KR101338707B1 - Excitation signal generating device and resolver sensing device - Google Patents

Abstract

An excitation signal generating device according to the present invention includes: a sawtooth wave generator generating a sawtooth wave depending on the increase of an up counter operated according to an interrupt signal for controlling a motor - the operation of detecting the location of rotation -; a square wave generator generating a square wave by comparing the sawtooth wave to the reference value; and a sine wave generator generating a sine wave to be output to the excitation coil of a resolver with the square wave, wherein the saw tooth wave can approach the maximum value faster than the interrupt signal by predetermined hours. [Reference numerals] (110) Square wave generator;(120) A/D converter;(130) Interrupt routine(location estimation);(20) Chopping wave generator;(30) Band-pass filter & amplifier;(AA) Cos signal;(BB) Sine signal

Description

Excitation Signal Generating Device and Resolver Sensing Device

The present invention relates to an excitation signal generator and a resolver detection device that generate an excitation signal to sample a maximum value of a resolver output signal and to estimate a position. An excitation signal generator and a resolver detection device that can be configured to facilitate position detection from a resolver signal in software using an excess source of a microcontroller.

The resolver is a device for measuring the degree of rotation of a rotating device such as a motor or an engine. In general, a resolver of an electric motor driving system is used to detect the position of a rotor in an electric motor driving system requiring frequent variable speed or precise position control.

The resolver of the motor drive system, which has recently been applied to many applications, is mainly composed of a variable magnetoresistance type using a change in magnetic reluctance between the stator and the rotor to which the coil is wound. This type of resolver has the advantage of being relatively inexpensive compared to other sensor methods because of its simple structure and no electrical contact between the rotor and the stator.

The resolver of the above-described type applies a sine wave to the excitation coil and outputs an output sine signal and an output cosine signal in which a sine wave applied to the excitation coil and a waveform according to rotation are mixed in the first / second output coil. The output sine signal and the output cosine signal are input to the position detecting means, and the position detecting means analyzes the signals to determine the rotation position. The position detecting means may be implemented as a separate dedicated detecting circuit or as a function of a general purpose microcontroller (eg, a controller for controlling a motor).

In the resolver-to-digital conversion method of performing position detection from a resolver signal in software using an excess source of a microcontroller without the need for a separate resolver-digital converter as described above, in order to increase the accuracy of the position detection, Means have been required for synchronizing the maximum value of the output signal with the timing of interrupt generation so as to sample the maximum value of the resolver output signal and to estimate the position.

An object of the present invention is to provide an excitation signal generator and a resolver detection device capable of increasing the accuracy of position detection of a resolver.

The present invention relates to a resolver excitation signal generating device and a method for easily detecting a position from a resolver signal by software using an extra source of a microcontroller without the need for a separate resolver-digital converter. It is an object of the present invention to provide an excitation signal generator and a resolver detection device for generating an excitation signal such that the timing of interrupt generation and the maximum value of an output signal are synchronized so as to sample the maximum value and to estimate the position.

Excitation signal generating device according to an aspect of the present invention, the sawtooth wave generator for generating a sawtooth wave in accordance with the increase of the up counter operating in response to the interrupt signal for motor control (rotational position detection operation); A square wave generator for generating a square wave by comparing the sawtooth wave with a reference value; And a sine wave generator for generating a sine wave to be output to the excitation coil of the resolver as the square wave.

Here, the sawtooth wave may reach a maximum value before the interrupt signal a predetermined time.

The predetermined time may be set in advance according to the delay time of the output signal of the resolver.

Here, when the interrupt signal is generated, the up counter may return to a predetermined number to perform counting.

Here, the up counter,

When the interrupt signal is generated, the maximum value counted may be set to a predetermined number.

According to another aspect of the present invention, a resolver detecting apparatus includes: a detection controller configured to generate an interrupt signal for a rotation position detection operation with respect to the resolver; And an excitation signal generator generating a sinusoidal excitation signal to be output to an excitation coil of the resolver in response to the interrupt signal, wherein the sinusoidal wave may reach a maximum value before a predetermined time.

The predetermined time may be set in advance according to the delay time of the output signal of the resolver.

Here, the excitation signal generator is a sawtooth wave generator for generating a sawtooth wave in accordance with the increase of the up counter operating in response to the interrupt signal for controlling the motor, a square wave generator for generating a square wave by comparing the sawtooth wave and the reference value, and the square wave It may include a sine wave generator for generating a sine wave to be output to the excitation coil of the resolver.

Resolver detection apparatus according to another aspect of the present invention, the sine wave generator for generating a sine wave output to the excitation coil of the resolver; A comparator for comparing the sinusoidal wave generated by the sinusoidal wave generator with a predetermined reference voltage; And a detection controller configured to generate an interrupt signal for motor control (rotational position detection operation) according to the comparison result of the comparator.

The method may further include an amplifier for amplifying the sine wave generated by the sine wave generator and outputting the sine wave to the excitation coil.

Here, the duty ratio of the comparator output signal is different according to the reference voltage value of the comparator, and the interrupt signal may be generated at the rising edge of the comparator output signal.

Here, the reference voltage value of the comparator may be preset to a value determined according to the delay time of the output signal of the resolver.

The apparatus may further include a timer that is cleared at the rising edge of the comparator output signal and outputs a signal to the detection controller to generate the interrupt signal after a predetermined measurement time has elapsed.

Here, the measurement time of the timer may be preset to a value determined according to the delay time of the output signal of the resolver.

Implementing the excitation signal generator and the resolver detection device of the present invention according to the above configuration has the advantage of increasing the accuracy of the position detection of the resolver.

For example, when the speed sensor and the torque control of the motor (motor) to which the resolver sensor is connected according to the present invention, the resolver output signal is required at the time when the position information of the motor is needed in the interrupt routine that performs the current control of the motor control. At the same time as sampling the maximum value of, the position of the motor can be estimated and the correct position can be detected from the resolver output signal.

Alternatively, it is possible to use a resolver sensor as a position sensor at low cost because the present invention facilitates accurate position detection from a resolver signal by software using a redundant controller of a microcontroller without the need for a separate resolver-digital converter. There is also an advantage to this.

1 is a waveform diagram illustrating a sampling period of a resolver output signal.
FIG. 2 is a graph of a result of investigating a position tracking error according to sinwt of a position tracking algorithm (when A / D Conversion resolution is 10bit). FIG.
3A and 3B are waveform diagrams for explaining the effect of sampling time of the resolver output signal.
4 is a block diagram showing an excitation signal generator according to an embodiment of the present invention.
5 is a detailed block diagram of a square wave generator and a triangular wave generator constituting a detailed configuration of the excitation signal generator of FIG.
6 is an operational waveform diagram of each component of FIG. 5;
FIG. 7 is an operational waveform diagram of each component of FIG. 5, and an operational waveform diagram of each part according to adjustment in consideration of delay of an excitation signal. FIG.
8 is a block diagram showing an excitation signal generator according to another embodiment of the present invention.
9 is an operation waveform diagram of each part considering delay of an excitation signal of the excitation signal generator according to the embodiment of FIG. 8;
10 is a block diagram showing an excitation signal generator according to another embodiment of the present invention.
11 is an operation waveform diagram of each part of the excitation signal generator according to the embodiment of FIG.
12 is a block diagram showing an excitation signal generator according to another embodiment of the present invention.
13 is an operational waveform diagram of each part of the excitation signal generator according to the embodiment of FIG. 12;
14 is a block diagram showing an excitation signal generator according to another embodiment of the present invention.
15 is an operational waveform diagram of each part of the excitation signal generator according to the embodiment of FIG. 14;

The resolver is a position detection sensor that is used to detect the motor position and speed of motor control. RDC (Resolver to Digital Converter) is required for location detection using resolver, but RDC is expensive.

On the other hand, advances in microcontrollers have made it possible to implement position detection directly from resolver output signals in software instead of RDC, using the surplus capability of microcontrollers to control motors.

의 여자신호를 인가하면 사인성분

와 코사인성분

의 2개의 변조된 레졸버 신호가 출력된다. 그러면, 상기 레졸버 출력신호를 근거로 RDC는 위치를 산출한다.Resolver

Sine component when the excitation signal of

Wacosine Ingredients

Two modulated resolver signals are output. Then, the RDC calculates a position based on the resolver output signal.

와

로부터

의 탄젠트 식이나 식

를 근거로 한 Φ를 θ에 일치시키도록 하는 수렴에 의한 방법이 일반적으로 소프트웨어에 의한 레졸버 이용 위치추정을 위해 이용될 수 있다.However, by using the surplus capability of the microcontroller, the resolver output signal in software instead of RDC.

Wow

from

Tangent or expression

A converging method for matching Φ to θ based on can generally be used for estimating resolver use location by software.

It is common to apply the excitation frequency of the sinwt resolver to 10kHz, and the period of the excitation frequency is 100usec, which coincides with the current control cycle of motor control, 100usec, and is performed at the interrupt of 100usec cycle. Therefore, as shown in FIG. 1, the position may be estimated by sampling once during an excitation frequency period of sinwt which is a 100usec period.

에서 Φ는 θ로 수렴하지만 음(-)이면 식

에서 Φ (θ는 +-180도)로 수렴하여 위치 추정을 할 때는 sinwt성분의 극성의 정보를 함께 검출하여야 한다. 또한, 레졸버 출력신호에서 sinwt성분의 값의 크기는 위치 추정의 오차를 결정하는 분해능과 직접적인 관련이 있다.Here, if the sinwt component is positive in the sampled resolver output signal,

Φ converges to θ, but if negative,

When θ (θ is + -180 degrees) convergence at, the position information of sinwt component should be detected together. In addition, the magnitude of the sinwt component in the resolver output signal is directly related to the resolution that determines the error of the position estimation.

2 shows that the position error increases exponentially as the value of sinwt decreases as a result of the simulation (simulation) of the position error according to sinwt. 2 is a simulation of the ideal resolver output, and the error will increase further if the actual resolver output includes other practical factors such as fluctuations in the garden, noise, and error in the AD converter. In this case, it can be seen that the position estimation is impossible when sinwt is near 0.

However, the position estimation is an important factor in the reliability of the product because, if the position estimation is misplaced, the motor control is impossible, which may cause a fatal accident in the case of a product that applies the motor control, for example, an electric vehicle.

=1(or -1)인 즉, 도 1의 A, B와 같이 출력신호의 최대값을 샘플하는 것이 최적이다. Therefore, for accurate position estimation

It is optimal to sample the maximum value of the output signal as = 1 (or -1), that is, A and B in FIG.

An existing patent (registration number 10-0876658) for sampling at the maximum value of an output signal has been filed. However, this method simply addresses the common sense requirement in the art of sampling at the maximum value of the output signal, and there is no specific way of knowing when to sample at the maximum value or make a presumption.

3A and 3B show a description of the position error when the sampling time at the maximum value is different but the time point of the presumption estimation is different.

=1의 최대값 A에서 샘플링하여도 위치 추정시점이 다르면 추정시점의 샘플링 최대값 B가 아니므로 α만큼의 위치오차를 수반한다. 따라서

≠1이 아니지만 오히려 추정시점의 샘플링 값 C를 샘플링하는 것이 오차가 적게된다. 즉, 도 3b와 같이,

=1의 최대값에서 샘플링 한 값을 가지고 추정하기에 실제 추정시점에서의 위치는 B(각도 a)이나 추정위치는 여전히 A' = A"(각도 b)이며 위치오차는 α가 된다.As shown in Fig. 3a,

Even when sampling at the maximum value A of = 1, if the position estimation time point is different, it is not the sampling maximum value B of the estimation time point, and thus it carries a position error of α. therefore

Although not 1, sampling the sampling value C at the time of estimation is less error-prone. That is, as shown in Figure 3b

The estimated position is B (angle a) but the estimated position is still A '= A "(angle b) and the position error is α.

If the speed of the motor is slow, that is, if the position change is small during the time difference between sampling and estimated time, or if the time difference between sampling and estimated time is small, the position error is not large, but the position is gradually increased when the motor speed is fast. The error increases and becomes more problematic. For example, if the motor rotates at high speed at 16 poles and 6000 rpm, and it is unfortunate, the maximum time difference between sampling and estimation point (position estimation after nearly 100usec after sampling) causes an error of up to 28.8 degrees. After all, the maximum position of the output signal must be sampled and the position must be estimated at the same time to estimate the exact position.

In general, the motor control performs current or torque control during the 100usec interrupt cycle. At this time, the motor position information is required. Therefore, if the maximum value of the output signal can be sampled at the same time as the occurrence of the interrupt, that is, if the interrupt occurs at the maximum value of the output signal instead of the maximum value of the excitation signal (input signal), the maximum value of the output signal is sampled. At the same time, estimation of the position is possible.

In the resolver detection method according to the first embodiment, a sawtooth generator using an UP counter for an excitation signal and a square wave generator for generating a square wave by a comparator reference value are configured using a microcontroller, and the period of the UP counter is an interrupt generation. The maximum value of the UP counter is set to be synchronized with the period so that the excitation signal of the same frequency as the interrupt generation frequency is generated.The counter value is forcibly set to a specific setting value for each interrupt cycle so that the delay of the excitation signal is increased. It is considered to enable sampling in the interrupt routine when the excitation signal component of the resolver output is at its maximum at the start of the interrupt.

4 is an embodiment of the excitation signal generator of the present invention, the square wave generated from the square wave generator 110 built in the microcontroller 100 is connected to the analog triangular wave generator 20 and the triangular wave generator 20 ) Generates a triangular wave of 10 kHz according to the square wave.

로 변환하여 레졸버(200)에 인가한다.The generated triangular wave is converted into a sine wave while passing through the band pass filter 30 and an excitation signal of a voltage and a current corresponding to the rating of the resolver 200 in the amplifier 30.

Is converted to and applied to the resolver 200.

가 함께 포함된 변조된 SIN신호

와 COS신호

를 출력한다.The resolver 200 to which the excitation signal is applied rotates while the position information θ and the excitation signal are rotated.

Modulated SIN Signal Included with

And COS signal

.

와 COS신호

는 마이크로콘트로러(100) 내부에 있는 A/D변환기(120)에 입력되며 A/D변환기(120)는 100usec 인터럽트 주기에 한번 씩 레졸버(200) 출력신호를 샘플링, A/D변환한다.Resolver 200 output signal

And COS signal

Is input to the A / D converter 120 inside the microcontroller 100 and the A / D converter 120 samples the A / D converter output signal once every 100usec interrupt cycle.

The resolver 200 output signal converted into the digital value by the A / D converter 120 estimates the position θ in software in a 100usec interrupt routine.

와

를 곱하고 빼서 하기 수학식 1의 E를 계산할 수 있다.The position estimation algorithm is implemented as in Equation 1 below, and the resolver 200 output signals are respectively

Wow

By multiplying and subtracting, E of Equation 1 may be calculated.

Eventually, when Φ is adjusted to converge so that the value of Equation 1 becomes 0, Φ at this time becomes a position θ to be obtained as in Equation 2 below.

5 shows the detailed structure and output waveforms of the square wave generator 110 and the generated analog triangle wave generator 20 of FIG. 4, and FIG. 6 shows the operation waveforms of each part according to the embodiment of FIG. 4.

The square wave generator 110 of FIG. 5 includes a digital counter 111, a comparator reference value 112, and a digital comparator 113. The counter 111 operates as an UP counter generating a sawtooth wave as shown in FIG. Set the maximum value N to be 100usec.

The sawtooth wave of the counter 111 is input to the comparator 113 and compared with the comparator reference value 112 set to (N / 2) which is half of the maximum value N of the counter to output a symmetric square wave as shown in FIG. 6B.

At this time, if the counter 111 is cleared to 0 at the start of the interrupt in the 100usec interrupt routine, the square wave is generated at the same time as the clearing time of the sawtooth wave to 0 as shown in Fig. 6b at the start of the interrupt.

The square wave of the square wave generator 110 is input to the analog triangular wave generator 20 and the triangular wave generator 20 operates as an integrator as shown in Equation 3 below to generate a triangular wave as shown in FIG. 6C.

At this time, the magnitude of the triangular wave output voltage can be adjusted by RC, and the maximum value of the triangular wave occurs at the moment of rising of the square wave, that is, at the start of the interrupt.

The triangular wave output is converted into a sinusoidal excitation signal as shown in FIG. 6D through the bad pass filter and the amplifier 30 and applied to the resolver 200.

The maximum value of the sinusoidal excitation signal Ksinwt is generated at the rising edge of the square wave, that is, at the start of the interrupt, and when the resolver output signal is sampled at the start of the interrupt, sampling is possible at the maximum value of the resolver output signal, sinwt = 1. At the same time, estimation of the position is possible.

와

와 같이

가 아닌 지연된

가 포함된 변조된 SIN신호와 COS신호를 출력할 수 있다. 따라서, 지연의 영향으로 인터럽트 루틴에서 레졸버 출력신호의 최대값에서의 샘플링이 오차가 발생할 수 있다.However, due to the influence of the sinusoidal excitation signal Ksinwt filter and the leakage inductance component inside the resolver, the delay is delayed by α and the resolver output signal is

Wow

together with

Is not deferred

The modulated SIN signal and the COS signal may be output. Therefore, the sampling at the maximum value of the resolver output signal may occur in the interrupt routine due to the delay.

이 최대값일 때 샘플링이 가능하다.In order to take into account the effect of the above-described delay, as shown in FIG. 7, if the counter 111 is not cleared to 0 at the interrupt time and the delay value is set to the value N1 considering the delay, the maximum value of the excitation signal is earlier than the interrupt start time and the excitation of the resolver output. Signal component

Sampling is possible at this maximum value.

이 최대값일 때 샘플링과 위치 추정이 가능하다.
By adjusting the setting value of the counter 111 at the time of interruption by the above method, it is possible to adjust the phase of the excitation signal according to the characteristics of the resolver. Consequently, in any resolver specification, the excitation signal component of the resolver output according to the present invention.

At this maximum, sampling and position estimation are possible.

8 is another embodiment of the excitation signal generator of the present invention, the excitation signal generator is shown, UP counter; A ROM having output data of the UP counter connected to an address bus for accessing cosine data stored in the ROM and outputting sinusoidal data according to an increase in the UP counter; A D / A converter for converting the output digital sine wave of the ROM into an analog sine wave; The harmonic-containing sine wave of the output of the D / A converter is characterized in that it comprises a filter for converting into a clean sine wave and an amplifier driving according to the resolver rating. Here, setting (setting) of the UP counter may be achieved by using a microcontroller.

The operation of the excitation signal generator shown in the drawing may include calculating the clock frequency, the maximum value of the UP counter, and the cosine storage data capacity of the ROM to be synchronized with the generation period of the interrupt; In the sawtooth generator using the UP counter, the counter value is forcibly set to a specific setting value at each interrupt cycle so that the interrupt routine is sampled when the excitation signal component of the resolver output is the maximum value at the start of the interrupt.

The microcontroller 100 of the illustrated excitation signal generator is connected to the UP counter 41 to set the counter value, and the increasing counter value of the UP counter 41 is connected to the address bus of the ROM 42 to display sine wave data. Input the address of ROM which value is saved so that sine wave value is output through ROM's data burn. The output digital sine wave data of the ROM 42 is connected to the D / A converter 43 and converted into analog sine wave values.

At this time, if the clocks of the counter 41 and the ROM 42 are input as 2.5Mhz, for example, 250 UP counters increase in 100usec cycle, and the ROM address can access 250 addresses from 0 to 249. If 250 cycles of cosine wave data are stored and the data bus of the ROM is 8 bits, a low-order ROM of 256 bytes can be used for sine wave generation.

Since the output data of the ROM 42 is a low-resolution digital value, the output sinusoidal wave of the D / A converter 43 is also a sine wave in which some harmonic components are included.

로 변환하여 레졸버(200)에 인가한다.Accordingly, the generated sinusoidal wave is converted into a clean sinusoidal wave through the band pass filter 30 and an excitation signal of a voltage and a current corresponding to the rating of the resolver 200 in the amplifier 30.

Is converted to and applied to the resolver 200.

After the excitation signal is applied to the resolver 200, the process of estimating the position θ by software in the 100usec interrupt routine is similar to that of the excitation signal generating device according to the embodiment shown in FIG. 4.

FIG. 9 illustrates operation waveforms of each part according to the exemplary embodiment of FIG. 8, and the UP counter 41 of FIG. 8 operates in a sawtooth wave shape that increases from 0 to N as shown in FIG. 9A, and when N is set to 249 The address command data which is designated from 0 to 249 of the station will be output.

Since the cosine data is stored in the ROM, if the output of the UP counter 41 is 0, the cos (0 degree) value of the ROM 0 address is accessed and the output of the UP counter 41 increases, so that the data bus of the ROM is shown in FIG. 9B. Digital values of waveforms such as

이 최대값일 때 샘플링이 가능하다.The cosine data output from the data bus of the ROM is applied as an excitation signal of the resolver via a D / A converter, and if the excitation signal included in modulated signals of the resolver output Sin and COS is passed through the filter and the resolver. If there is no delay, set the UP counter (41) to 0 at the start of the interrupt in the interrupt routine.

Sampling is possible at this maximum value.

이 최대값일 때 샘플링이 가능하다.However, since there is an actual delay, if the UP counter 41 is set to N1 at the start of interrupt in the 100usec interrupt routine in consideration of the influence of the delay of the excitation signal, the maximum value of the excitation signal is earlier than the start of the interrupt and Excitation signal component

Sampling is possible at this maximum value.

이 최대값일 때 샘플링과 위치 추정이 가능하다.
By adjusting the setting value N1 of the UP counter 41 at the time of interruption by the above method, it is possible to adjust the phase of the excitation signal according to the characteristics of the resolver, and eventually the excitation of the resolver output according to the present invention in any resolver specification. Signal component

At this maximum, sampling and position estimation are possible.

10 is a block diagram of another embodiment of the excitation signal generator of the present invention, and is characterized by using a triangular wave generator in the built-in PWM generator of the microcontroller 100 exclusively for motor control.

The excitation signal generator shown in the drawing includes a triangular wave generator 400 using a microcontroller built-in counter; A square wave generator 160 generated by the triangular wave generator 400 and a comparison reference value; It characterized in that it comprises a filter for converting the square wave to a sine wave and the amplifier 30 driving according to the resolver rating.

The main operation of the excitation signal generator shown is that an interrupt occurs at the maximum value of the triangular wave so that the excitation signal component of the resolver output is sampled near the maximum value at the start of the interrupt in the interrupt routine.

The triangular wave generator 140 in the built-in PWM generator of the motor control-only microcontroller 100 operates as an up-down counter to generate a triangular wave with a 100usec period as shown in FIG. 11A and generate an interrupt at the highest value of the triangular wave.

The triangular wave of the triangular wave generator 140 is input to the comparator 160 and compared with the comparator reference value 150 set to half of the maximum value of the triangular wave generator 140 operating as an up-down counter to output a symmetric square wave as shown in FIG. 11B. .

로 변환하여 레졸버(200)에 인가된다.The generated square wave output is changed into a clean sine wave while passing through the band pass filter 30, and an excitation signal of a voltage and a current corresponding to the rating of the resolver 200 in the amplifier 30.

Is converted and applied to the resolver 200.

After the excitation signal is applied to the resolver 200, the process of estimating the position θ by software in the 100usec interrupt routine is similar to that of the excitation signal generator according to the above-described embodiment of FIG. 5 or 8.

이 최대값일 때 샘플링이 가능하다.The excitation signal generator according to the embodiment of FIG. 10 is an apparatus for generating an excitation signal having the simplest structure that does not require a separate device other than the surplus source of the microcontroller 100. If the excitation signal included in the output signals Sin and COS has no delay, the excitation signal component of the resolver output at the interrupt start point in the interrupt routine.

Sampling is possible at this maximum value.

이 최대값일 때 보다 약간의 위상오차를 가지고 샘플링을 하는 단점이 있다.The excitation signal generator according to the embodiment of FIG. 10 has a simple structure but an actual delay, so that an excitation signal component of the resolver output is affected by the delay of the excitation signal.

There is a drawback of sampling with a slight phase error than this maximum value.

However, since the influence of the delay of the actual excitation signal is generally not so large that it is impossible to estimate the position, only a certain position estimation error exists, and in an application that can accommodate the position estimation error, the embodiment of FIG. It is possible to apply the excitation signal generator according to the.

Excitation signal generating apparatus of the present invention according to the first or second embodiment, the operation for generating the excitation signal in the interrupt routine to determine the phase of the excitation signal or the maximum value of the output signal is synchronized with the occurrence of the interrupt On the other hand, the excitation signal generating device according to the third embodiment of the present invention is characterized in that the excitation signal generation operation is actively performed, and the excitation signal generation is automatically generated outside the microcontroller 100 and the interrupt is generated by the excitation signal. That is, the interrupt is characterized in that it passively operates on the excitation signal.

12 is a block diagram of an excitation signal generator according to still another embodiment of the present invention, wherein an interrupt is generated by a signal generated by comparing an excitation signal with a comparator reference value.

The illustrated excitation signal generator includes a sine wave generator 51, a comparator 54 which is a square wave generator for generating a square wave by comparing the sine wave excitation signal generated by the sine wave generator 51 with a comparator reference value, and the comparator output signal. And an interrupt routine 130 in the microcontroller 100 for generating an interrupt that performs position estimation.

In FIG. 12, the sinusoidal wave generator 51 may generate an analog sine wave of 10 Khz using a winbridge oscillator, etc., and the comparator reference value 53 is set near the maximum value of the sinusoid in consideration of the delay of the excitation signal. It may be represented as shown in FIG. 13A.

로 변환하여 레졸버(200)에 인가되면서 동시에 기준값(53)과 함께 비교기(54)에 입력되어 도 13b와 같은 로우(Low)의 폭이 작은 구형파가 출력된다.The sinusoidal wave of the sinusoidal wave generator 51 passes through an amplifier 52 and an excitation signal of a voltage and a current corresponding to the rating of the resolver 200.

After converting to, it is applied to the resolver 200 and simultaneously input to the comparator 54 together with the reference value 53 to output a square wave having a small width as shown in FIG. 13B.

Therefore, the generated square wave output is connected to the interrupt pin of the microcontroller 100 to set an interrupt to be generated at the rising edge of the square wave.

The generated interrupt is estimated by software in the 100usec interrupt routine generated by the 100usec synchronized with the period of the sine wave, the process of the excitation signal generating apparatus according to the embodiment of FIGS. Similar to the case.

의 최대값 근처에서 발생될 수 있다.The generated interrupt is generated slightly delayed than the maximum value of the excitation signal, but considering the delay of the actual excitation signal, the interrupt is the excitation signal component of the resolver output as shown in FIG.

Can occur near the maximum of.

이 최대값일 때 샘플링이 가능하다.
The excitation signal generator of the present invention according to the embodiment of FIG. 12 is a method of estimating the resolver position of a simple structure using the microcontroller 100, but it is inconvenient to adjust the reference value 53 by manual operation. Excitation component of resolver output at time

Sampling is possible at this maximum value.

FIG. 14 is a block diagram of an excitation signal generator according to still another embodiment of the present invention, and the excitation signal generator of the embodiment of FIG. 12 generates a signal by comparing an excitation signal with a comparator reference value instead of generating an interrupt. Is input to the I / O port and a timer value synchronized with the signal is used to determine the phase of the excitation signal.

The illustrated excitation signal generator includes a comparator 54 as a square wave generator for generating a square wave by comparing a sinusoidal wave generator 51 and a sinusoidal excitation signal generated by the sinusoidal wave generator 51 with a comparator reference value; The I / O port 160 and the timer 130 of the microcontroller 100 connected to the output of the comparator 54 are configured.

The operation of the excitation signal generator shown in the drawing may include determining a polarity of the excitation signal from the comparator output; Determining the phase of the excitation signal from a timer coupled with the comparator output; Sampling the resolver output signal at the interrupt routine of the microcontroller from the polarity and phase of the excitation signal.

In FIG. 14, the sine wave generator 51, the comparator reference value 53, and the comparator 54 have the same structure as the excitation signal generator of FIG. 12, but unlike the case of FIG. 12, the excitation signal generator of FIG. By setting the comparator reference value 53 to the intermediate value of the sine wave, a symmetric square wave having the same high and low magnitude is generated as shown in FIG. 15B, and the reference value and the sine wave can be represented as shown in FIG. 15A.

로 변환하여 레졸버(200)에 인가된다.Here, the sinusoidal wave of the sinusoidal wave generator 51 is also an excitation signal of the voltage and current corresponding to the rating of the resolver 200 via the amplifier 52 as in the case of FIG.

Is converted and applied to the resolver 200.

의 극성을 판단할 수 있다.The generated square wave output of the comparator 54 is connected to the I / O pin of the microcontroller 100, and in a similar manner to that of the excitation signal generator according to the embodiment of FIG. 5, 7, 10, or 12. Excitation signal in interrupt routine to estimate position from resolver signal

The polarity of can be determined.

In this case, as shown in FIG. 15, the timer 61 of FIG. 14 is cleared at the rising edge of the generated square wave output of the comparator 54 so that the phase of the excitation signal can be determined by reading the timer value in the interrupt routine.

의 위상과 타이머값의 관계는 하기 표 1과 같다.Excitation signal when the maximum value of the timer value is N

The relationship between the phase and the timer value is shown in Table 1 below.

Phase of excitation signal The value of the timer Phase of excitation signal The value of the timer 0 degrees to 15 degrees 0 to N / 24 180 degrees-195 degrees N * 12/24 to N * 13/24 15 degrees to 30 degrees N / 24-N * 2/24 195 degrees to 210 degrees N * 13/24 to N * 14/24 30 degrees to 45 degrees N * 2/24 to N * 3/24 210 degrees to 225 degrees N * 14/24 to N * 15/24 45 degrees to 60 degrees N * 3/24 to N * 4/24 225 degrees to 240 degrees N * 15/24 to N * 16/24 60 degrees to 75 degrees N * 4/24 to N * 5/24 240 degrees to 255 degrees N * 16/24 to N * 17/24 75 degrees to 90 degrees N * 5/24 to N * 6/24 255 degrees to 270 degrees N * 17/24 to N * 18/24 90 degrees to 105 degrees N * 6/24 to N * 7/24 270 degrees-285 degrees N * 18/24 to N * 19/24 105 degrees to 120 degrees N * 7/24 to N * 8/24 285 degrees to 300 degrees N * 19/24 to N * 20/24 120 degrees to 135 degrees N * 8/24 to N * 9/24 300 degrees to 315 degrees N * 20/24 to N * 21/24 135 degrees to 150 degrees N * 9/24 to N * 10/24 315 degrees to 330 degrees N * 21/24 to N * 22/24 150 degrees to 165 degrees N * 10/24 to N * 11/24 330 degrees to 345 degrees N * 22/24 to N * 23/24 165 degrees to 180 degrees N * 11/24 to N * 12/24 345 degrees to 360 degrees N * 23/24-N

의 위상이 0도~15도인 (0 ~ N/24)와 위상이 165도~195도인 (N*11/24 ~ N*13/24)와 위상이 345도~360도인 (N*23/24 ~ N)를 피해서 레졸버의 출력신호를 샘플링하도록 인터럽트 루틴에서 소프트웨어적으로 처리한다.At this time, when sampling the resolver output signal for the position estimation in the interrupt routine, the timer value is the excitation signal so that the phase of the excitation signal component of the resolver output signal is not less than sin15 degrees.

(0 to N / 24) with phases of 0 to 15 degrees, (N * 11/24 to N * 13/24) with phases of 165 degrees to 195 degrees, and (N * 23/24 with phases of 345 degrees to 360 degrees). Software processes the interrupt routine to sample the resolver's output signal, avoiding ~ N).

이 최대값일 때 샘플링하는 것이 아니므로 어느 정도의 위치추정 오차만이 존재하며, 도 10의 실시예에 따른 여자신호 발생 장치와 마찬가지로 이 위치추정 오차를 수용할 수 있는 응용분야에서 적용이 가능하다.
The excitation signal generator of the present invention according to the embodiment of FIG. 14 is different from the case of FIGS. 5, 7, or 12, and an excitation signal component of a resolver output at an interrupt start time in an interrupt routine.

Since the sampling is not performed at this maximum value, only a certain position estimation error exists, and it is applicable to an application field that can accommodate the position estimation error like the excitation signal generator according to the embodiment of FIG. 10.

In the above description of the present invention, in order to correct the position estimation error, the maximum value of the excitation signal of the resolver is adjusted slightly ahead of the interrupt signal for motor control (rotational position detection operation). The predetermined time preceding the interrupt signal is set in advance in accordance with the standard or physical characteristics of the resolver to be measured (for example, the delay time of the output signal). For example, since the delay time between the excitation signal and the output signal is determined according to the resolver type, the predetermined time may be set according to the resolver type to compensate for the delay time.

It should be noted that the above-described embodiments are intended to be illustrative, not limiting. In addition, those skilled in the art will understand that various embodiments are possible within the scope of the technical idea of the present invention.

100: microcontroller
110: square wave generator
111: Sawtooth Generator
113: comparator
20: triangle wave generator
200: resolver

Claims (14)

A sawtooth generator for generating a sawtooth wave in accordance with an increase of an up counter operating in response to an interrupt signal for a rotation position detection operation;
A square wave generator for generating a square wave by comparing the sawtooth wave with a reference value; And
A sine wave generator for generating a sine wave to be output to the excitation coil of the resolver with the square wave
Excitation signal generator comprising a.
The method of claim 1,
And the sawtooth wave reaches a maximum value before the interrupt signal a predetermined time.
3. The method of claim 2,
And the predetermined time is set in advance according to a delay time of an output signal of a resolver.
The method of claim 1,
The up counter,
When the interrupt signal is generated, the excitation signal generator characterized in that the return to a predetermined number to perform the counting.
The method of claim 1,
The up counter,
And the maximum value counted is set to a predetermined number when the interrupt signal is generated.
A detection controller for generating an interrupt signal for a rotation position detection operation for the resolver; And
And an excitation signal generator generating a sinusoidal excitation signal to be output to an excitation coil of the resolver in response to the interrupt signal.
And the sine wave reaches a maximum value before a predetermined time before the interrupt signal.
The method according to claim 6,
And the predetermined time is set in advance according to a delay time of an output signal of the resolver.
The method according to claim 6,
The excitation signal generator,
Sawtooth generator for generating a sawtooth wave in accordance with the increase of the up counter operating in response to the interrupt signal for motor control,
A square wave generator for generating a square wave by comparing the sawtooth wave with a reference value;
A sine wave generator for generating a sine wave to be output to the excitation coil of the resolver with the square wave
Resolver detection device comprising a.
A sine wave generator for generating a sine wave output to the excitation coil of the resolver;
A comparator for comparing the sinusoidal wave generated by the sinusoidal wave generator with a predetermined reference voltage; And
A detection controller for generating an interrupt signal for a rotation position detection operation according to a comparison result of the comparator
Resolver detection device comprising a.
The method of claim 9,
An amplifier amplifies the sine wave generated by the sine wave generator and outputs the sine wave to the excitation coil.
A resolver detection device further comprising.
The method of claim 9,
According to the reference voltage value of the comparator, the duty ratio of the comparator output signal is different,
And the interrupt signal is generated at the rising edge of the comparator output signal.
The method of claim 11,
And a reference voltage value of the comparator is preset to a value determined according to a delay time of an output signal of the resolver.
The method of claim 9,
A timer that is cleared at the rising edge of the comparator output signal and outputs a signal to the detection controller so as to generate the interrupt signal after a predetermined measurement time has elapsed.
A resolver detection device further comprising.
The method of claim 13,
And a measurement time of the timer is set in advance to a value determined according to a delay time of an output signal of the resolver.

Images