signal, and when the square wave signal is subjected to amplitude sampling, as shown in fig. 4, the signal to be decoded may be subjected to amplitude sampling at the center position of the high level signal and the center position of the low level signal, respectively, to obtain an amplitude sampling signal of the signal to be decoded.
In step 102, an envelope process is performed on the amplitude sampled signal to determine a first sine and cosine envelope signal.
In the embodiment of the present application, the excitation signal corresponding to the signal to be decoded is a sine and cosine excitation signal, and step 102 includes: and according to the sign of the carrier signal of the signal to be decoded, performing folding processing on the amplitude sampling signal, extracting an envelope of the amplitude sampling signal subjected to the folding processing, and determining a first sine and cosine envelope signal. Further, before the folding process, the method further includes: the amplitude sampled signal is high pass filtered using a finite impulse response filter (Finite Impulse Response, FIR) to cancel the dc offset of the signal to be decoded.
That is, in a specific example, the DC bias C in the amplitude sampling signal (equation 2) can be eliminated first 1 And C 2 To obtain unbiased high frequency signal, and then gain (G 1 And G 2 ) Is distributed according to the multiplication distribution law to the amplitude (A) 1 And A 2 ) And bias (B) 1 And B 2 ) And according to the positive and negative of the carrier waveThe sign is flipped to form a first sine-cosine envelope signal without alternating positive and negative as shown in fig. 5. In practice, it is not easy to sample just at the peak, resulting in the ideal envelope L1 in fig. 5 (the peaks, valleys of which are shown as dots). When sampling near the peak, the envelope representing the position signal is connected as in fig. 5 with the other envelope (e.g., peak, trough, x shown) than the ideal envelope L1, and this envelope differs from the ideal envelope L1 only in amplitude and does not produce a phase shift.
In the embodiment of the application, a first sine and cosine envelope signal comprises a first cosine envelope signal and a first sine envelope signal; the first cosine envelope signal is determined based on the phase parameter, the amplitude parameter and the bias parameter of the first cosine envelope signal; the first sinusoidal envelope signal is determined based on a quadrature phase deviation parameter of the alternating output signal, a phase parameter, an amplitude parameter and a bias parameter of the first sinusoidal envelope signal. Specifically, based on the amplitude sampling signal (equation 2), the expression of the first sine-cosine envelope signal may be:
(3)
Wherein X is D1 For a first cosine envelope signal, Y D1 For a first sinusoidal envelope signal, A 12 And A 22 B is the amplitude parameter of the first sine and cosine envelope signal 12 And B 22 And phi is a quadrature phase deviation parameter of the alternating current output signal, and theta is a phase parameter of the first sine and cosine envelope signal.
In step 103, acquiring an amplitude parameter, a bias parameter and a quadrature phase deviation parameter of the first sine and cosine envelope signal, and determining a standard sine and cosine signal based on the first sine and cosine envelope signal; the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined through offline identification.
Specifically, the calibrated data can be used by real-time calculation to reduceAnd the real-time calculated amount is small, and the response speed of the rotation angle measurement is ensured. In addition, the rotation change is a single-turn absolute type angular position sensor, and can provide accurate measurement of rotation angle whether stationary or rotating. For the above reasons, the amplitude parameter (A 12 And A 22 ) Bias parameter (B) 12 And B 22 ) And the quadrature phase deviation parameter phi is identified offline and stored for use in normal operation.
In the embodiment of the application, a standard sine and cosine signal is determined based on a first sine and cosine envelope input signal and a transformation matrix; the first sine and cosine envelope input signal is determined based on the phase parameter and the quadrature phase deviation parameter of the first sine and cosine envelope signal; the transformation matrix is determined based on the quadrature phase deviation parameter.
In a specific example, the amplitude parameter (A) of the first sine-cosine envelope signal in (formula 3) is obtained 12 And A 22 ) Bias parameter (B) 12 And B 22 ) After the quadrature phase deviation parameter phi, the parameters of the off-line identification calibration are eliminated by a first sine and cosine envelope signal shown in (3), and the expression of the standard sine and cosine signal is converted as follows:
(4)
Wherein the right side of the equal sign of (equation 4) is the product of the transformation matrix and the first sine-cosine envelope input signal, and cos phi = cos (θ+phi) cos θ+sin (θ+phi) sin θ, sin phi = sin (θ+phi) cos θ -cos (θ+phi) sin θ.
It should be noted that, in a specific example, the off-line identification of the parameters may be performed after the assembly of the Resolver-to-Digital Converter (Resolver-to-RDC) circuit and before the normal use. The process is that the motor drives the rotary transformer to rotate at a certain speed, and position information envelope data of at least one period is generated (formula 3) for identifying relevant parameters.
FIG. 6 is a flowchart illustrating steps for determining parameters by offline identification according to an embodiment of the present application. Referring to fig. 6, the steps of determining the amplitude parameter, the bias parameter and the quadrature phase deviation parameter through offline identification may specifically include the following steps:
step 201, performing low pass filtering on the first sine and cosine envelope signal to determine a second sine and cosine envelope signal.
Specifically, if the obtained first sine and cosine envelope signal is a smooth curve without any noise, as shown in fig. 7, when the calibration amplitude parameter, the bias parameter and the quadrature phase deviation parameter are identified offline, the peak-to-peak value of the first sine and cosine envelope signal is directly extracted, and the method is simple to calculate and can be executed by the MCU. However, since the actual signal is inevitably superimposed with various high-frequency noises, it is difficult to directly extract the peak-to-peak value for the first sine-cosine envelope signal. Thus, the first sine-cosine envelope signal with high frequency noise is first passed through a low-pass filterThereby filtering noise and obtaining a second sine and cosine envelope signal. However, compared to the first sine-cosine envelope signal, not only a phase shift occurs, but also the amplitude is attenuated. That is, according to the low-pass filtered signal, the amplitude of the original sine-cosine envelope signal cannot be directly obtained, and the peak position cannot be directly found, so that the next strategy needs to be executed.
Step 202, a first phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signal is obtained, and the first sine and cosine envelope signal is phase shifted according to the first phase shift, so as to determine a third sine and cosine envelope signal.
In particular, with corresponding time constantsIs->Performing phase shift on the first sine and cosine envelope signals to obtain a third sine and cosine envelope signal, so that the phase shift of the third sine and cosine envelope signal relative to the first sine and cosine envelope signal and the phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signalThe phase shift of the numbers is the same and the third sine-cosine envelope signal retains the original amplitude.
Step 203, searching for a peak value of the second sine and cosine envelope signal, and triggering to sample a peak value of the third sine and cosine envelope signal, so as to determine a peak value to be identified.
That is, since the phase shift of the third sine-cosine envelope signal with respect to the first sine-cosine envelope signal is the same as the phase shift of the second sine-cosine envelope signal with respect to the first sine-cosine envelope signal, peak-to-peak sampling of the third sine-cosine envelope signal can be triggered by looking for the peak-to-peak value of the second sine-cosine envelope signal.
In the embodiment of the present application, after the step of peak-to-peak sampling the third sine and cosine envelope signal, the method further includes: and carrying out corresponding low-pass filtering on the peak value of the acquired third sine and cosine envelope signal to determine the peak value to be identified. Namely, because the third sine and cosine envelope signal is the first sine and cosine envelope signal after only phase shift, the third sine and cosine envelope signal also has noise under the condition that the first sine and cosine envelope signal is overlapped with noise, and therefore, the third sine and cosine envelope signal can pass through the corresponding low-pass filter Filtering is performed.
Step 204, determining the amplitude parameter, the bias parameter and the quadrature phase deviation parameter of the first sine and cosine envelope signal according to the peak-to-be-identified peak value.
Specifically, a peak-to-peak digital sequence Pk is obtained]After that and pass throughThe amplitude parameter and the bias parameter are identified, and then the bias parameter (B) is subtracted from the first sine-cosine envelope signal in (formula 3) 12 And B 22 ) And removing the amplitude parameter (A 12 And A 22 ) The obtained cos phi=cos (theta+phi) cos theta+sin (theta+phi) sin theta, sin phi=sin (theta+phi) cos theta-cos (theta+phi) sin theta can be used for calculating the standard sine and cosine signal (formula 4).
In the embodiment of the present application, after step 204, the method further includes: the amplitude parameter, bias parameter and quadrature phase deviation parameter are stored for loading when solving the standard sine and cosine signal. It can be understood that the above-mentioned parameters of the off-line identification calibration can be stored by a memory module on the digital decoding chip, and the parameters can also be stored by a memory unit outside the digital decoding chip.
In a specific example, after identifying the relevant parameters offline, the parameters may be stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory) at one time.
At step 104, at least one of a rotational angle position parameter and an angular velocity parameter of the resolver is determined based on the standard sine and cosine signals.
Specifically, according to the standard sine and cosine signal obtained in the formula 4, the rotation angle position parameter can be obtained through an arctangent or a phase-locked loop. The rotational speed parameter can be obtained simultaneously by the phase-locked loop. The phase-locked loop is constructed as shown in FIG. 8, i.e. for the fed-back angular position parametersTaking sine, multiplying with cos theta to obtain a first product, and obtaining the output corner position parameter +.>Taking cosine, multiplying the cosine with sin theta to obtain a second product, subtracting the second product from the first product, and obtaining the rotating speed parameter +.>The angle of rotation position parameter can also be obtained by integration>。
The application is further illustrated by a specific example.
Fig. 9 is a flow chart of a digital decoding method of the resolver according to this embodiment. As shown with reference to fig. 9, for the sine wave signal to be decoded (the actual sine signal X and the actual cosine signal Y),firstly, after the assembly of the rotary transformer and RDC circuit and before normal use, the amplitude sampling signal X of the actual cosine signal is obtained by sampling the amplitude of the signal to be decoded through an ADC (Analog-to-digital converter) in a digital decoding chip D And an amplitude sampling signal Y of an actual sinusoidal signal D And outputs the two signals to FIR for high-pass filtering, and then for folding and enveloping processing to determine a first sine and cosine envelope signal (first cosine envelope signal X D1 First sinusoidal envelope signal Y D1 ) And then determining an amplitude parameter A, a bias parameter B and a quadrature phase deviation parameter phi of the first sine and cosine envelope signal through off-line identification, and storing the amplitude parameter, the bias parameter and the quadrature phase deviation parameter to an EEPROM (electrically erasable programmable read-Only memory) so as to load when the standard sine and cosine signal is solved.
When digital decoding of the rotary transformer is normally carried out, a first sine and cosine envelope signal of a current sine wave signal to be decoded is obtained through the steps, an amplitude parameter, a bias parameter and a quadrature phase deviation parameter of the first sine and cosine envelope signal are directly loaded from an EEPROM, a standard sine and cosine signal is determined based on the first sine and cosine envelope signal, and then a corner position parameter and an angular velocity parameter of the rotary transformer are calculated according to the standard sine and cosine signal through a phase-locked loop.
In summary, according to the digital decoding method of the resolver according to the embodiment of the present application, the signal to be decoded output by the resolver is obtained, the signal to be decoded is sampled in amplitude, the amplitude sampling signal is determined, the signal to be decoded includes quadrature phase deviation information, offset information and amplitude information of an ac output signal generated by the resolver, the first sine and cosine envelope signal is determined by performing envelope processing on the amplitude sampling signal, and the standard sine and cosine signal is determined based on the first sine and cosine envelope signal by obtaining the amplitude parameter, offset parameter and quadrature phase deviation parameter of the first sine and cosine envelope signal, wherein the amplitude parameter, offset parameter and quadrature phase deviation parameter are determined by offline identification, and at least one of the angular position parameter and angular velocity parameter of the resolver is determined based on the standard sine and cosine signal. Therefore, the rotating digital decoding can also prevent excessive MCU resources from being occupied while effectively avoiding the influence of non-ideal factors on the rotating testing result, thereby being capable of considering the high testing precision of the rotary transformer and the control of the calculated amount of the MCU.
Fig. 10 is a block diagram of a digital decoding chip of a resolver according to an embodiment of the present application. Referring to fig. 10, a digital decoding chip 30 of the resolver includes a peak sampling module 31, an envelope processing module 32, a normalizing module 33, and a resolving module 34.
The peak sampling module 31 is configured to acquire a signal to be decoded output by the rotary transformer, sample the amplitude of the signal to be decoded, and determine an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal. An envelope processing module 32 is configured to perform envelope processing on the amplitude sampled signal to determine a first sine and cosine envelope signal. A normalization module 33 configured to obtain an amplitude parameter, a bias parameter and a quadrature phase deviation parameter of the first sine and cosine envelope signal, determine a standard sine and cosine signal based on the first sine and cosine envelope signal; the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined through offline identification. A resolution module 34 is configured to determine at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the standard sine and cosine signals.
In an embodiment of the present application, the digital decoding chip 30 of the resolver further includes an offline identification module (not shown in the drawings), and the offline identification module is configured to: the method comprises the steps of carrying out low-pass filtering on a first sine and cosine envelope signal, determining a second sine and cosine envelope signal, obtaining a first phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signal, carrying out phase shift on the first sine and cosine envelope signal according to the first phase shift, determining a third sine and cosine envelope signal, searching a peak-to-peak value of the second sine and cosine envelope signal, triggering the third sine and cosine envelope signal to carry out peak-to-peak value sampling so as to determine a peak-to-be-identified peak value, and determining an amplitude parameter, a bias parameter and a quadrature phase deviation parameter of the first sine and cosine envelope signal according to the peak-to-be-identified peak value.
Further, the offline recognition module is further configured to: and carrying out low-pass filtering on the peak value of the acquired third sine and cosine envelope signal to determine the peak value to be identified.
In an embodiment of the present application, the digital decoding chip 30 of the resolver further includes a memory module (not shown in the figure) configured to: the amplitude parameter, bias parameter and quadrature phase deviation parameter are stored for loading when solving the standard sine and cosine signal.
In the embodiment of the application, the signal to be decoded also comprises excitation signal frequency information, gain information and bias information of the signal to be decoded.
Further, the excitation signal corresponding to the signal to be decoded is a sine and cosine excitation signal; the signal to be decoded comprises an actual sine signal and an actual cosine signal; the actual cosine signal is determined based on the gain and the bias of the actual cosine signal and the frequency, the amplitude, the bias and the time parameters of the cosine signal generated by the rotary transformer; the actual sinusoidal signal is determined based on the frequency of the excitation signal of the signal to be decoded, the gain and bias of the actual sinusoidal signal, the frequency, amplitude, bias and time parameters of the sinusoidal signal produced by the resolver, and the quadrature phase deviation of the ac output signal produced by the resolver.
Further, the envelope processing module 32 is configured to: and according to the sign of the carrier signal of the signal to be decoded, performing folding processing on the amplitude sampling signal, extracting an envelope of the amplitude sampling signal subjected to the folding processing, and determining a first sine and cosine envelope signal.
Further, the envelope processing module 32 is further configured to: and before the amplitude sampling signal is subjected to turnover processing, a finite impulse response filter is adopted to carry out high-pass filtering on the amplitude sampling signal so as to eliminate direct current offset of the signal to be decoded.
In the embodiment of the present application, the excitation signal corresponding to the signal to be decoded is a square wave excitation signal, the duty ratio of the square wave excitation signal is 50%, and the peak sampling module 31 is configured to: and performing amplitude sampling at the center positions of the high-level signal and the low-level signal of the signal to be decoded to obtain an amplitude sampling signal.
In the embodiment of the application, the first sine and cosine envelope signal comprises a first cosine envelope signal and a first sine envelope signal. The envelope processing module 32 is further configured to: the first cosine envelope signal is determined based on the phase parameter, the amplitude parameter, and the bias parameter of the first cosine envelope signal, and the first sine envelope signal is determined based on the quadrature phase deviation parameter of the alternating output signal generated by the rotary transformer, the phase parameter, the amplitude parameter, and the bias parameter of the first sine envelope signal.
Further, the normalization module 33 is configured to: the standard sine and cosine signals are determined based on the first sine and cosine envelope input signals and the transformation matrix. The first sine and cosine envelope input signal is determined based on the phase parameter and the quadrature phase deviation parameter of the first sine and cosine envelope signal; the transformation matrix is determined based on the quadrature phase deviation parameter.
It should be noted that, the explanation of the digital decoding method of the rotary transformer in the above embodiment is also applicable to the digital decoding chip of the rotary transformer in the above embodiment, and will not be repeated here.
Fig. 11 is a block diagram of a digital decoding system of a resolver according to an embodiment of the present application. As shown in fig. 11, the digital decoding system 300 of the resolver includes the digital decoding chip 30 of the resolver, the signal processing circuit 40, and the resolver 50 in the above-described embodiment.
Wherein the digital decoding chip 30 of the resolver is configured to generate an excitation signal. The signal processing circuit 40 includes a stimulus signal processing module (not shown in fig. 11) configured to amplify an input stimulus signal. The resolver 50 is configured to generate an ac output signal based on the input amplified excitation signal. The signal processing circuit 40 further comprises an ac output signal processing module (not shown in fig. 11) configured to perform signal processing on the input ac output signal to generate a signal to be decoded. The digital decoding chip is further configured to calculate at least one of a rotational angle position parameter and an angular velocity parameter of the resolver 50 based on the input signal to be decoded.
It is understood that the excitation signal may be a square wave signal or a sine wave signal, and the corresponding ac output signal and the signal to be decoded are corresponding square waves or sine waves.
Specifically, as the driving circuit excited by sine belongs to an analog power amplifier circuit, the driving circuit works in a linear amplifying region, and the circuit principle and implementation are complex; the square wave excitation can be driven by the principle of the motor H bridge, and the motor H bridge has the advantage of simple circuit. In addition, as the spiral-varying excitation winding EW is an inductance coil in nature and transmits alternating current signals, the square wave signals with positive and negative symmetry are injected, so that the direct current power consumption of the primary side can be eliminated, and the signal transmission is not affected.
Fig. 12 is a schematic structural diagram of an excitation signal processing module and an excitation winding according to an embodiment of the present application. As shown in fig. 12, the digital decoding system 300 of the rotary transformer is configured to employ square wave excitation signals; the square wave excitation signal includes a first square wave excitation signal es_1 and a second square wave excitation signal es_2 that is complementary or nearly complementary to the first square wave excitation signal es_1. The excitation signal processing module 321 of the signal processing circuit 40 includes a left bridge arm 3211 and a right bridge arm 3212; the excitation winding EW of the resolver 50 is connected across the left and right legs 3211 and 3212, and is coupled to the left and right legs 3211 and 3212 in an H-bridge configuration. The left bridge arm 3211 is configured to input a first square wave excitation signal es_1 and perform amplification processing; the right arm 3212 is configured to input a second square wave excitation signal es_2 and perform amplification processing.
That is, the excitation signal processing module 321 may drive the H-bridge circuit with a motor. The H bridge structure can be built by using a separated triode or MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) or an integrated H bridge, and the application is not particularly limited to the above. The excitation winding EW is connected between the left leg 3211 and the right leg 3212 of the H-bridge in a bridging manner, and the H-bridge inputs a first square wave excitation signal es_1 and a second square wave excitation signal es_2, and amplifies the first square wave excitation signal es_1 and the second square wave excitation signal es_2 to generate a symmetrical square wave to drive the excitation winding EW.
Specifically, the left bridge arm 3211 includes a first operational amplifier OP1, a first resistor R1, a second resistor R2, a first diode D1, and a second diode D2. The in-phase end of the first operational amplifier OP1 is used for inputting a first square wave excitation signal es_1, the inverting end of the first operational amplifier OP1 is grounded GND through a first resistor R1, and the output end of the first operational amplifier OP1 is connected with one end of the excitation winding EW. One end of the second resistor R2 is connected with the inverting end of the first operational amplifier OP1, and the other end of the second resistor R2 is connected with the power supply V+. The positive pole of the first diode D1 is grounded GND, the negative pole of the first diode D1 is connected with the output end of the first operational amplifier OP1, the positive pole of the second diode D2 is connected with the output end of the first operational amplifier OP1, and the negative pole of the second diode D2 is connected with the power supply V+.
The right bridge arm 3212 includes a second operational amplifier OP2, a third resistor R3, a fourth resistor R4, a third diode D3, and a fourth diode D4. The in-phase end of the second operational amplifier OP2 is used for inputting a second square wave excitation signal es_2, the inverting end of the second operational amplifier OP2 is grounded GND through a third resistor R3, and the output end of the second operational amplifier OP2 is connected with the other end of the excitation winding EW. One end of the fourth resistor R4 is connected with the inverting end of the second operational amplifier OP2, and the other end of the fourth resistor R4 is connected with the power supply V+. The positive pole of the third diode D3 is grounded GND, the negative pole of the third diode D3 is connected with the output end of the second operational amplifier OP2, the positive pole of the fourth diode D4 is connected with the output end of the second operational amplifier OP2, and the negative pole of the fourth diode D4 is connected with the power supply V+.
Specifically, because the current of the excitation signal is smaller, and the switching tube works in a saturation region and has limited power consumption, the embodiment of the application provides an H-bridge structure realized by adopting two operational amplifiers. The push-pull output stages of the first operational amplifier OP1 and the second operational amplifier OP2 are utilized to form a switching tube of the H bridge, so that a switching tube gate stage driving circuit can be omitted, the circuit structure is simpler, and in addition, compared with an application-specific integrated H bridge, the H bridge structure realized through the two operational amplifiers can effectively reduce the cost.
When the excitation signal processing module 321 is used, the comparison voltage of the first operational amplifier OP1 can be adjusted by adjusting the resistance value of the first resistor R1 and/or the second resistor R2, and the first square wave excitation signal es_1 with the duty ratio of 50% is input through the non-inverting terminal of the first operational amplifier OP1, and the first diode D1 and the second diode D2 are used as external freewheeling diodes for protecting the output stage of the first operational amplifier OP 1. And the comparison voltage of the second operational amplifier OP2 is regulated by regulating the resistance value of the third resistor R3 and/or the fourth resistor R4, the second square wave excitation signal es_2 with the duty ratio of 50% which is complementary to the first square wave excitation signal es_1 is input through the non-inverting terminal of the second operational amplifier OP2, and the third diode D3 and the fourth diode D4 are used as external freewheeling diodes for protecting the output stage of the second operational amplifier OP 2.
Fig. 13 is a block diagram of a vehicle according to an embodiment of the present application. As shown in fig. 13, the car machine 3000 includes the digital decoding system 300 of the resolver in the above-described embodiment.
In one embodiment of the present application, there is also provided a computer-readable storage medium that may be included in the system described in the above embodiment; or may exist alone without being assembled into the system. The computer readable storage medium carries one or more computer instructions that, when executed, implement the steps of the digital decoding method of a resolver of the above-described embodiments.
Embodiments of the present application, a computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example, but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
It should be understood that, although the steps in the flowcharts of the specification are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
It is noted that the specific values mentioned above are only for the purpose of illustrating the implementation of the present application in detail and should not be construed as limiting the present application. In other examples or embodiments or examples, other values may be selected according to the present application, without specific limitation.
Those of ordinary skill in the art will appreciate that: the above is only a preferred embodiment of the present application, and the present application is not limited thereto, but it is to be understood that the present application is described in detail with reference to the foregoing embodiments, and modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (17)

1. A digital decoding method for a rotary transformer, the method comprising a digital decoding chip applied to the rotary transformer:
acquiring a signal to be decoded output by the rotary transformer, sampling the amplitude of the signal to be decoded, and determining an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal;
Envelope processing is carried out on the amplitude sampling signal, and a first sine and cosine envelope signal is determined;
acquiring amplitude parameters, bias parameters and quadrature phase deviation parameters of the first sine and cosine envelope signals, and determining standard sine and cosine signals based on the first sine and cosine envelope signals; wherein the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined by offline identification;
determining at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the standard sine and cosine signals;
wherein the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined by offline identification, comprising,
performing low-pass filtering on the first sine and cosine envelope signals to determine second sine and cosine envelope signals;
acquiring a first phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signal, and carrying out phase shift on the first sine and cosine envelope signal according to the first phase shift to determine a third sine and cosine envelope signal;
searching a peak value of the second sine and cosine envelope signal, triggering to sample the peak value of the third sine and cosine envelope signal so as to determine a peak value to be identified;
And determining the amplitude parameter, the bias parameter and the quadrature phase deviation parameter of the first sine and cosine envelope signal according to the peak value to be identified.
2. The method of claim 1, wherein after the step of peak-to-peak sampling the third sine-cosine envelope signal, the method further comprises:
and carrying out the low-pass filtering on the collected peak-to-peak value of the third sine and cosine envelope signal to determine the peak-to-be-identified peak value.
3. The method of claim 1, wherein after the step of determining the amplitude parameter, the bias parameter, and the quadrature phase deviation parameter of the first sine-cosine envelope signal, the method further comprises:
the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are stored for loading when solving the standard sine and cosine signal.
4. The method of claim 1, wherein the signal to be decoded further comprises excitation signal frequency information, gain information and bias information of the signal to be decoded.
5. The method of claim 4, wherein the excitation signal corresponding to the signal to be decoded is a sine-cosine excitation signal;
The signal to be decoded comprises an actual sine signal and an actual cosine signal; wherein, the liquid crystal display device comprises a liquid crystal display device,
the actual cosine signal is determined based on the gain and the bias of the actual cosine signal and the frequency, the amplitude, the bias and the time parameters of the cosine signal generated by the rotary transformer;
the actual sinusoidal signal is based on the frequency of the excitation signal of the signal to be decoded, the gain and bias of the actual sinusoidal signal, the frequency, amplitude, bias and time parameters of the sinusoidal signal generated by the rotary transformer, and the quadrature phase deviation of the ac output signal generated by the rotary transformer.
6. The method of claim 5, wherein the step of envelope processing the amplitude sampled signal to determine a first sine-cosine envelope signal comprises:
and according to the sign of the carrier signal of the signal to be decoded, carrying out folding processing on the amplitude sampling signal, extracting an envelope of the amplitude sampling signal subjected to the folding processing, and determining the first sine and cosine envelope signal.
7. The method of claim 6, wherein prior to the step of folding the amplitude sampled signal, the method further comprises:
And adopting a finite impulse response filter to carry out high-pass filtering on the amplitude sampling signal so as to eliminate the direct current bias of the signal to be decoded.
8. The method of claim 4, wherein the excitation signal corresponding to the signal to be decoded is a square wave excitation signal, and the duty cycle of the square wave excitation signal is 50%;
the step of performing amplitude sampling on the signal to be decoded to determine an amplitude sampling signal includes:
and performing amplitude sampling at the center positions of the high-level signal and the low-level signal of the signal to be decoded to obtain the amplitude sampling signal.
9. The method according to claim 5 or 8, wherein the first sine-cosine envelope signal comprises a first cosine envelope signal and a first sine envelope signal;
the first cosine envelope signal is determined based on a phase parameter, the amplitude parameter, and the bias parameter of the first cosine envelope signal;
the first sinusoidal envelope signal is determined based on the quadrature phase deviation parameter of the alternating output signal generated by the rotary transformer, a phase parameter of the first sinusoidal envelope signal, the amplitude parameter, and the bias parameter.
10. The method of claim 9, wherein the standard sine-cosine signal is determined based on a first sine-cosine envelope input signal and a transform matrix; wherein, the liquid crystal display device comprises a liquid crystal display device,
the first sine and cosine envelope input signal is determined based on a phase parameter of the first sine and cosine envelope signal and the quadrature phase deviation parameter;
the transformation matrix is determined based on the quadrature phase deviation parameter.
11. A digital decoding chip of a rotary transformer, the digital decoding chip comprising:
the peak value sampling module is configured to acquire a signal to be decoded output by the rotary transformer, sample the amplitude of the signal to be decoded and determine an amplitude sampling signal; the signal to be decoded comprises quadrature phase deviation information of an alternating current output signal generated by the rotary transformer, offset information of the alternating current output signal and amplitude information of the alternating current output signal;
the envelope processing module is configured to carry out envelope processing on the amplitude sampling signal and determine a first sine and cosine envelope signal;
a normalization module configured to obtain an amplitude parameter, a bias parameter, and a quadrature phase deviation parameter of the first sine-cosine envelope signal, determine a standard sine-cosine signal based on the first sine-cosine envelope signal; wherein the amplitude parameter, the bias parameter and the quadrature phase deviation parameter are determined by offline identification;
The off-line identification module is configured to perform low-pass filtering on the first sine and cosine envelope signals, determine a second sine and cosine envelope signal, acquire a first phase shift of the second sine and cosine envelope signal relative to the first sine and cosine envelope signal, perform phase shift on the first sine and cosine envelope signal according to the first phase shift, determine a third sine and cosine envelope signal, search a peak-to-peak value of the second sine and cosine envelope signal, trigger peak-to-peak value sampling on the third sine and cosine envelope signal, determine a peak-to-be-identified peak value, and determine an amplitude parameter, a bias parameter and a quadrature phase deviation parameter of the first sine and cosine envelope signal according to the peak-to-be-identified peak value;
a resolution module configured to determine at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the standard sine and cosine signal.
12. A digital decoding system for a rotary transformer, the digital decoding system comprising:
the digital decoding chip of the rotary transformer of claim 11 configured to generate an excitation signal;
a signal processing circuit including an excitation signal processing module configured to amplify the input excitation signal;
A resolver configured to generate an ac output signal based on the input amplified excitation signal;
the signal processing circuit further comprises an alternating current output signal processing module, wherein the alternating current output signal processing module is configured to perform signal processing on the input alternating current output signal to generate a signal to be decoded;
the digital decoding chip is further configured to calculate at least one of a rotational angle position parameter and an angular velocity parameter of the resolver based on the input signal to be decoded.
13. The system of claim 12, wherein the system is configured to employ a square wave excitation signal; the square wave excitation signal comprises a first square wave excitation signal and a second square wave excitation signal which is complementary or nearly complementary with the first square wave excitation signal;
the excitation signal processing module of the signal processing circuit comprises a left bridge arm and a right bridge arm; the exciting winding of the rotary transformer is connected between the left bridge arm and the right bridge arm in a bridging way and is coupled with the left bridge arm and the right bridge arm to form an H-bridge structure;
the left bridge arm is configured to input the first square wave excitation signal and amplify the first square wave excitation signal; the right bridge arm is configured to input the second square wave excitation signal and amplify the second square wave excitation signal.
14. The system of claim 13, wherein the left leg comprises:
the first operational amplifier is characterized in that the in-phase end of the first operational amplifier is used for inputting the first square wave excitation signal, the inverting end of the first operational amplifier is grounded through a first resistor, and the output end of the first operational amplifier is connected with one end of the excitation winding;
the first operational amplifier comprises a first resistor and a second resistor, wherein one end of the second resistor is connected with the inverting end of the first operational amplifier, and the other end of the second resistor is connected with a power supply;
the positive electrode of the first diode is grounded, the negative electrode of the first diode is connected with the output end of the first operational amplifier, the positive electrode of the second diode is connected with the output end of the first operational amplifier, and the negative electrode of the second diode is connected with the power supply.
15. The system of claim 14, wherein the right leg comprises:
the second operational amplifier is used for inputting the second square wave excitation signal, the inverting terminal of the second operational amplifier is grounded through a third resistor, and the output terminal of the second operational amplifier is connected with the other end of the excitation winding;
One end of the fourth resistor is connected with the inverting end of the second operational amplifier, and the other end of the fourth resistor is connected with a power supply;
the positive electrode of the third diode is grounded, the negative electrode of the third diode is connected with the output end of the second operational amplifier, the positive electrode of the fourth diode is connected with the output end of the second operational amplifier, and the negative electrode of the fourth diode is connected with the power supply.
16. A vehicle machine, characterized in that it comprises: a digital decoding system of the rotary transformer of any one of claims 12 to 15.
17. A computer readable storage medium having stored thereon computer instructions which when executed perform the steps of the digital decoding method of a resolver according to any one of claims 1 to 10.
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