KR102051820B1 - Apparatus for detecting rotation angle of a asynchronous resolver and Method thereof - Google Patents

Apparatus for detecting rotation angle of a asynchronous resolver and Method thereof Download PDF

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KR102051820B1
KR102051820B1 KR1020180082854A KR20180082854A KR102051820B1 KR 102051820 B1 KR102051820 B1 KR 102051820B1 KR 1020180082854 A KR1020180082854 A KR 1020180082854A KR 20180082854 A KR20180082854 A KR 20180082854A KR 102051820 B1 KR102051820 B1 KR 102051820B1
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South Korea
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resolver
cosine
time delay
cos
sin
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KR1020180082854A
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Korean (ko)
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조경국
전원보
공민식
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국방과학연구소
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains

Abstract

An asynchronous resolver rotation angle detector is provided. The asynchronous resolver rotation angle detector receives a first input signal corresponding to a resolver cosine stator stage (S2, S4) from the resolver 400 and the resolver 400 and delays the entire time from the first input signal. value(
Figure 112018070403018-pat00070
) And a second input signal corresponding to the resolver sin stator stages S1 and S3 from the resolver digital converter cosine module 500 for outputting only the final cosine component and outputting only the final cosine component. And a resolver digital converter sine module 600 which removes the time delay value d from the two input signals and outputs only the final cosine component.

Description

{Apparatus for detecting rotation angle of a asynchronous resolver and method}

The present invention relates to a rotation angle detection technique, and more particularly, to asynchronous resolver digital conversion that eliminates an estimation circuit for the time delay of a reference sinusoidal signal transmitted from a resolver rotor in rotation angle detection using a resolver. An asynchronous resolver rotation angle detector and its method are implemented.

The resolver is a widely used device for precise measurement of rotor position and speed of gimbal and motor (motor). In addition, there are potential meters and tachometers for measuring the position and speed of the rotor, but there are limitations in securing the robustness of the circuit and obtaining high precision in an environment where temperature changes are severe in the outdoor environment.

Here, when the resolver inputs a reference sinusoidal signal having a frequency of several KHz to the rotor stage, a magnetically induced waveform having a magnitude corresponding to the position of the rotor is a stator of cos and sin components, respectively. ) Is output through

The resolver rotation angle detector is a device that detects the position of the rotor by using the difference in output values of the stator stages of the cos and sin components according to the position of the rotor of the resolver.

The prior art for rotation angle detectors is already disclosed. First, the first prior art is shown in FIG. Referring to FIG. 1, a continuous tracking loop circuit is configured by configuring a recursive circuit to obtain a rotor position θ.

To this end, various corresponding digital logic circuits (counters, latches, etc.) and analog components (circuit controlled oscillators) are required to determine the rotation angle of the resolver. Here, the time delay, d, which has appeared in the rotation angle detector, means the time to reach the rotation angle detector demodulation circuit at the reference time of applying a sinusoidal signal to the rotor. Here, LSB stands for Least Significant Bit.

As shown in FIG. 1 above, accurate estimation of the time delay value is necessary for accurate rotation angle of the resolver and θ value. If the input signal of the sin stator stage, the time delay of V sin (wt + d) sin (θ), d is the input signal of the cos stator stage, Vsin (wt + d) sin (θ) If the delay, d value is not equal to each other, the rotation angle detector using this technique has the disadvantage that it cannot obtain the correct rotation angle value.

In addition, there is a disadvantage that a circuit which always estimates the time delay before calculating the rotation angle of the resolver should be operated first.

Another way of prior art is shown in FIG. 2. Referring to FIG. 2, an analog digital converter (ADC) (N up-sampling), filtering, and N down-sampling are configured. This technique also requires a "delay estimation" block to accurately determine the rotation angle of the rotor for each stator.

The function of this block is to obtain a time delay, d, from the sin (w / N * n + d) sinusoid. However, if the θ component is located at 90 * x degrees (where x is an integer value), the input size of either stator stage is zero. However, if a stator stage having a magnitude of zero is used, a time delay cannot be accurately estimated.

In addition, in the case where the actual time delay value is different for each stator stage, there is a disadvantage in that the accurate rotation angle detection requires data processing for an increase of an error value and additional compensation.

1. Korean Patent Publication No. 10-2012-0112704 2. Japanese Patent Publication No. 2013-24577 3. Japanese Patent Laid-Open No. 2012-58007

SUMMARY OF THE INVENTION The present invention has been proposed to solve the problems according to the above background technology, and an asynchronous resolver rotation angle that implements an efficient resolver digital conversion of an asynchronous method by eliminating an estimation circuit for a time delay of a reference sinusoidal signal transmitted from a resolver rotor. It is an object of the present invention to provide a detector and a method thereof.

Another object of the present invention is to provide an asynchronous resolver rotation angle detector and a method thereof capable of accurately estimating a time delay when using a stator stage having a magnitude of zero.

In addition, the present invention provides an asynchronous resolver rotation angle detector capable of detecting an accurate rotation angle even when the actual time delay value is different for each stator stage without increasing the error value and additional data processing for compensation. Another purpose is to provide a method.

The present invention provides an asynchronous resolver rotation angle detector that implements an efficient resolver digital conversion in an asynchronous manner by eliminating the estimation circuit for the time delay of a reference sinusoidal signal transmitted from a resolver rotor.

The asynchronous resolver rotation angle detector,

Resolver;

A resolver digital converter cosine module which receives a first input signal corresponding to a resolver cosine stator stage from the resolver and removes a total time delay value from the first input signal to output only a final cosine component; And

And a resolver digital converter sine module that receives a second input signal corresponding to a resolver sine stator stage from the resolver, removes a total time delay value from the second input signal, and outputs only a final sine component.

In this case, the resolver digital converter cosine module may include a first ADC (Analog-Digital Converter) for converting the first input signal into a first digital signal; A first total time delay calculator for calculating a total time delay value from the first digital signal; And a cosine calculator for removing the total time delay value and calculating only the cosine component of the first absolute value.

The first total time delay calculating unit may further include: a first initial accumulation circuit accumulating the first digital signal at a predetermined period to generate a cumulative signal; 1-1 and 1-2 multipliers for generating a first intermediate output signal by multiplying the accumulated signal by a preset sine component and a preset cosine component; And a rotation angle of a sine having a total time delay value and a sine having a first time product of a cosine having a total time delay value and a cosine having a rotation angle of the motor and a total time delay value from the first intermediate output signal using a trigonometric characteristic. And 1-1 and 1-2 intermediate cumulative circuits for calculating the 1-2 products of the cosine, respectively.

The cosine calculating unit may include first and second square circuits that square the first and second products, respectively; A first summer for calculating a first square value of the cosine having the rotation angle by using a trigonometric function; And a first square root circuit for converting the first square value to a first absolute value using a square root formula.

The resolver digital converter cosine module may further include a first comparator configured to calculate a positive or negative sign by comparing the first-1 product with a preset reference value; And a first final multiplier configured to multiply the positive or negative sign by the first absolute value to output only the final cosine component.

The resolver digital converter sign module may further include a second analog-to-digital converter (ADC) for converting the second input signal into a second digital signal; A second total time delay calculator for calculating a total time delay value; And a sine calculator for removing the total time delay value and calculating only a sine component of a second absolute value.

The second total time delay calculating unit may further include: a second initial accumulation circuit accumulating the second digital signal at a predetermined period to generate a cumulative signal; 2-1 and 2-2 multipliers for generating a second intermediate output signal by multiplying the accumulated signal by a preset sine component and a preset cosine component; And a 2-1 product of a sine having a total angle of delay and a cosine having a total time delay value and a sine having a total time delay value and a sine having a rotation angle of the motor and a triangular function characteristic. And 2-1 and 2-2 intermediate accumulation circuits for calculating the 2-2 products, respectively.

The sine calculation unit may include: 2-1 and 2-2 square circuits that square the 2-1 and 2-2 products; A second adder for calculating a second square value of a sine having a rotation angle by using a trigonometric function; And a second square root circuit for converting the second square value into a second absolute value using a square root formula.

The resolver digital converter sine module may further include a second comparator configured to calculate a positive or negative sign by comparing the second-1 product with a preset reference value; And a second final multiplier configured to multiply the positive or negative sign by the second absolute value and output only the final sinusoidal component.

In this case, the total time delay value may be a sum of a time delay value generated between the resolver rotor and the resolver stator of the resolver, and an additional time delay value inherent in the digital conversion process.

In addition, the time delay value d is a delay value according to the sine wave component having a specific frequency f (= w / 2 * π) Hz (where w represents the angular velocity) and the resolver itself.

In addition, the first ADC is characterized in that it is integrated into a programming integrated circuit (IC).

In addition, the second ADC is characterized in that it is integrated in a programming integrated circuit (IC).

On the other hand, another embodiment of the present invention, asynchronous resolver rotation angle detection method, (a) the resolver digital converter cosine module receives a first input signal corresponding to the resolver cosine stator stage from the resolver the first input Removing the total time delay value from the signal and outputting only the final cosine component; And (b) receiving a second input signal corresponding to a resolver sine stator stage from the resolver by the resolver digital converter sine module, and outputting only a final sine component by removing a total time delay value from the second input signal. An asynchronous resolver rotation angle detection method is provided.

On the other hand, another embodiment of the present invention provides a computer readable storage medium storing program code for executing the asynchronous resolver rotation angle detection method described above.

According to the present invention, the time delay estimation circuit of the resolver reference sinusoidal signal required in the prior art is eliminated and implemented in asynchronous form, thereby enabling more robust and efficient rotation angle detection of the resolver.

In addition, another effect of the present invention is fundamental to integration into a programmable / custom integrated circuit (IC), such as a field programmable gate array (FPGA) and an application specific integrated circuit (ASIC), which are recently required for a suitable implementation scheme for a digital circuit. The solution is to provide a solution.

In addition, another effect of the present invention is that since the internal circuits and configurations of the RDC Cosine Module and the RDC Sine Module are identical to each other, a slimmer and optimized implementation is possible through a faster module design and / or time division processing. Can be mentioned.

In addition, another effect of the present invention can be a very efficient design / implementation method for the resolver that is currently widely used in various civilian / military fields, and the technical and economic ripple effect is high.

1 is an example of a block diagram of a general resolver rotation angle detector.
2 is an example of a block diagram of a general resolver rotation angle detector.
3 is a basic conceptual diagram of a general motor.
4 is a conceptual diagram of a resolver installed in the motor shown in FIG. 3.
FIG. 5 is a block diagram illustrating a resolver-to-digital converter (RDC) cosine module 500 constituting an asynchronous resolver rotation angle detector according to an embodiment of the present invention.
FIG. 6 is a block diagram illustrating a resolver-to-digital converter (RDC) sign module 600 constituting an asynchronous resolver rotation angle detector according to an embodiment of the present invention.
7 is a flowchart illustrating a process of detecting an asynchronous resolver rotation angle according to an embodiment of the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

In describing each drawing, like reference numerals are used for like elements. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related items or any item of a plurality of related items.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Should not.

Hereinafter, an asynchronous resolver rotation angle detector and a method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

3 is a basic conceptual diagram of a general motor. Referring to FIG. 3, the motor is composed of a motor stator 310 and a motor rotor 320 rotating in the stator 310. Therefore, the rotation angle θ is generated while the motor rotor 320 rotates.

The resolver is a device that is widely used in the precise measurement of the position and speed of the rotor 320, such as gimbal, a motor (motor) shown in FIG. A diagram showing the concept of the construction of such a resolver is shown in FIG.

4 is a conceptual diagram of a resolver 400 installed in the motor shown in FIG. 3. Referring to FIG. 4, there are potential meters and tachometers for measuring the position and speed of the rotor 320, but there are limitations in securing the robustness of the circuit and obtaining high precision in an environment where temperature changes are severe in the outdoor environment. .

Here, when the resolver 400 inputs a reference sinusoidal signal having a frequency of several KHz to the rotor stages R1 and R2, magnetic induction having a magnitude corresponding to the position of the resolver rotor 420 is performed. The generated waveforms are output through the stator stages S1, S2, S3, and S4 of the cos and sin components, respectively. The resolver rotation angle detector is a device for detecting the position of the rotor using a difference in output values of the stator stages of the cos and sin components according to the position of the resolver rotor 420.

In the structure of a typical resolver, the rotor stages R1-R2 represent the motor rotor 320 and the first stator stages S1-S3 are the motor stator 310 of the sin component and the second stator stages S4-. S2) represents the motor stator 310 of the cos component. In addition, θ refers to the position of the rotor 320 existing between the resolver rotor 420 and the resolver stator 410, d denotes various time delays occurring between the resolver rotor and the resolver stator, ω represents angular velocity and V represents excitation voltage.

In addition, the resolver stator 410 is composed of a two-phase detection winding, and the resolver rotor 420 is composed of an excitation winding of one phase. The resolver rotor changes the core shape according to the rotation angle, and the linkage flux changes.

In general, a rotation angle detector and a resolver-to-digital converter (RDC) estimate a time delay value to an internal circuit based on a sine wave signal applied to a resolver rotor stage, and synchronize the time synchronization process. Or “Phase Calibration” process.

That is, in one embodiment of the present invention, "Phase correction", which is necessary for RDC, is required by using the sum of cos / sin trigonometric function (4 value summation), a product, and a square operation. “Calibration” is eliminated. Value summation means 4 cumulative oversumming of 4 oversampled signals to eliminate sine / cosine components.

FIG. 5 is a block diagram illustrating a resolver-to-digital converter (RDC) cosine module 500 constituting an asynchronous resolver rotation angle detector according to an embodiment of the present invention. Referring to FIG. 5, an input signal corresponding to the resolver cosine stator stages S2 and S4 is applied to a resolver-to-digital converter (RDC) cosine module 500 and the resolver digital converter cosine. Module 500 removes sinusoidal components with f (= w / 2 * π) Hz frequency, resolver components, and time delays inherent in the RDC process included in resolver cosine (st) stages (S2, S4). Only the cos (θ) component required by the cosine stator stages S2 and S4 are output.

In detail, the resolver-to-digital converter (RDC) cosine module 500 first inputs an input signal (V sin (wt + d) cosθ) applied to the resolver cosine (cos) stator stage (S2, S4). Digital encoding is performed through an analog-to-digital converter (ADC) 510. This is expressed as a formula as follows.

[Equation 1]

A sin (w / N * n + d) cos (θ)

Where A is the magnitude of the signal measured at the resolver cosine stator stage, w is the angular velocity, N is a multiple of 4, and is an oversampling magnitude of w, and n is a discrete time variable. A discrete version of the time variable t is used as d, and d represents a time delay value occurring between the resolver rotor and the resolver stator of the resolver 400.

The ADC sampling (acquisition) frequency in the ADC 510 is set to any N (multiple of 4) to match one period of the sine wave signal. The ADC output signal performs a low pass filter (LPF) process through a accumulation circuit 520 having an N / 4 period. In other words, the first accumulation circuit 520 accumulates every N / 4 periods using the result value of the ADC 510.

The first and second multipliers 530 and 535 generate output signals generated by the first accumulator circuit 520 in two paths using characteristics of the cos / sin trigonometric function. That is, the sin multiplication operation is performed on the output signal generated by the first accumulator 520 in the first multiplier 530, and the output generated by the first accumulator 520 in the second multiplier 535. The signal multiplication operation is performed.

In general, four oversampling of a sinusoidal wave having one cycle results in 45 degrees, 135, 225 degrees, and 315 degrees, respectively. The sine function at each corresponding angle is + 1 / sqrt (2), + 1 / sqrt (2), -1 / sqrt (2) and -1 / sqrt (2), respectively. However, since the RDC extracts only the angle between the two stators, this 1 / sqrt (2) scaling factor can be removed for convenience. Therefore, in one embodiment of the present invention, it is simply indicated as +1, +1, -1, -1.

The 2-1 cumulative circuit 540 uses cos (

Figure 112018070403018-pat00001
) cos (θ) is output. Also, the second-2 cumulative circuit 545 also uses sin (3) by using the trigonometric function for multiplication.
Figure 112018070403018-pat00002
) cos (θ) is output. In other words, sin (x +) by the first multiplier 530.
Figure 112018070403018-pat00003
sin (x) cos (θ) is generated. Where sin (x +
Figure 112018070403018-pat00004
) sin (x) = -1 / 2 * (cos (2 * x +
Figure 112018070403018-pat00005
)-cos (
Figure 112018070403018-pat00006
) By cos (2 * x +
Figure 112018070403018-pat00007
) = 0. Thus, finally, cos (
Figure 112018070403018-pat00008
) cos (θ). Here, x becomes "4w".

Similarly, by the second multiplier 535, sin (x +

Figure 112018070403018-pat00009
) cos (x) cos (θ) is generated. Where sin (x +
Figure 112018070403018-pat00010
) cos (x) = 1/2 * (sin (2 * x +
Figure 112018070403018-pat00011
) + sin (
Figure 112018070403018-pat00012
)}, So sin (2 * x +
Figure 112018070403018-pat00013
) = 0. So finally, sin (
Figure 112018070403018-pat00014
) cos (θ).

here,

Figure 112018070403018-pat00015
Represents the total time delay value of the RDC circuit. In other words,
Figure 112018070403018-pat00016
Denotes the time delay value throughout the RDC process, including d and the additional time delay value. The additional time delay value represents the delay time additionally included in the digital conversion (RDC) processing.

The first and second squared circuits 550, 555 are cos (

Figure 112018070403018-pat00017
cos (θ) and sin (
Figure 112018070403018-pat00018
squared cos (θ). Therefore, only cos (θ) 2 remains by the summer 560. In other words, cos (
Figure 112018070403018-pat00019
) cos (θ) squared is cos (
Figure 112018070403018-pat00020
) 2 cos (θ) 2 , sin (
Figure 112018070403018-pat00021
) cos (θ) squared is sin (
Figure 112018070403018-pat00022
) 2 cos (θ) 2 . Where cos (
Figure 112018070403018-pat00023
) 2 + sin (
Figure 112018070403018-pat00024
) 2 = 1, so only cos (θ) 2 remains.

On the other hand, the comparison circuit 580, based on the boundary value 0, input value, cos (

Figure 112018070403018-pat00025
According to the value of cos (θ), it is output as "+1" if it is larger than 0 and "-1" if it is smaller than 0. That is, it produces an output value of size +1 / -1 compared to 0. The comparison circuit 580 may be a Hilbert Transform circuit.

In particular, the input signal input to the comparison circuit 580 is the total time delay of the RDC circuit (

Figure 112018070403018-pat00026
) Has a relatively small value for one period, 1 / f, and contrast of the sine wave, and for convenience, the output of the 2-1 accumulation circuit 540 is used.

The square root circuit 570 covers the absolute value by applying a square root to the result of the summer 560. That is, | cos (θ) | is generated.

The final multiplier 590 multiplies the result of the square root circuit 570 by the sign calculated by the comparison circuit 580 and outputs the result.

FIG. 6 is a block diagram illustrating a resolver-to-digital converter (RDC) sign module 600 constituting an asynchronous resolver rotation angle detector according to an embodiment of the present invention. Referring to FIG. 6, an input signal corresponding to a resolver sine stator stage S1 and S2 is applied to a resolver-to-digital converter (RDC) sine module 600, and resolved to a resolver digital converter sine. Module 600 includes sinusoidal components with f (= w / 2 * π) Hz frequency contained in resolver sin stator stages S1 and S3 and time delay values inherent in resolver components and RDC processing (d). ), And outputs only the sin (θ) component required by the sine stator stages S1 and S3.

In detail, the resolver-to-digital converter (RDC) sine module 600 first applies an input signal (V sin (wt + d) sinθ) applied to the resolver cosine (cos) stator stages (S1, S3). Digital encoding is performed through an analog-to-digital converter (ADC) 610. This is expressed as a formula as follows.

[Equation 2]

A sin (w / N * n + d) sin (θ)

The ADC sampling (acquisition) frequency in the ADC 610 is set to any N (multiple of 4) to match one period of the sinusoidal signal. In addition, the ADC output signal performs a low pass filter (LPF) process through a accumulation circuit 620 having an N / 4 period. In other words, the first accumulation circuit 620 accumulates every N / 4 periods using the result value of the ADC 610.

The first and second multipliers 630 and 635 generate output signals generated by the first accumulator circuit 620 in two paths using characteristics of the cos / sin trigonometric function. That is, the sin multiplication operation is performed on the output signal generated by the first accumulator 620 in the first multiplier 630, and the output generated by the first accumulator 620 in the second multiplier 635. The signal multiplication operation is performed.

The 2-1 cumulative circuit 640 uses cos (

Figure 112018070403018-pat00027
outputs sin (θ) Also, the second-2 cumulative circuit 645 also uses sin (
Figure 112018070403018-pat00028
outputs sin (θ) In other words, sin (x +) by the first multiplier 630.
Figure 112018070403018-pat00029
) sin (x) sin (θ) is generated. Where sin (x +
Figure 112018070403018-pat00030
) sin (x) = -1 / 2 * (cos (2 * x +
Figure 112018070403018-pat00031
)-cos (
Figure 112018070403018-pat00032
) And cos (2 * x +
Figure 112018070403018-pat00033
) = 0. Thus, finally, cos (
Figure 112018070403018-pat00034
) sin (θ). Here, x becomes "4w".

Similarly, by the second multiplier 635, sin (x +

Figure 112018070403018-pat00035
cos (x) sin (θ) is generated. Where sin (x +
Figure 112018070403018-pat00036
) cos (x) = 1/2 * (sin (2 * x +
Figure 112018070403018-pat00037
) + sin (
Figure 112018070403018-pat00038
)}, So sin (2 * x +
Figure 112018070403018-pat00039
) = 0. So finally, sin (
Figure 112018070403018-pat00040
) sin (θ).

here,

Figure 112018070403018-pat00041
Represents the total time delay value of the RDC circuit. In other words,
Figure 112018070403018-pat00042
Denotes the time delay value throughout the RDC process, including d and the additional time delay value. The additional time delay value represents a delay time additionally included in the RDC process.

The first and second squared circuits 650, 655 are cos (

Figure 112018070403018-pat00043
) sin (θ) and sin (
Figure 112018070403018-pat00044
squared cos (θ). Therefore, only cos (θ) 2 remains by the summer 660. In other words, cos (
Figure 112018070403018-pat00045
) sin (θ) squared is cos (
Figure 112018070403018-pat00046
) 2 sin (θ) 2 , sin (
Figure 112018070403018-pat00047
) sin (θ) squared is sin (
Figure 112018070403018-pat00048
) 2 sin (θ) 2 . Where cos (
Figure 112018070403018-pat00049
) 2 + sin (
Figure 112018070403018-pat00050
) 2 = 1, so only sin (θ) 2 remains.

On the other hand, the comparison circuit 680 uses the input value, cos (

Figure 112018070403018-pat00051
According to the value of sin (θ), it is printed as "+1" if it is larger than 0 and "-1" if it is smaller than 0. That is, it produces an output value of size +1 / -1 compared to 0. The comparison circuit 680 may be a Hilbert Transform circuit.

In particular, the input signal input to the comparison circuit 680 is the total time delay of the RDC circuit (

Figure 112018070403018-pat00052
) Has a relatively small value for one period, 1 / f, and contrast of the sinusoidal wave, and the output of the 2-1 accumulation circuit 640 is used for convenience.

The square root circuit 670 covers the absolute value of the square root of the result of the summer 660. That is, it generates | sin (θ) │.

The final multiplier 690 multiplies the result of the square root circuit 670 by the sign calculated by the comparison circuit 680 and outputs the result.

The result of the digitally encoded cos / sin rotor obtained by the resolver digital converter cosine module 500 and the resolver digital converter sine module 600 shown in FIGS. 5 and 6 is a central processing unit (CPU) or a digital signal processor (DSP). Or arctan (·) operation using FPGA H / W (Hardware) to obtain the final angle of rotation. Techniques for calculating the angle of rotation are well known, and thus a further understanding of the present invention will be omitted.

7 is a flowchart illustrating a process of detecting an asynchronous resolver rotation angle according to an embodiment of the present invention. Referring to FIG. 7, as the resolver 400 operates, the resolver digital converter cosine module 500 and the resolver digital converter sign module 600 receive an input signal from the resolver 400 (step S710).

The resolver digital converter cosine module 500 and the resolver digital converter sign module 600 digitally encode the input signal (step S720).

Thereafter, the digitally encoded signal is accumulated at a predetermined period to be filtered (step S730). In other words, the ADC sampling (acquisition) frequency is set to any N (multiple of 4) to match one period of the sinusoidal signal. After that, the ADC output signal is accumulated to have an N / 4 period, and then filtered by performing a low pass filter (LPF) process.

Then, using the characteristics of the cos / sin trigonometric function, the output signal is divided into two paths, each cos (

Figure 112018070403018-pat00053
) cos (θ), sin (
Figure 112018070403018-pat00054
) cos (θ) or cos (
Figure 112018070403018-pat00055
) sin (θ), sin (
Figure 112018070403018-pat00056
) sin (θ) signal component can be obtained. This is squared and the time delay component is removed by calculating the sum of the squared values (step S740).

Then, finally, the sign (+,-) is added to generate a signed final output value (step S750).

In addition, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in a program instruction form that can be executed by various computer means and recorded in a computer-readable medium. The computer readable medium may include program (instruction) code, data file, data structure, etc. alone or in combination.

The program (command) code recorded on the medium may be those specially designed and configured for the present invention, or may be known and available to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, Blu-rays, etc., and ROMs and RAMs. Semiconductor memory devices specifically configured to store and execute program (command) code, such as RAM), flash memory, and the like.

Here, examples of program (instruction) code include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

400: resolver
500: resolver digital converter cosine module
510: first analog-digital converter (ADC)
501: First total time delay calculating unit
502: cosine calculation unit
580: first comparison unit
600: resolver digital converter sine module
610: first analog-digital converter (ADC)
601, the second total time delay calculation unit
602: sine calculator
680: second comparison unit

Claims (15)

  1. Resolver 400;
    Receiving the first input signal corresponding to the resolver cosine (cos) stator stage (S2, S4) from the resolver 400, the total time delay value from the first input signal (
    Figure 112019069687808-pat00078
    A resolver digital converter cosine module 500 for outputting only the final cosine component by removing N); And
    The second input signal corresponding to the resolver sin stator stages S1 and S3 is received from the resolver 400, and a total time delay value from the second input signal (
    Figure 112019069687808-pat00079
    And a resolver digital converter sine module 600 for outputting only the final sine component by removing
    The resolver digital converter cosine module 500 includes: a first analog-to-digital converter (ADC) 510 for converting the first input signal into a first digital signal;
    A first total time delay calculator (501) for calculating the total time delay value from the first digital signal; And
    And a cosine calculator 502 for removing only the total time delay value and calculating only a cosine component of a first absolute value.
    The first total time delay calculation unit 501,
    A first initial accumulation circuit 520 for accumulating the first digital signal at a predetermined period to generate a cumulative signal;
    1-1 multipliers and 1-2 multipliers (530, 535) for generating a first intermediate output signal through a multiplication operation of the set sine component and the set cosine component preset to the accumulated signal; And
    The first −1 product of cosine having the total time delay value and the cosine having the rotation angle of the motor 300 from the first intermediate output signal using a trigonometric characteristic (cos (
    Figure 112019069687808-pat00080
    cos (θ)) (where θ represents the rotation angle of the motor) and a sine having the total time delay value and a cosine of the cosine having the rotation angle of the motor 300 (sin (
    Figure 112019069687808-pat00081
    1-1 intermediate accumulator circuit and 1-2 intermediate accumulator circuit (540,545) for calculating cos ([theta])), respectively.
  2. delete
  3. delete
  4. The method of claim 1,
    The cosine calculation unit 502,
    The first-first product (cos (
    Figure 112019069687808-pat00060
    ) cos (θ)) and the 1-2th product (sin (
    Figure 112019069687808-pat00061
    a first-first square circuit and one-two square circuits 550 and 555, each squared by cos (θ));
    A first summer 570 that calculates a first square value cos (θ) 2 of the cosine having the rotation angle by using the trigonometric function; And
    And a first square root circuit (570) for converting the first square value into a first absolute value (cos (θ) │) using a square root formula.
  5. The method of claim 4, wherein
    The first-first product (cos (
    Figure 112018070403018-pat00062
    a first comparator 580 which calculates a positive or negative sign by comparing) cos (θ)) with a preset reference value; And
    And a first final multiplier 590 for multiplying the positive or negative sign by the first absolute value | cos (θ) │ to output only the final cosine component. Each detector.
  6. The method of claim 1,
    The resolver digital converter sign module 600 includes: a second analog-to-digital converter (ADC) 610 for converting the second input signal into a second digital signal;
    A second total time delay calculator 601 for calculating the total time delay value; And
    And a sine calculator (602) for removing the total time delay value and calculating only a sine component of a second absolute value.
  7. The method of claim 6,
    The second total time delay calculation unit 601,
    A second initial accumulation circuit 620 for accumulating the second digital signal at a predetermined period to generate a cumulative signal;
    2-1 and 2-2 multipliers (630, 635) for generating a second intermediate output signal by multiplying the accumulated signal by a preset sine component and a preset cosine component; And
    By using the trigonometric characteristic, the second -1 product of cosine having the total time delay value and the sine having the rotation angle of the motor 300 from the intermediate output signal (cos (
    Figure 112019044303615-pat00063
    sin (θ)) and the second to second product of the sine having the total time delay value and the sine having the rotation angle of the motor 300 (sin (
    Figure 112019044303615-pat00064
    and a 2-1 intermediate accumulation circuit and a 2-2 intermediate accumulation circuit (640, 645) for calculating sin (θ)), respectively.
  8. The method of claim 7, wherein
    The sine calculation unit 602,
    The 2-1 product (cos (
    Figure 112019044303615-pat00065
    ) sin (θ)) and the second-2 product (sin (
    Figure 112019044303615-pat00066
    a 2-1 square circuit and a 2-2 square circuit 650,655 that square each of sin (θ));
    A second summer 670 for calculating a second squared value sin (θ) 2 of a sine having a rotation angle by using the trigonometric function; And
    And a second square root circuit (670) for converting the second square value into a second absolute value (sin (θ) |) using a square root formula.
  9. The method of claim 8,
    The 2-1 product (cos (
    Figure 112018070403018-pat00067
    a second comparator 680 which calculates a positive or negative sign by comparing sin (θ)) with a preset reference value; And
    And a second final multiplier 690 for multiplying the positive or negative sign by the second absolute value | sin ([theta]) and outputting only the final sine component. Each detector.
  10. The method of claim 1,
    The total time delay value (
    Figure 112019044303615-pat00068
    Is a sum of the time delay value (d) generated between the resolver rotor and the resolver stator of the resolver (400) and the additional time delay value inherent in the digital conversion process.
  11. The method of claim 10,
    The time delay value d is a sine wave component having a specific frequency f (= w / 2 * π) Hz (where w represents an angular velocity) and a delay value according to the resolver itself. .
  12. The method of claim 1,
    And said first ADC (510) is integrated into a programmable integrated circuit (IC).
  13. The method of claim 6,
    And said second ADC (610) is integrated into a programmable integrated circuit (IC).
  14. In the asynchronous resolver rotation angle detection method,
    (a) The resolver digital converter cosine module 500 receives a first input signal corresponding to the resolver cosine stator stages S2 and S4 from the resolver 400 and receives a total time delay value from the first input signal.
    Figure 112019069687808-pat00082
    )) To output only the final cosine component; And
    (b) The resolver digital converter sine module 600 receives a second input signal corresponding to the resolver sin stator stages S1 and S3 from the resolver 400 and receives a total time delay value from the second input signal. (
    Figure 112019069687808-pat00083
    Removing)) and outputting only the final sine component.
    The resolver digital converter cosine module 500 includes: a first analog-to-digital converter (ADC) 510 for converting the first input signal into a first digital signal;
    A first total time delay calculator (501) for calculating the total time delay value from the first digital signal; And
    And a cosine calculator 502 for removing only the total time delay value and calculating only a cosine component of a first absolute value.
    The first total time delay calculation unit 501,
    A first initial accumulation circuit 520 for accumulating the first digital signal at a predetermined period to generate a cumulative signal;
    1-1 multipliers and 1-2 multipliers (530, 535) for generating a first intermediate output signal through a multiplication operation of the set sine component and the set cosine component preset to the accumulated signal; And
    Using a trigonometric characteristic, a cosine having the total time delay from the first intermediate output signal and a 1-1 product of cosine having the rotation angle of the motor 300 (cos (
    Figure 112019069687808-pat00084
    cos (θ)) (where θ represents the rotation angle of the motor) and a sine having the total time delay value and a cosine of the cosine having the rotation angle of the motor 300 (sin (
    Figure 112019069687808-pat00085
    1-1 intermediate accumulator circuit and 1-2 intermediate accumulator circuit (540,545) for calculating cos ([theta])), respectively.
  15. A computer-readable storage medium storing program code for executing the asynchronous resolver rotation angle detection method according to claim 14.
KR1020180082854A 2018-07-17 2018-07-17 Apparatus for detecting rotation angle of a asynchronous resolver and Method thereof KR102051820B1 (en)

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KR20090021461A (en) * 2007-08-27 2009-03-04 평택대학교 산학협력단 Resolver to digital converter
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