JPH0618280A - Processing method for signal of resolver - Google Patents

Abstract

PURPOSE:To obtain a highly accurate phase angle signal in a resolver signal processing method by removing phase error components of the resolver. CONSTITUTION:According to this resolver signal processing method, first and second output signals E01, E02 are added to obtain a third output signal 11, and a fourth output signal 13 shifted 90 deg. in phase from the second output signal E02 is added to the first output signal E01 thereby to obtain a fifth output signal 15. When the fifth output signal 15 is subtracted from the third output signal 11, a phase angle signal 17 from which error components are removed is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a resolver signal processing method, and more particularly to a novel improvement for obtaining a highly accurate phase angle signal by removing the phase error component (all order component) of the resolver.

[0002]

2. Description of the Related Art As a resolver signal processing method of this type which has been conventionally used, generally, as shown in FIGS. 2 and 3, an excitation side which is a stator of a two-phase excitation / two-phase output resolver 20 is used. 1 is provided with two-phase exciting coils 2 and 3, and a first input signal E is provided between both terminals S1 and S3 of the first exciting coil 2.
_I1 (E _I1 = E ₁ sinωt) is input, and the second input signal E _I2 (E _I2 = E 2) is applied between both terminals S 2 and S 4 of the second exciting coil 3.
Input ₁ cos ωt).

From between both terminals R ₁ and R _{3 of} the first coil 5 provided on the output side 4 as a rotor which is arranged so as to face the excitation side 1, as shown in FIG. E _O1 [E _O1 =
E ₂ sin (ωt + θ + ε _S )] is output, and the second output signal E _O2 [E _{O2 is} output from between both terminals R ₂ and R _{4 of} the second coil 6.
= E ₂ cos (ωt + θ + ε _C )] is output. Therefore, the above-mentioned output signals E _O1 and E _O2 are used.

[0004]

In the conventional resolver signal processing method, since the phase error components included in the output signals E _O1 and E _O2 are processed without being removed, the finally obtained phase angle is obtained. The signal cannot have sufficient accuracy, and has been the biggest drawback of this type of resolver, which is said to have strong impact resistance.

The present invention has been made to solve the above problems, and in particular, the phase error component (all order components) of the resolver is removed to obtain a highly accurate phase angle signal. It is an object to provide a resolver signal processing method.

[0006]

According to the resolver signal processing method of the present invention, a phase angle signal is output using first and second output signals having different phases, which are obtained from a two-phase excitation / two-phase output resolver. In the resolver signal processing method described above, the first step of obtaining the third output signal obtained by adding the output signals and the phase of the second output signal being shifted by 90 degrees are 180 degrees from each other. Fourth phase different
A second signal for adding a signal and the first output signal to obtain a fifth signal
And a method of obtaining the phase angle signal in a state in which a phase error component is removed by subtracting the fifth signal from the third signal.

[0007]

In the resolver signal processing method according to the present invention, the first and second obtained from the two-phase coil on the output side of the resolver,
The second output signal is added to obtain the third output signal, and the phase of the second output signal is further shifted by 90 degrees to obtain the fourth output signal having a phase opposite to that of the first output signal. Here, the first output signal and the fourth output signal are added to obtain a fifth output signal, and the fifth output signal is subtracted from the third output signal to remove the phase error component from the phase angle signal. Can be obtained.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a resolver signal processing method according to the present invention will be described in detail below with reference to the drawings. In addition, the same or equivalent portions as those of the conventional example will be described using the same reference numerals. FIG. 1 is a block diagram showing a resolver signal processing method according to the present invention. Since the structure of the resolver and the waveforms of the output signals E _O1 and E _O2 are the same as those in FIGS. 2 and 3, the description thereof will be omitted in the embodiment and the same reference numerals will be used for the description.

The first output signal E _O1 and the second output signal E _O2 obtained by the two-phase excitation / two-phase output resolver 20 of FIG. ₂ are input to the first adder 10 of FIG. The output signal 11 is obtained.

The second output signal E _O2 is passed through the phase delay unit 12 which is an integrator or differentiator, and the fourth output signal 1 is a phase opposite to the first output signal E _O1 by 90 degrees.
3 is converted into the third output signal 13 and the fourth output signal 13 and the first output signal E.
_O1 is added by the second adder 14 to obtain the fifth output signal 15, and the subtractor 16 adds the fifth output signal 11 to the fifth output signal 15.
By subtracting the output signal 15, a phase angle signal 17 with no phase error is obtained.

Next, the processing method in the above configuration will be described in more detail. First, the phase error ε _S of the first output signal E _O1 is ε _S = ε _S1 {K ₁ sin θ + K ₂ sin2θ +
_{K 3 sin3θ ···} ··· (1} ) , and the phase error epsilon _C of the second output signal E _{O2 is, ε C ≒ ε S1 {K} 1 sin (θ
+ Π / 2) + K ₂ sin2 (θ + π / 2) + K ₃ sin3
(Θ + π / 2) + ...} (2) However,
ε _C is out of phase with π / 2 for each error component of ε _S.

Next, the error component of the third signal 11 is ε _{S + C}
= Ε _S + ε _C (3), and (4n in this equation (3)
+2) In the order component (n = 0, 1, 2, ...), = K ₂ {sin2θ + sin2 (θ + π / 2) + sin
6θ + sin6 (θ + π / 2) + ... (4) = K ₂ {sin2θ + sin (2θ + π) + sin6θ
+ Sin (6θ + 3π) + ... (5) where sin (2θ + π) = − sin2θ, sin (6
θ + 3π) = − sin6θ. = K ₂ {0 + 0 + ...} = 0 Therefore, (4n + 2) th order (second order, sixth order, tenth order ...)
Is canceled and the error becomes zero.

However, the other components are amplified as follows. The (4n + 4) th order component error is doubled and the phase is the same as ε _S (7) (4n + 1) th order component error is √2 times and the phase is shifted by π / 4 (8) (4n + 3) th order component The error is √2 times and the phase is 3π / 4
It shifts ... (9)

Next, the error component of the fourth output signal 13 does not shift its phase as it is, and the first and second output signals E _O1 and E _O2
The carrier component of the third output signal 11 added with is canceled and becomes 0, but (4n +
2) Components other than the following remain, and the above-mentioned (7), (8),
The same component as the component (9) remains.

Therefore, the subtractor 16 subtracts the fifth output signal 15 from the third output signal 11 to obtain the phase angle signal 17 in which the phase error component is canceled and removed.

In this error cancellation, an error caused by the stator side is detected and canceled by a two-phase signal on the rotor side. An error caused by the rotor side cannot be canceled, but a resolver phase error is generated. Since most of the results were due to the stator side, a large effect could be obtained even in the actual measurement results.

[0017]

According to the resolver signal processing method of the present invention,
Since it is configured as described above, the following effects can be obtained. That is, the phase error caused by the stator side of the resolver can be detected and canceled by the two-phase signal on the rotor side, and a highly accurate phase angle signal with the phase error removed can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a resolver signal processing method according to the present invention.

FIG. 2 is a winding diagram showing a conventional resolver.

FIG. 3 is a waveform diagram.

[Explanation of symbols]

E _O1 first output signal E _O2 second output signal 11 third output signal 13 fourth output signal 15 fifth output signal 17 phase angle signal 20 two-phase excitation / two-phase output resolver

Claims (1)

[Claims] 1. A first and a second output signals (E _O1 , E _0,1 ) having different phases obtained from a two-phase excitation / two-phase output resolver (20).
In the resolver signal processing method for outputting the phase angle signal (17) using E _O2 ), each output signal (E _O1 ,
The first step of obtaining the third output signal (11) obtained by adding E _O2 ) and the first output signal (E _O1 ) by shifting the phase of the second output signal (E _O2 ) by 90 degrees A second step of adding a fourth output signal (13) and a phase difference of 180 degrees to the first output signal (E _O1 ) to obtain a fifth output signal (15); A resolver signal processing method, characterized in that the phase angle signal (17) with the phase error component removed is obtained by subtracting the fifth output signal (15).