Classifications

• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
  • G06F17/10—Complex mathematical operations
  • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
  • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Definitions

• the present invention belongs to the field of filtering a signal in order to extract a useful component from it.
• the invention relates to a method and a device for extracting a useful component from a disturbed signal formed by the sum of a sinusoidal component and an additional component.
• the low pass filters which attenuate the high frequencies the high pass filters which attenuate the low frequencies, or the band pass filters which allow only a defined band of frequencies to pass by attenuating the frequencies at l outside the bandwidth.
• the implementation of a filter can be done with electronic components or digitally.
• An analog filter When a filter is implemented with electronic components, it is called an analog filter. This kind of filter is applied to continuous signals in real time.
• An analog filter can be made with passive electronic components, such as resistors, capacitors, or coils.
• An analog filter can also be produced with active electronic components such as operational amplifiers associated with passive components or transistors.
• analog filters are not very adaptive since they depend on the electronic components that compose them.
• analog filters can degrade over time and under certain environmental conditions, such as temperature.
• a digital filter corresponds to a succession of mathematical or algorithmic operations operated on a discrete signal. These operations are defined in such a way that they modify the spectral content of the input signal by attenuating certain unwanted spectral components.
• digital filters are made by specific software in a computer or by dedicated integrated circuits or programmable processors: FPGA (English acronym for "Field-Programmable Gate Array”), digital signal processor (DSP, acronym for "Digital Signal Processor”), microcontroller, etc.
• the present invention aims to remedy all or part of the drawbacks of the prior art, in particular those set out above.
• a method of processing a disturbed signal Pi transporting data on a communication bus of an electronic circuit said method being implemented by a processing device, said method making it possible to extract a useful signal from said disturbed signal Pi, said disturbed signal Pi being measured by a sensor of the processing device.
• the disturbed signal Pi is formed by the sum of a sinusoidal component Si and an additional component Xi.
• the useful signal corresponds to the additional component X1.
• the values taken by the additional component X1 are representative of the data transported on the communication bus.
• Signal means a physical quantity, for example an electrical quantity (a difference in electric potential, an intensity of an electric current, a modulation of a periodic variation of a potential or an electric current, etc. ), whose variation over time is representative of information.
• component of a signal means a member of a sum of signals composing said signal.
• the signal Pi is said to be "disturbed” because it comprises, in addition to a useful component directly representative of the information sought, another unwanted component which is added to the useful component.
• sinusoidal component Si is understood to mean a pure sinusoidal signal which can be written in the form:
• Such a signal processing method according to the invention makes it possible to provide a useful signal value at a given instant in almost real time, without using an analog or digital filter.
• the invention may also include one or more of the following characteristics, taken in isolation or in any technically possible combination.
• a value taken by the additional component X1 at time t3 is calculated according to the values of the disturbed signal Pi and the values of the signal P2 at the three times t-i, t2 and t3 in the form:
• the notation Pi (tj) corresponds to the value of a signal Pi taken at time tj.
• the component Si is a sinusoidal signal of period T, and the signal P2 is obtained by a time shift of the disturbed signal Pi, the time shift being equal to T / 4.
• the present invention relates to a device for processing a disturbed signal Pi transporting data on a communication bus of an electronic circuit to extract a useful signal from said disturbed signal Pi.
• the signal processing device comprises a first sensor for measuring said disturbed signal Pi.
• the disturbed signal Pi is formed by the sum of a sinusoidal component Si and an additional component X1.
• the useful signal corresponds to the additional component X1.
• the values taken by the additional component X1 are representative of the data transported on the communication bus.
• the device further comprises a processing unit configured for:
• the invention may also include one or more of the following characteristics, taken in isolation or in any technically possible combination.
• a value of the additional component X1 at time t3 is calculated as a function of the values of the disturbed signal Pi and the values of the signal P2 at the three times ti, t2 and t3 in the form: [Math. 4]
• the component Si is a sinusoidal signal of period T and the processing unit is configured to determine a value of the signal P2 at an instant ti from the value of the disturbed signal Pi at the instant ti - T / 4 or at the instant ti + T / 4.
• the present invention relates to an electronic circuit comprising a communication bus intended to support the transport of a disturbed data signal Pi, and a processing device according to any one of the preceding embodiments for extracting a signal useful of said disturbed signal
• the present invention relates to a resolver comprising a signal processing device according to any one of the preceding embodiments.
• the resolver includes a stator and a rotor.
• the rotor has a primary coil.
• the stator has a first secondary coil and a second secondary coil. The first secondary coil and the second secondary coil are arranged at 90 ° to each other.
• the signal Pi is determined from a voltage induced by the primary coil in the first secondary coil measured by the first sensor.
• Signal P2 is determined from a voltage induced by the primary coil in the second secondary coil measured by the second sensor.
• the signals Pi and P2 each respectively comprise a sinusoidal component Si and S2 in phase quadrature and of the same amplitude.
• the signal Pi includes an additional component X1.
• the signal P2 includes an additional component X2.
• Values of the components Si and S2 at time t3 are calculated as a function of the values of the disturbed signals Pi and P2 at the three times t-i, t2 and t3.
• An angle of rotation of the rotor at time t3 is then determined as a function of the values of the sinusoidal components Si and S2 at time t3.
• FIGS. 1 to 9 represent:
• FIG. 1 diagrammatically represents a signal processing device according to the invention
• FIG. 2 schematically represents the main steps of a method according to the invention for extracting a useful signal from a disturbed signal
• FIG. 3 schematically represents a sinusoidal component Si, of a useful signal X1, and of a signal Pi formed by the sum of the two components Si and Xi,
• FIG. 4 schematically represents the determination of the values of a signal Pi and of a signal P2 in three instants t-i, t2 and t3, the signal P2 corresponding to a time shift of the signal Pi,
• FIG. 5 schematically represents a signal Pi and of a signal P2 each comprising sinusoidal components Si and S2 respectively in phase quadrature and of the same amplitude relative to one another,
• FIG. 6 schematically represents a resolver comprising a signal processing device according to the invention
• FIG. 7 schematically represents the determination of the values of the signals Pi and P2 represented in FIG. 5 in three instants t-i, t2 and t3.
• FIG. 8 schematically represents the values taken by signals Pi and P2 over time
• FIG. 9 schematically represents the values taken by signals Pi and P2 in three instants ti, t2 and t3.
• the present invention aims to offer a space-saving, inexpensive, and almost real-time solution for extracting a useful signal from a disturbed signal.
• FIG. 1 schematically represents a signal processing device 10 comprising a first sensor 12 making it possible to measure a disturbed signal Pi.
• the signal Pi is representative of a physical quantity, for example an electrical quantity (a difference in electrical potential, an intensity of an electric current, a modulation of a periodic variation of a potential or an electric current, etc.), the variation of which over time is representative of information.
• the signal Pi is said to be "disturbed” because it comprises, in addition to a useful component directly representative of the information sought, an unwanted component which is added to the useful component.
• the disturbed signal Pi is formed by the sum of a sinusoidal component Si and an additional component X1.
• the useful signal corresponds either to the sinusoidal component Si or to the additional component X1.
• the signal processing device 10 can comprise a second sensor 13.
• the signal processing device 10 further comprises a processing unit 11.
• the processing unit 11 is capable of collecting measurements made by the sensors 12, 13.
• the sensors 12, 13 and the 1 1 processing unit can communicate for example via wired communication or via wireless communication.
• the processing unit 11 includes for example one or more processors and a memory (magnetic hard disk, electronic memory, optical disk, etc.) in which a computer program product is stored, in the form of a set of program code instructions to be executed to implement the various steps of a signal processing method to extract a signal useful to from a disturbed signal.
• the processing unit 1 1 comprises one or more programmable logic circuits (FPGA, PLD, etc.), and / or one or more specialized integrated circuits (ASIC), and / or a set of discrete electronic components , etc., adapted to implement all or part of said steps of said method.
• FPGA programmable logic circuits
• ASIC specialized integrated circuits
• FIG. 2 schematically represents the main steps of such a signal processing method 100 for extracting a useful signal from a disturbed signal Pi comprising a sinusoidal component S-i.
• the method 100 comprises the following steps:
• a determination 110 from the measurements carried out by the first sensor 12, of values of the disturbed signal Pi in three successive instants t-i, ⁇ ⁇ and t3,
• FIG. 3 diagrammatically represents a sinusoidal component Si, an additional component X1, and a signal Pi, for a first embodiment of the method 100 of signal processing according to the invention.
• the signal Pi is formed by the sum of the two components Si and Xi.
• the components Si and X1 and the signal P1 are represented as a function of time: time is represented on the abscissa while a value taken over time by the signal Pi or by the components Si and X1 is represented on the ordinate.
• the useful signal corresponds to the additional component X1.
• This is for example a signal having substantially constant continuous portions whose values are representative of data transmitted over a communication bus of an electronic circuit.
• the value of a substantially constant continuous portion corresponds to a value taken by one or more data bits, or by one or more symbols participating in the coding of a data bit.
• the sinusoidal component Si corresponds to a disturbance signal which is added to the useful signal. It may for example be a sinusoidal signal of frequency 50 Hz coming from the electromagnetic coupling between the electronic circuit implementing the communication bus and the conductors of the power supply network.
• the signal Pi corresponds to the sum of the additional component Xi, that is to say the useful signal, with the sinusoidal component Si, that is to say the disturbance signal.
• the instants t-i, t2 and t3 can be advantageously chosen so that a variation of Xi in the interval [t-i; t3] is small, for example less than 1.4%, or even less than 1%, compared to the amplitude of the sinusoidal component S-i.
• FIG. 4 illustrates how it is possible to determine the values at the three times ti, t2 and t3 of a signal P2 comprising a sinusoidal component S2 of the same amplitude as the sinusoidal component Si and in phase quadrature with respect to the sinusoidal component Si .
• a signal P2 corresponding to an image of the signal Pi temporally shifted by a quarter period of the sinusoidal component S-i.
• a signal P2 has by construction a sinusoidal component S2 of the same amplitude as the sinusoidal component Si and in phase quadrature with respect to the sinusoidal component S-i.
• the signal P2 is in phase advance with respect to the signal Pi.
• the value taken by the signal P2 at an instant ti corresponds to the value taken by the signal Pi at a time (ti - T / 4)
• the value taken by the signal P2 at an instant t2 corresponds to the value taken by the signal Pi at a time (t2 - T / 4)
• the value taken by the signal P2 at an instant t3 corresponds to the value taken by the signal Pi at a time (t3 - T / 4):
• P 2 (ti) Pi (ti - T / 4)
• the processing unit 11 is clocked by a clock whose frequency is at least four times higher than the frequency of the sinusoidal component Si.
• the processing unit 11 is configured to sample the signal Pi at instants (ti - T / 4), (t 2 - T / 4), (t3 - T / 4), ti, t 2 , t 3 .
• FIG. 5 diagrammatically represents a signal Pi and a signal P 2 for another particular embodiment of the method 100 of signal processing according to the invention.
• the signal Pi and the signal P 2 each respectively comprise a sinusoidal component Si and a sinusoidal component S 2 .
• the sinusoidal components Si and S 2 are in quadrature of phase with respect to each other and of the same amplitude.
• the signal Pi is formed by the sum of the sinusoidal component Si and an additional component Xi.
• the signal P 2 is itself formed by the sum of the sinusoidal component S 2 and an additional component X 2 .
• time is represented on the abscissa while a value taken over time by the signals Pi and P 2 or by the components Si, S 2 , Xi and X 2 is represented on the ordinate.
• the useful signal corresponds to the sinusoidal component Si while the additional component Xi corresponds to a disturbance signal.
• the useful signal corresponds to the sinusoidal component S 2 while the additional component X2 corresponds to a disturbance signal.
• the additional components X1 and X2 are for example random signals corresponding to a disturbance of technical or environmental origin (poor design of the electronic measurement circuit, bias introduced in the measurement of the sensor, influence of temperature or humidity on the measured signal value, interference with spurious signals from other electronic devices, etc.).
• a signal processing device 10 implementing the particular mode of implementation described with reference to FIG. 5 comprises a second sensor 13 making it possible to measure the signal P2.
• Such a signal processing device 10 can in particular be implemented in a resolver 20 such as that illustrated in FIG. 6.
• the resolver 20 comprises a stator 30 and a rotor 40.
• the rotor 40 comprises a primary coil 41.
• the stator has a first secondary coil 31 and a second secondary coil 32.
• the first secondary coil 31 and the second secondary coil 32 are arranged at 90 ° relative to each other.
• the primary coil 41 is supplied with a sinusoidal voltage V41 of amplitude Vo and of pulsation w:
• V 41 V Q x sin (ot)
• a voltage induced by the primary coil 41 in each secondary coil 31, 32 then varies sinusoidally during the rotation of the rotor:
• V 31 K x cos qx V 0 x sin (ü t + cp)
• V 32 K x sin qx Fo sin (ü t + cp)
• Q is the angle of rotation of the rotor 40 relative to the stator 30
• f is a phase shift between the voltage V41 at the terminals of the primary coil 41 and the voltages V31 and V32 at the terminals respectively of the first secondary coil 31 and of the second secondary coil 32.
• the signal processing device 10 comprises a first sensor 12 making it possible to measure a signal Pi obtained after demodulation of the voltage V31 observed at the terminals of the first secondary coil 31.
• This signal can also include an additional component X1 corresponding to a signal of disturbance:
• the signal processing device 10 includes a second sensor 13 making it possible to measure a signal P2 obtained after demodulation of the voltage V32 observed at the terminals of the second secondary coil 32.
• This signal can also include an additional component X2 corresponding to a disturbance signal:
• the curves represented in FIG. 7 are enlarged views respectively of a portion of the signal Pi and of a portion of the signal P2 represented in FIG. 5. As illustrated in FIG. 7, it is possible to determine the values in three instants ti, t2 and t3 of the signal Pi and of the signal P2, the signal P2 comprising a sinusoidal component S2 of the same amplitude and in phase quadrature with respect to the sinusoidal component Si of the signal Pi.
• the processing unit 1 1 is clocked by a clock and configured to sample the signal Pi and the signal P2 from the values obtained respectively by the first sensor 12 and by the second sensor 13 at times ti, t2 , t3.
• the values taken by the signals Pi and P2 at times ti, t2, t3 are stored in the memory of the processing unit 11 of the signal processing device 10. It should be noted that the instants ti, tz, t3 do not necessarily correspond to regular intervals.
• FIG. 8 schematically represents the evolution of the values of a signal Pi and of a signal P2 over time when the signals Pi and P2 respectively comprise a sinusoidal component Si and a sinusoidal component S2 of the same amplitude and in phase quadrature one in relation to the other.
• the signals Pi and P2 further comprise respectively an additional component X1 and an additional component X2.
• the values taken by the signal Pi over time are represented on the abscissa; the values taken by the signal P2 over time are represented on the ordinate.
• the sinusoidal components Si and S2 then draw over time a circle whose center moves due to the additional components X1 and X2.
• the point A having the coordinates (Pi (ti), P2 (ti)), the point B having the coordinates (Pi (t2), P2 (t2)), and the point C having for coordinates (Pi (t3), P2 (t3)) are substantially placed on a circle whose radius is equal to the amplitude of the sinusoidal components Si and S2 and whose center is a point O having for coordinates (C-),
• a variation of the signal X1 and a variation of the signal X2 within the interval [ti; t3] are each respectively less than 1.4% of the amplitude of the sinusoidal components Si and S2.
• a variation of the signal X1 and a variation of the signal X2 within the interval [t-i; t3] is less than 1% of the amplitude of the sinusoidal components Si and S2.
• the segments [AB] and [BC] form strings of a circle whose radius is equal to the amplitude of the sinusoidal components Si and S2, and their respective perpendicular bisector (d1) and ( d2) intersect at the center O of this circle.
• the value of the useful signal at time t3 is a function of the values of the signal Pi and the values of the signal P2 in three instants t-i, t2, t3. Indeed, if the useful signal corresponds to the additional component X1, then the value of the useful signal is the value Xi (t3) calculated above; if the useful signal corresponds to the sinusoidal component Si, then the value of the useful signal at time t3 is equal to:
• the values taken by the additional component X1 are representative of data transmitted on a data bus.
• the additional component X1 corresponds to the useful signal while the sinusoidal component Si corresponds to a disturbance signal which is added to the useful signal.
• Measurements of the signal Pi can be performed repeatedly, and as soon as six measurements (or possibly four measurements) of the signal Pi at times (ti - T / 4), (t2 - T / 4), (t3 - T / 4), ti, t2, t3 are available (T being the period of the sinusoidal component Si), then the signal processing method 100 makes it possible to calculate a value C-) of the useful signal at time t3.
• the value C-) corresponds to a value at time t3 of the signal supplied by the data bus for which the unwanted sinusoidal disturbance has been removed.
• the measurements of the signal Pi necessary for the calculation 130 of a value of the useful signal are carried out over a period of time during which the component X1 keeps a substantially constant value (in other words it is necessary to avoid these measurements being carried out over a period of time which overlaps two portions during which the additional component Xi takes different constant values).
• the various measurements of the signal Pi used for the calculation 130 of a value of the useful signal do not vary from one to the other by a value greater than a certain threshold.
• the additional components Xi and X2 correspond to a disturbance of the signals Pi and P2 measured respectively by the first sensor 12 and the second sensor 13.
• the sinusoidal components Si and S2 correspond to useful signals which should be extracted respectively from the signal Pi and from the signal P2.
• Measurements of the signals Pi and P2 can be carried out repeatedly by the first sensor 12 and by the second sensor 13 of the signal processing device 10. As soon as three measurements for each signal are available at times ti, t2 and t3, the signal processing method 100 makes it possible to calculate a value C-) of the component X1 at time t3 and a value X2 (t3) of the component X2 at time t3 in order to deduce therefrom the values Si (t3) and S2 (t3) of the useful signals Si and S2 at time t3. It is then possible to define the value of the angle Q of rotation of the rotor 40 relative to the stator 30 of the resolver 20 at time t3:
• the signal processing method 100 according to the invention and its associated device 10 make it possible to extract a useful signal from a disturbed signal when said disturbed signal comprises a sinusoidal component.
• This method 100 can be easily implemented by a processing unit 11 responsible for collecting and processing measurements of a disturbed signal supplied by a sensor 12, 13.
• the method 100 does not require the use of a material filter based on electronic components which can be, depending on the intended application, heavy, bulky and expensive.
• the method 100 also does not require the use of a digital filter often requiring significant resources in terms of calculations and memory.
• the method 100 is based on a calculation 130 which gives an immediate value of the useful signal to be extracted at a given time from at most six measurements.
• the determination of a useful signal value at a given instant is therefore carried out with a high reactivity, almost instantaneously, which is a considerable advantage for so-called "real time" systems.
• the method is indeed applicable as soon as it is possible to express a physical phenomenon by a sinusoidal signal which would contain a measurement error, or else by any signal which would be disturbed by a sinusoidal signal.

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• 2018
  • 2018-12-13 FR FR1872882A patent/FR3090151B1/fr active Active
• 2019
  • 2019-12-11 US US17/312,348 patent/US20220019641A1/en active Pending
  • 2019-12-11 WO PCT/EP2019/084743 patent/WO2020120618A1/fr unknown
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