CN205537692U - Vernier resolver's signal processing system - Google Patents
Vernier resolver's signal processing system Download PDFInfo
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- CN205537692U CN205537692U CN201620042186.1U CN201620042186U CN205537692U CN 205537692 U CN205537692 U CN 205537692U CN 201620042186 U CN201620042186 U CN 201620042186U CN 205537692 U CN205537692 U CN 205537692U
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Abstract
The utility model discloses a vernier resolver's signal processing system, it includes that two AD converting circuit, two cross sampling circuit, processing circuit. Processing circuit includes high stability oscillator, synchronous detection circuit, gain phase compensation circuit, system angle error correction circuit shift. Synchronization detection circuit draws low frequency signals according to the recovering carrier signal of oscillator respectively from two orbit signals crossing sampling circuit, then obtains two correcting signals through aversion gain phase compensation circuit and corrected value summation, the realization skew of multiplying each other with the correction that gains to rectify the phase deviation of two correcting signals, obtain interior electric angle instantaneous value of electrical degree cycle. Acquire a specific angle in the instantaneous value of the electric angle of system angle error correction circuit follow to convert corresponding rotor -position machinery angle to, the negative feedback is carried out with the production angle to mechanical angle and the angle error of a system compensation volume, and angular speed can be regarded as through the speedometer to the angle.
Description
Technical field
This utility model relates to a kind of signal processing system, particularly relates to the signal processing of a kind of magnetoresistance transformer
System.
Background technology
Rotary transformer is a kind of stable and efficient sensor, is often built in servomotor afterbody, as position with
Velocity sensor；Drive motor and the position sensing of electromotor, the position of electric boosted steering wheel motor in electric automobile
And velocity pick-up, gas valve angular surveying, vacuum chamber conveyer angle position measurement etc., it is all to use rotary transformer.
The Exciting Windings for Transverse Differential Protection of magnetoresistance transformer and output winding are placed in same set of stator slot, maintain static.But encourage
The form of magnetic winding and output winding is different.The output signal of two phase windings, makees sinusoidal variations, each other difference 90 ° with corner
Electrical angle.Compared with the rotary transformer having brush rotary transformer, toroidal transformer type, magnetoresistance transformer reliable
Property, manufacturability, structural, cost, length dimension are little is all best, thus is widely used.But it is as following
Factor produces output signal deviation: installation deviation causes stator and rotor eccentricity；Rotor core shape or material are uneven；Magnetic hysteresis
Or it is saturated；Machinery radial force impact；Electromagnetic interference；Limited winding quantity；Slot effect；Variations in temperature.Therefore ratio of precision its
Its two kinds of rotary transformer is low.
Because of intrinsic factors such as installation deviation, manufacture deviation, material uneven, radial force, winding quantity, slot effects
And the signals of rotating transformer deviation produced is systematic bias；Because magnetic hysteresis or saturated, order dishes interference, variations in temperature etc. are drawn
The probabilistic deviation of signal of rotary transformer risen is deviation from randomness.System deviation is corrected, to deviation from randomness
Carrying out real-Time Compensation, the precision of the output signal improving magnetoresistance transformer is to expand the key used.
Utility model content
The utility model proposes the signal processing system of a kind of magnetoresistance transformer, it is used for processing reluctance type rotation
Change the output signal of depressor, improve angle precision and the velocity accuracy of magnetoresistance transformer.
This utility model realizes by the following technical solutions: the signal processing system of a kind of magnetoresistance transformer, its
For processing two pairs of output signals of two outputs winding (9) of magnetoresistance transformer (3), to improve reluctance type rotation change
The precision of angle th of depressor (3) and the precision of angular velocity omega；This signal processing system include two A/D change-over circuits (5), two
Individual over-sampling circuit (6), a signal processing circuit；These two pairs of output signals are converted to through two A/D change-over circuits (5) respectively
Two pairs of digital signals, two pairs of digital signals are believed with track respectively through two over-sampling circuit (6) output trajectory signal sinal A
Number sinal B；Two trajectory signals output angle th and angular velocity omegas after this signal processing circuit processes；This signal processing electricity
Road includes that agitator (7), synchro detection circuit (10), displacement gain-phase compensate circuit (12), system perspective error correction electricity
Road；Wherein:
Agitator (7) receives interrupt request singal IRQ, generates recovered carrier signal sign, one with can
The square-wave signal of regulation phase position；The Exciting Windings for Transverse Differential Protection (8) of this square-wave signal on the one hand incoming magnetoresistance transformer (3),
The most incoming A/D change-over circuit (5), the incoming over-sampling circuit of another further aspect (6), this square-wave signal makes agitator (7) true
Protect these two pairs of output signals and be all synchronized with the shake of regulation；
Synchro detection circuit (10) according to recovered carrier signal sign from trajectory signal sinal A and trajectory signal sinal
B extracts low frequency signal respectively；
Displacement gain-phase compensates circuit (12) by two low frequency signals by being added, be multiplied realization with a corrected value partially
Move the correction with gain and obtain correction signal cos θ and correction signal sin θ, also by the trigonometric function operation correction two to cos θ
The phase deviation of individual correction signal, final electrical angle instantaneous value th_inc obtained in the electrical angle cycle；
This system perspective error correction circuit according to a mechanical angle zero position reference point signal zero_ref from electrical angle
Instantaneous value th_inc obtains a special angle, this special angle is converted into a corresponding rotor-position mechanical angle th_
Mech, mechanical angle th_mech and a system perspective error compensation amount carry out negative feedback to produce angle th, angle th warp
Speed calculation obtains angular velocity omega.
As the further improvement of such scheme, this signal processing circuit also includes for respectively to these two pairs of output signals
Two low pass filters (4) of low-pass filtering, two low pass filters (4) be electrically connected with two outputs winding (9) with
Between corresponding A/D change-over circuit (5).
Further, low pass filter (4) is fully differential frequency overlapped-resistable filter.
As the further improvement of such scheme, this square-wave signal is supplied by wave filter, an operational amplifier
To Exciting Windings for Transverse Differential Protection (8).
As the further improvement of such scheme, synchro detection circuit (10) is Type Multiplicative synchro detection circuit, synchronizes inspection
Wave circuit (10) extracts low frequency signal after recovery carrier wave sign and two trajectory signals are multiplied respectively the most respectively.
As the further improvement of such scheme, displacement gain-phase compensate circuit (12) include main compensation circuit (11),
Compensation dosage counting circuit (14), coordinate transformation circuit (13), multiplier one (16)；Main compensation circuit (11) is by two low frequency signals
Correction signal cos θ and correction signal sin θ is obtained by being added, be multiplied the correction of realization skew and gain with this corrected value；Sit
Correction signal cos θ is transformed under polar coordinate system from rectangular coordinate system by mark change-over circuit (13) with correction signal sin θ；Compensate
Amount counting circuit (14) calculates compensation dosage i.e. this corrected value of electrical angle instantaneous value th_inc under polar coordinate system；Multiplier one
(16) use the trigonometric function operation to trajectory signal cos θ according to this corrected value, correct the phase place of its contrast trajectory signal sin θ
Deviation.
Further, main compensation circuit (11) includes negative feedback subtractor one, negative feedback subtractor two, negative feedback subtractor
Three, multiplier two, multiplier three；The low frequency signal extracted from trajectory signal sinal A cuts this by negative feedback subtractor one
Corrected value latter aspect input coordinate change-over circuit (13), exports one after being on the other hand multiplied by this corrected value by multiplier two
Particular value；The low frequency signal extracted from trajectory signal sinal B cuts this corrected value by negative feedback subtractor two, and by taking advantage of
After musical instruments used in a Buddhist or Taoist mass three is multiplied by this corrected value, then cut after this particular value input coordinate change-over circuit again by negative feedback subtractor three
(13)。
Further, coordinate transformation circuit (13) uses Coordinate Rotation Digital computational methods under the rectangular coordinate system of standard
(x y) is converted to (r, the θ) under polar coordinate system to point；The Coordinate Rotation Digital completed with the equally spaced scan mode of the anglec of rotation
Computational methods calculate arc tangent, calculate θ=ATN (sin θ/cos θ).
Yet further, the equally spaced scan mode of the anglec of rotation is: the sampling zones in the electrical angle cycle is n
District, segments again m community in each subregion, be divided into n × m subregion in electrical angle cycle 360 °, and n, m are positive integer.
As the further improvement of such scheme, this system perspective error correction circuit includes mechanical angle counting circuit
(17), system perspective error compensation amount counting circuit (19), speed calculation circuit (18)；Mechanical angle counting circuit (17) basis
Zero_ref obtains a special angle from electrical angle instantaneous value th_inc, and this special angle is converted into a corresponding rotor
Position mechanical angle th_mech；Speed calculation circuit (18) obtains angular velocity omega according to angle th through speed calculation；System perspective
Error compensation amount counting circuit (19) calculates this system perspective error compensation according to angular velocity omega with mechanical angle th_mech
Amount.
This utility model, by the correction to system deviation, the real-Time Compensation to deviation from randomness, improves reluctance type and rotates
The precision of the output signal of transformator, i.e. improves angle precision and the velocity accuracy of magnetoresistance transformer.
Accompanying drawing explanation
Fig. 1 is the structural representation of the signal processing system of the magnetoresistance transformer of this utility model embodiment 1.
Fig. 2 is one of them output signal of magnetoresistance transformer and the relation schematic diagram using time point in Fig. 1.
Fig. 3 is signal conversion and the circuit diagram of over-sampling of signal processing system in Fig. 1, and reluctance type is rotated and becomes by it
The output signal of depressor is made early stage and is processed.
Fig. 4 is the synchronous detection of signal processing system and skew, gain, the circuit diagram of phase adaptation in Fig. 1, its
The output signal of magnetoresistance transformer is made deviation from randomness process.
Fig. 5 be in Fig. 4 the coordinate transformation circuit of signal processing system for the differentiation schematic diagram of electrical angle.
Fig. 6 is the rear portion circuit diagram of signal processing system in Fig. 1, its output signal to magnetoresistance transformer
Make deviation from randomness to process.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.Should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Referring to Fig. 1, magnetoresistance transformer 3 includes two output 9, Exciting Windings for Transverse Differential Protection 8 of winding.Two output around
Group 9 has two pairs of output signals, refers to the trajectory signal of difference in the present embodiment, and these two pair output signal is through of the present utility model
Signal processing system exports angle th and the angular velocity omega with preferable precision after processing.
Signal processing system of the present utility model includes 4, two signal A/D change-over circuits of two low pass filters 5, two
6, signal processing circuit of over-sampling circuit.Two low pass filters, 5, two over-samplings of 4, two signal A/D change-over circuits
Circuit 6 one_to_one corresponding respectively, to realize processing the early stage of these two pairs of output signals respectively.Two low pass filter 4 electricity respectively
Property be connected to two output windings 9 and corresponding A/D change-over circuit 5 between.Two low pass filters 4 respectively to this two to output
Signal carries out low-pass filtering, is resent to two A/D change-over circuits 5 respectively to be converted to two pairs of digital signals.Low pass filter 4
It can be fully differential frequency overlapped-resistable filter.Two pairs of digital signals are respectively through two over-sampling circuit 6 output trajectory signal sinal A
With trajectory signal sinal B, two trajectory signals output angle th and angular velocity omegas after this signal processing circuit processes.
As in figure 2 it is shown, two over-sampling circuits 6 are the resolution for improving whole system, the curve I in Fig. 2 is magnetic
One of them output signal of resistive rotary transformer 3, lines region II is oversampled points.
Incorporated by reference to Fig. 3, two pairs of output signals sin/COS of magnetoresistance transformer 3, the most respectively through two low pass filtered
Ripple device 4, two A/D converters 5 (such as 12bit), two over-sampling circuits 6 (to improve resolution, such as increase line counting
3bit).Two pairs of output signal processing procedures of magnetoresistance transformer 3: will receive the most defeated first by A/D converter 5
The output signal going out winding 9 is converted to digital value, and resolution herein is the highest, obtains magnetic resistance angular resolution the best；Then use
Quickly, the oversampling technique of Multiple-Scan, significantly increase the resolution of signal.
This signal processing circuit includes that high stability oscillator 7, synchro detection circuit 10, displacement gain-phase compensate circuit
12, system perspective error correction circuit.Design of the present utility model needs trajectory signal sinal A and trajectory signal sinal B
Complete Synchronization.But, the chip used for over-sampling circuit 6, such as FPGA, its clock is asynchronous operation.Therefore, this reality
Guarantee that all signals are all synchronized with the shake of regulation with new design agitator 7 (numeral _ PLL).
Agitator 7 receives interrupt request singal IRQ, generates recovered carrier signal sign, one with adjustable
The square-wave signal of joint phase position.The Exciting Windings for Transverse Differential Protection 8 of this square-wave signal on the one hand incoming magnetoresistance transformer 3, the opposing party
Face input signal A/D change-over circuit 5, the incoming over-sampling circuit of another further aspect 6, this square-wave signal makes agitator 7 guarantee this two couple
Output signal is all synchronized with the shake of regulation.This square-wave signal is preferably supplied to by a wave filter, an operational amplifier
Exciting Windings for Transverse Differential Protection 8.Before using A/D change-over circuit 5, can be equipped with fully differential frequency overlapped-resistable filter, to filter beyond ADC scope
Frequency content.
Therefore, numeral _ PLL can generate a square-wave signal with scalable phase position, and this square-wave signal can pass through
Wave filter and operational amplifier are supplied to the Exciting Windings for Transverse Differential Protection 8 of magnetoresistance transformer 3, control excitation, and this excitation can be turned
It is changed to sinusoidal excitation.
After signal conversion and over-sampling, the output signal of magnetoresistance transformer 3 is converted into and standard
The output signal that incremental encoder is identical: A+B+Z, z=sign, can be by the incremental encoder signal processing means of standard
Carry out follow-up signal processing.
Incorporated by reference to Fig. 4, synchro detection circuit 10 is believed with track from trajectory signal sinal A according to recovered carrier signal sign
Number sinal B extracts low frequency signal respectively.At above-mentioned described signaling conversion circuit (such as A/D change-over circuit 5) and excessively adopt
Sample circuit 6, the output signal of original magnetoresistance transformer 3 through input amplifier and A/D converter there will be skew,
The electromagnetic interference of experience can make the amplitude of signal, phase place be distorted.It is thus desirable to trajectory signal sinal A and sinal B
It is adjusted to synchronous regime.Therefore, signal can carry out synchronous detection after converting, the most just can be with inclined with continuous self-regulation
Move, gain compensation is corrected with the signal of phase compensation function.This utility model is different from the general method of synchronization, the most special
Other: synchro detection circuit 10 of the present utility model uses Type Multiplicative synchro detection circuit, and under the actively cooperation of agitator 7,
Synchro detection circuit 10 recovery carrier wave sign and two trajectory signals extract low frequency signal after being multiplied respectively the most respectively.Displacement
Gain-phase compensates circuit 12 by two low frequency signals by being added, be multiplied the correction realizing skew with gain with a corrected value
Obtain correction signal cos (θ) and correction signal sin (θ), also by two the correction letters of trigonometric function operation correction to cos (θ)
Number phase deviation, final electrical angle instantaneous value th_inc obtained in the electrical angle cycle.
Displacement gain-phase compensates circuit 12 and includes main compensation circuit 11, compensation dosage counting circuit 14, coordinate transformation circuit
13, multiplier 1.Two low frequency signals are offset and gain by main compensation circuit 11 by being added, be multiplied realization with this corrected value
Correction obtain correction signal cos (θ) and correction signal sin (θ).Coordinate transformation circuit 13 is by correction signal cos (θ) and correction
Signal sin (θ) is transformed under polar coordinate system from rectangular coordinate system.Compensation dosage counting circuit 14 calculates electrically under polar coordinate system
The compensation dosage of angle instantaneous value th_inc i.e. this corrected value.
Multiplier 1 uses the trigonometric function operation correction of cos (θ) to be brought by two correction signals according to this corrected value
Phase deviation, this is also one of key of the present utility model.Specifically, multiplier 1 uses track according to this corrected value
The trigonometric function operation of signal cos (θ), corrects the phase deviation of its contrast trajectory signal sin (θ).Because sin and cos phase place
Difference difference 90 degree, and through some column circuits process after sin and cos exist great probability no longer keep phase contrast be exactly
90 degree, may be also possible to delayed in advance, there is phase contrast between sin and cos, and advanced or delayed degree is also
Uncertainty.
Main compensation circuit 11 is the main circuit that displacement gain-phase compensates circuit 12, including negative feedback subtractor one, bears instead
Feedback subtractor two, negative feedback subtractor three, multiplier two, multiplier three.The low frequency signal extracted from trajectory signal sinal A leads to
Cross negative feedback subtractor one and cut this corrected value latter aspect input coordinate change-over circuit, be on the other hand multiplied by by multiplier two
A particular value is exported after this corrected value.The low frequency signal extracted from trajectory signal sinal B is subtracted by negative feedback subtractor two
Fall this corrected value, and after being multiplied by this corrected value by multiplier three, then cut after this particular value again by negative feedback subtractor three
Input coordinate change-over circuit 13.
Coordinate transformation circuit 13 is the change-over circuit of rectangular coordinate and polar coordinate system, with Coordinate Rotation Digital computational methods handle
(x, y) is converted to (r, the θ) under polar coordinate system to point under the rectangular coordinate system of standard, with the equally spaced scan mode of the anglec of rotation
The Coordinate Rotation Digital computational methods completed calculate arc tangent, calculate θ=ATN (sin (θ)/cos (θ)).Between the anglec of rotation etc.
Away from scan mode be: the sampling zones in the electrical angle cycle is n district, segments again m community in each subregion, one
Being divided into n × m subregion in the individual electrical angle cycle 360 °, n, m are positive integer.As, in the present embodiment, n=16, m=8, one
Sampling zones in the individual electrical angle cycle is 16 districts, segments again 8 communities in each subregion, in electrical angle cycle 360 °
It is divided into 16 × 8=128 subregion.
In sum, the function of displacement gain-phase compensation circuit 12 is applicable to the letter of the incremental encoder to any standard
Number process.The input signal of this circuit: sinal A, sinal B, sign, wherein sinal A, sinal B are from signal
Change-over circuit and over-sampling circuit, sign is from numeral _ PLL therein.The input signal of this circuit: intermittent angle displacement increment
Value th_inc.
Type Multiplicative synchronous detection is directly local recovery carrier wave sign to be multiplied with receiving signal sinal A and sinal B,
With low pass filter, low frequency signal is extracted.Require to recover carrier wave sign and receive signal sinal A and sinal B with frequency
Homophase.Recover the signal that carrier wave sign is the frequency stable using high stability oscillator 7 (i.e. numeral _ PLL) to produce.
Compensate in circuit 12 at displacement gain-phase, skew and gain calibration can be realized by being added with corrected value, being multiplied.
By the trigonometric function operation of cos (θ) corrects the phase deviation of cos (θ) and sin (θ), updating formula is: cos (θ+Δ θ)
≈cos(θ)-Δθ·sin(θ).Wherein, Δ θ is to be approximately positive dimensionless.The little error that approximation causes can be by compensating
Amount counting circuit 14 carries out calculating compensation.
The corrected value participating in computing i.e. compensates gauge from the displacement in circuit, gain, the automatic computing unit of phase deviation
Calculate circuit 14.The input signal of compensation dosage counting circuit 14 is controlled oneself and is converted complete pole coordinate parameter value, displacement, gain, phase
The position automatic computing unit of deviation completes the calculating of the undulate quantity to trajectory signal to obtain corrected value.In the present embodiment, use Fu
In the method for leaf analysis calculate the corrected value of skew, gain and phase place.
Relation between rotor mechanical angle and Electron Angular: Electron Angular=360 ° × rotor pole logarithm, such as 6 pole rotors
Rotary transformer, electrical angle=360 ° × 3=1080 °.
In the change-over circuit i.e. coordinate transformation circuit 13 of rectangular coordinate and polar coordinate system, with cordic algorithm,
(Coordinate Rotation Digital Computer) algorithm i.e. Coordinate Rotation Digital computational methods, the right angle of standard
(x y) is converted to (r, the θ) under polar coordinate system to point under coordinate system.Complete with scan mode that the anglec of rotation is equally spaced
Cordic algorithm calculates arc tangent, calculates θ=ATN (sin (θ)/cos (θ)).As it is shown in figure 5, in the electrical angle cycle
Sampling zones, Fen16Ge district, segments again 8 communities, is divided into 16 × 8=128 in electrical angle cycle 360 ° in each subregion
Individual subregion.Reasonably partition boundaries should avoid tangent, arctangent computation angle, such as 0 °, 45 °, 90 ° and these angles whole
Several times number angle, will not be arranged on the border of subregion these angular arrangements in subregion.The school of skew, gain and phase place
Calculate under in polar coordinate system, completed after rectangular coordinate is converted into polar coordinate.
That so far introduces all relates to the signal processing circuit process to deviation from randomness, especially skew, gain from
Dynamic compensation, on the basis of the most only resting on phase automatic compensating, even if phase automatic compensating is also to compare shallow hierarchy
, subsequently introduce the signal processing circuit process to correction system perspective error.
Incorporated by reference to Fig. 6, this system perspective error correction circuit is according to a mechanical angle zero position reference point signal zero_
Ref obtains a special angle from electrical angle instantaneous value th_inc, and this special angle is converted into a corresponding rotor-position
Mechanical angle th_mech, mechanical angle th_mech and a system perspective error compensation amount carry out negative feedback to produce angle
Th, angle th obtains angular velocity omega through speed calculation.
This system perspective error correction circuit includes mechanical angle counting circuit 17, system perspective error compensation amount counting circuit
19, speed calculation circuit 18.Mechanical angle counting circuit 17 obtains one according to zero_ref from electrical angle instantaneous value th_inc
Special angle, is converted into a corresponding rotor-position mechanical angle th_mech by this special angle.Speed calculation circuit 18 basis
Angle th obtains angular velocity omega through speed calculation.System perspective error compensation amount counting circuit 19 is according to angular velocity omega and mechanical angle
Degree th_mech calculates this system perspective error compensation amount.
The velocity perturbation measured to by magnetoresistance transformer 3 is all caused due to angle error.System perspective
Error makes certainty of measurement deviate from required precision band.Therefore, it is necessary to correct these errors.This angular error can be expressed
For θ=ω0t+∑k(θksin kω0(t+Ψ))。
Dominant harmonic component herein can be judged by EEPROM, and is stored in EEPROM.In the present embodiment, root
Divide according to the subregion of Fig. 5 and be compiled into a form checking list, be stored in EEPROM.In normal course of operation, use
It is stored in checking list in EEPROM wrong specific to the system perspective of the correction data correction magnetoresistance transformer of encoder
By mistake.Obtaining absolute position by means of revolution counter, a certain special angle obtained from trajectory signal th_inc can be turned
Change some rotor-position mechanical angle th_mech into.Th_mech and each cycle automatically calculate the system perspective error of generation and mend
Repaying numerical value, carry out negative feedback, angle th of generation is instantaneous, desirable angle angle value, the angle simultaneously produced through velocity transformation speed
Degree ω is angular velocity instantaneous, preferable.Forming the above-mentioned compensation calculation of speed according to the angle corrected is to be looked into by software
Table method is looked into checking list and is obtained.
In sum, this utility model can realize the correction to system deviation, the real-Time Compensation to deviation from randomness, from
And improving the precision of the output signal of magnetoresistance transformer so that angle and the speed of magnetoresistance transformer have relatively
Good precision.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (10)
1. a signal processing system for magnetoresistance transformer, its be used for processing magnetoresistance transformer (3) two
Two pairs of output signals of output winding (9), to improve the precision of angle th of magnetoresistance transformer (3) and angular velocity omega
Precision；This signal processing system includes two A/D change-over circuits (5), two over-sampling circuits (6), signal processing circuits；
These two pairs of output signals are converted to two pairs of digital signals through two A/D change-over circuits (5) respectively, the two pairs of digital signals respectively through
Two over-sampling circuit (6) output trajectory signal sinal A and trajectory signal sinal B；Two trajectory signals are at this signal
Output angle th and angular velocity omega after reason processing of circuit；It is characterized in that: this signal processing circuit includes agitator (7), synchronizes
Detecting circuit (10), displacement gain-phase compensate circuit (12), system perspective error correction circuit；Wherein:
Agitator (7) receives interrupt request singal IRQ, generates recovered carrier signal sign, one with scalable
The square-wave signal of phase position；The Exciting Windings for Transverse Differential Protection (8) of this square-wave signal on the one hand incoming magnetoresistance transformer (3), another
Aspect incoming A/D change-over circuit (5), the incoming over-sampling circuit of another further aspect (6), this square-wave signal makes agitator (7) guarantee this
Two pairs of output signals are all synchronized with the shake of regulation；
Synchro detection circuit (10) according to recovered carrier signal sign from trajectory signal sinal A and trajectory signal sinal B
Extract low frequency signal respectively；
Displacement gain-phase compensate circuit (12) by two low frequency signals by be added with corrected value, be multiplied realization skew with
The correction of gain obtains correction signal cos θ and correction signal sin θ, also by two schools of trigonometric function operation correction to cos θ
The phase deviation of positive signal, final electrical angle instantaneous value th_inc obtained in the electrical angle cycle；
This system perspective error correction circuit is instantaneous from electrical angle according to a mechanical angle zero position reference point signal zero_ref
Value th_inc obtains a special angle, this special angle is converted into a corresponding rotor-position mechanical angle th_mech,
Mechanical angle th_mech and system perspective error compensation amount carry out negative feedback to produce angle th, and angle th is through velometer
Calculation obtains angular velocity omega.
2. the signal processing system of magnetoresistance transformer as claimed in claim 1, it is characterised in that: this signal processing electricity
Road also includes for two low pass filters (4) to these two pairs of output signal low-pass filtering respectively, two low pass filters (4)
It is electrically connected with between two outputs winding (9) and corresponding A/D change-over circuit (5).
3. the signal processing system of magnetoresistance transformer as claimed in claim 2, it is characterised in that: low pass filter
(4) it is fully differential frequency overlapped-resistable filter.
4. the signal processing system of magnetoresistance transformer as claimed in claim 1, it is characterised in that: this square-wave signal leads to
Cross a wave filter, an operational amplifier is supplied to Exciting Windings for Transverse Differential Protection (8).
5. the signal processing system of magnetoresistance transformer as claimed in claim 1, it is characterised in that: synchro detection circuit
(10) being Type Multiplicative synchro detection circuit, synchro detection circuit (10) is multiplied recovery carrier wave sign and two trajectory signals respectively
After extract low frequency signal the most respectively.
6. the signal processing system of magnetoresistance transformer as claimed in claim 1, it is characterised in that: displacement gain-phase
Compensate circuit (12) and include main compensation circuit (11), compensation dosage counting circuit (14), coordinate transformation circuit (13), multiplier one
(16)；Two low frequency signals are realized offseting the correction with gain by main compensation circuit (11) by being added with this corrected value, being multiplied
Obtain correction signal cos θ and correction signal sin θ；Coordinate transformation circuit (13) by correction signal cos θ and correction signal sin θ from
It is transformed under polar coordinate system under rectangular coordinate system；Compensation dosage counting circuit (14) calculates electrical angle instantaneous value under polar coordinate system
The compensation dosage of th_inc i.e. this corrected value；Multiplier one (16) uses the trigonometric function to trajectory signal cos θ according to this corrected value
Computing, corrects the phase deviation of its contrast trajectory signal sin θ.
7. the signal processing system of magnetoresistance transformer as claimed in claim 6, it is characterised in that: main compensation circuit
(11) negative feedback subtractor one, negative feedback subtractor two, negative feedback subtractor three, multiplier two, multiplier three are included；From track
The low frequency signal that signal sinal A extracts cuts this corrected value latter aspect input coordinate conversion electricity by negative feedback subtractor one
Road (13), exports a particular value after being on the other hand multiplied by this corrected value by multiplier two；Extract from trajectory signal sinal B
Low frequency signal cut this corrected value by negative feedback subtractor two, and after being multiplied by this corrected value by multiplier three, then pass through
Negative feedback subtractor three cuts after this particular value input coordinate change-over circuit (13) again.
8. the signal processing system of magnetoresistance transformer as claimed in claim 6, it is characterised in that: coordinate transformation circuit
(13) with Coordinate Rotation Digital computational methods under the rectangular coordinate system of standard point (x, y) be converted under polar coordinate system (r,
θ)；The Coordinate Rotation Digital computational methods completed with the equally spaced scan mode of the anglec of rotation calculate arc tangent, calculate θ=
ATN(sinθ/cosθ)。
9. the signal processing system of magnetoresistance transformer as claimed in claim 8, it is characterised in that: between the anglec of rotation etc.
Away from scan mode be: the sampling zones in the electrical angle cycle is n district, segments again m community in each subregion, one
Being divided into n × m subregion in the electrical angle cycle 360 °, n, m are positive integer.
10. the signal processing system of magnetoresistance transformer as claimed in claim 1, it is characterised in that: this system perspective
Error correction circuit includes mechanical angle counting circuit (17), system perspective error compensation amount counting circuit (19), speed calculation electricity
Road (18)；Mechanical angle counting circuit (17) obtains a special angle according to zero_ref from electrical angle instantaneous value th_inc,
This special angle is converted into a corresponding rotor-position mechanical angle th_mech；Speed calculation circuit (18) is according to angle th
Angular velocity omega is obtained through speed calculation；System perspective error compensation amount counting circuit (19) is according to angular velocity omega and mechanical angle
Th_mech calculates this system perspective error compensation amount.
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| CN201620042186.1U CN205537692U (en) | 2016-01-15 | 2016-01-15 | Vernier resolver's signal processing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547335A (en) * | 2016-01-15 | 2016-05-04 | 中工科安科技有限公司 | Signal processing system for reluctance-type rotary transformer |
| CN106546272A (en) * | 2016-11-01 | 2017-03-29 | 浙江师范大学 | A kind of impedance sensor signal acquiring system |
| CN106625020A (en) * | 2017-02-27 | 2017-05-10 | 张道勇 | Incremental magnetic induction bus type encoder for high-speed high-precision machine tool main shaft and electric main shaft |
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2016
- 2016-01-15 CN CN201620042186.1U patent/CN205537692U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547335A (en) * | 2016-01-15 | 2016-05-04 | 中工科安科技有限公司 | Signal processing system for reluctance-type rotary transformer |
| CN105547335B (en) * | 2016-01-15 | 2017-10-27 | 中工科安科技有限公司 | A kind of signal processing system of magnetoresistance transformer |
| CN106546272A (en) * | 2016-11-01 | 2017-03-29 | 浙江师范大学 | A kind of impedance sensor signal acquiring system |
| CN106546272B (en) * | 2016-11-01 | 2018-11-23 | 浙江师范大学 | A kind of impedance sensor signal acquiring system |
| CN106625020A (en) * | 2017-02-27 | 2017-05-10 | 张道勇 | Incremental magnetic induction bus type encoder for high-speed high-precision machine tool main shaft and electric main shaft |
| CN106625020B (en) * | 2017-02-27 | 2019-05-21 | 张道勇 | High speed and super precision machine tool chief axis, electro spindle incremental magnetic induction type bus type encoder |
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Inventor after: Wen Changming Inventor after: Pei Shicong Inventor after: Wen Ke Inventor before: Wen Changming Inventor before: Wen Ke |