CN103776471A - Magnetic encoder based on double synchronous rotation coordinate systems - Google Patents

Abstract

The invention discloses a magnetic encoder based on a double synchronous rotating coordinate system, which includes a magnetoelectric signal generator, a signal conditioner, a signal acquisition module and a signal processing unit; The signal processing unit composed of a decoupler, a reverse decoupler, a low-pass filter and a motion information solver is used to perform coordinate transformation, decoupling operation, filter processing and motion information on the digital electrical signal input by the signal acquisition module. information solution. The signal processing unit using double synchronous coordinate transformation performs coordinate transformation on the two sequence components of the fundamental wave in the magnetoelectric signal, the positive sequence and the negative sequence, and decomposes it into components under the positive sequence and negative sequence dq coordinate system, through the decoupling network and filtering links to realize the calculation of motion information, so that the signal distortion components caused by device differences and installation errors can be eliminated through decouplers and filters, thereby greatly improving the calculation accuracy and resistance of the magnetic encoder of the present invention. Interference ability.

Description

A Magnetic Encoder Based on Double Synchronous Rotating Coordinate System

technical field

The invention belongs to the field of motion information detection sensors, and more specifically relates to a magnetic encoder based on a double synchronous rotating coordinate system.

Background technique

A magnetic encoder is a sensor that measures and extracts movement information such as movement speed and movement distance by solving the movement information of magnetic components. Its applicable occasions are not affected by factors such as fog, smoke and oil. The sensitivity to installation errors and vibrations is not as strong as that of photoelectric encoders, and its manufacturing process is simple, low in cost, and the encoding interface is rich and flexible. It is an important development direction in the field of motion information detection applications.

At present, the magnetic encoder signal solution methods under research and in use mainly include arctangent calculation solution algorithm, calibration look-up table method and angle tracking phase-locking method. The arctangent operation solution algorithm generally adopts the method of numerical approximation to realize the arctangent operation, and realizes the motion information solution through the arctangent operation. The principle of the arctangent calculation algorithm is simple and clear, but it has high requirements on the calculation performance of the signal processing unit, and the accuracy of the calculation is greatly affected by the accuracy of the placement of the magnetic components. Calibration look-up table method First, the magnetoelectric signal of the magnetic element is calibrated and stored offline through a high-precision photoelectric encoder. When the magnetic encoder is working, it checks the calibration table stored in advance to check the motion information of the magnetic element. to solve. The calculation method of the calibration look-up table method is clear and fast, but requires a certain storage space for the magnetic encoder, and the calibration table is complicated and requires high technology. The angle tracking phase-locking method is a closed-loop self-tracking motion information calculation method, which has strong anti-vibration interference ability. Errors are not self-shielding.

At present, the domestic patent application document (publication number is CN102095431A) for the magnetic encoder motion information calculation method discloses the magnetic encoder digital converter. The application document assumes that the original magnetoelectric signal is ideally orthogonal by default, so it does not consider the error caused by factors such as component performance differences and installation errors to the motion information solution, so the accuracy of the solution is inevitably affected by the installation process level of the magnetic encoder and Influence on the level of uniformity of component performance.

Contents of the invention

In view of the above defects or improvement needs of the prior art, the present invention provides a magnetic encoder based on a dual synchronous rotating coordinate system, the purpose of which is to make the calculation accuracy of the magnetic encoder not be affected by factors such as device differences and installation errors , thereby solving the technical problem in the prior art that the orthogonality or symmetry of the magnetoelectric signal of the magnetic encoder must be affected by various error factors.

和角度值

The invention provides a magnetic encoder based on a double synchronous rotating coordinate system, comprising a magnetoelectric signal generator, a signal conditioner, a signal acquisition module and a signal processing unit connected in sequence; the signal processing unit includes: forward Park transform Converter, Inverse Park Transformer, Forward Decoupler, Inverse Decoupler, First Low Pass Filter, Second Low Pass Filter, Third Low Pass Filter, Fourth Low Pass Filter and Motion Information Resolver; the magnetoelectric signal generator is used to convert the motion of the magnetic element into an analog electrical signal containing motion information; the signal conditioner is used to condition and analog filter the analog electrical signal and output it with the The signal that matches the signal acquisition module; the signal acquisition module is used to perform analog-to-digital conversion on the output of the signal conditioner and output a digital electrical signal; the input end of the forward park converter is connected to the signal acquisition The output terminal of the module is used to transform the digital electrical signal with a constant amplitude into a dq ⁺ coordinate system rotating at a positive fundamental synchronous angular velocity ω, and extract the amplitude of the fundamental positive sequence component in the digital electrical signal , and at the same time separate out the fundamental wave negative sequence component in the digital electrical signal and double the frequency fluctuation component; the input end of the reverse Park converter is connected to the output end of the signal acquisition module for converting the digital Transforming the electrical signal with a constant amplitude to a dq ^- coordinate system that rotates at the reverse fundamental synchronous angular velocity -ω, extracting the amplitude of the negative sequence component of the fundamental wave in the digital electrical signal, and simultaneously sorting out the The fundamental positive sequence component of the double frequency fluctuation component; the input terminal of the positive decoupler is connected to the output terminal of the forward Park converter; it is used for the amplitude feedback of the negative sequence component of the fundamental wave of the digital electrical signal amount to eliminate the AC component caused by the negative sequence component of the fundamental wave in the digital electrical signal under the dq ⁺ coordinate system; the input terminal of the reverse decoupler is connected with the output terminal of the reverse Park converter; it is used to pass the digital The magnitude feedback of the fundamental wave positive sequence component of the electric signal is to eliminate the AC component caused by the fundamental wave positive sequence component in the digital electric signal under the dq ^- coordinate system; the input end of the first low-pass filter is connected to the positive To the first output terminal of the decoupler, the output terminal of the first low-pass filter is connected to the first feedback terminal of the reverse decoupler; for filtering out the dq ⁺ coordinates of the forward decoupler output The double-frequency fluctuation component of the positive sequence component of the fundamental wave in the lower coordinate system is used to obtain the amplitude of the positive sequence component of the fundamental wave in the dq ⁺ coordinate system. The input end of the second low-pass filter is connected to the second output end of the forward decoupler, and the output end of the second low-pass filter is connected to the second feedback of the reverse decoupler Terminal, the output terminal of the second low-pass filter is also used as the amplitude output terminal of the fundamental positive sequence component in the digital electrical signal; it is used to filter out the negative sequence component of the fundamental wave under the dq ⁺ coordinate system output by the forward decoupler The double-frequency fluctuation component of the dq ⁺ coordinate system is obtained to obtain the magnitude of the negative sequence component of the fundamental wave; the input end of the third low-pass filter is connected to the first output end of the reverse decoupler, and the first output end of the first low-pass filter The output terminals of the three low-pass filters are connected to the first feedback terminal of the forward decoupler, and the output terminals of the third low-pass filter are also used as the amplitude output terminals of the fundamental negative sequence component in the digital electrical signal; It is used to filter out the double frequency fluctuation component of the fundamental wave positive sequence component under the dq ^- coordinate system output by the negative decoupler, and obtains the fundamental wave positive sequence component amplitude under the dq ^- coordinate system; the fourth low-pass filter The input terminal of is connected to the second output terminal of the reverse decoupler, the output terminal of the fourth low-pass filter is connected to the second feedback terminal of the forward decoupler, and the fourth low-pass filter The output terminal of the filter is also used as the amplitude output terminal of the negative sequence component of the fundamental wave in the digital electric signal; it is used to filter out the double frequency fluctuation component of the positive sequence component of the fundamental wave under the dq ^- coordinate system output by the negative decoupler, and obtain dq ^- the amplitude of the positive sequence component of the fundamental wave in the coordinate system; the input end of the motion information solver is connected to the second output end of the forward decoupler for locking the digital electrical signal containing motion information Phase, and calculate the moving distance and moving speed of the magnetic element in the magnetoelectric signal generator, and then output the angular velocity of the magnetic element movement

and the angle value

用于根据所述输出角度估计值

输出余弦值

所述第二正弦发生器的输入端用于接收输出角度估计值

用于根据所述输出角度估计值

输出正弦值所述第一乘法器的第一输入端连接所述信号采集模块输出的数字正弦V_s(j)，所述第一乘法器的第二输入端连接至所述第一余弦发生器的第一输出端，用于将所述数字正弦V_s(j)和所述余弦值

相乘；所述第二乘法器的第一输入端连接至所述第二正弦发生器的第一输出端，所述第二乘法器的第二输入端用于接收数字余弦V_c(j)，用于将接收的数字余弦V_c(j)和所述正弦值

相乘；所述第一加法器的第一输入端连接至所述第一乘法器的输出端，所述第二加法器的第二输入端连接至所述第二乘法器的输出端，用于将所述第一乘法器的输出量和所述第二乘法器的输出量相加得到dq⁺坐标系的d轴分量

所述第一反相器的输入端连接至所述第二正弦发生器的第二输出端，用于将所述正弦值

反相；所述第三乘法器的第一输入端用于接收数字正弦V_s(j)，所述第三乘法器的第二输入端连接至所述第一反相器的输出端；用于将所述第一反相器的输出值和数字正弦信号V_s(j)相乘；所述第四乘法器的第一输入端连接至所述第一余弦发生器的第二输出端，所述第四乘法器的第二输入端连接所述信号采集模块输出的数字余弦信号V_c(j)，用于将所述数字余弦信号V_c(j)和所述余弦值

相乘；所述第二加法器的第一输入端连接至所述第三乘法器的输出端，所述第二加法器的第二输入端连接至所述第四乘法器的输出端，用于将第三乘法器的输出值和所述第四乘法器的输出值相加得到dq⁺坐标系的q轴分量值

Wherein, the forward Park converter includes: a first cosine generator, a second sine generator, a first multiplier, a second multiplier, a first adder, a first inverter, a third multiplier, a fourth multiplier and a second adder; an input of the first cosine generator for receiving an output angle estimate

is used to output angle estimates based on the

output cosine

an input of the second sine generator for receiving an output angle estimate

is used to output angle estimates based on the

output sine The first input end of the first multiplier is connected to the digital sine V _s (j) output by the signal acquisition module, and the second input end of the first multiplier is connected to the first cosine generator of the first cosine generator. an output terminal for converting said digital sine V _s (j) and said cosine

Multiply; the first input end of the second multiplier is connected to the first output end of the second sine generator, and the second input end of the second multiplier is used to receive the digital cosine V _c (j) , for the received digital cosine V _c (j) and the sine value

multiplication; the first input end of the first adder is connected to the output end of the first multiplier, and the second input end of the second adder is connected to the output end of the second multiplier, with In adding the output of the first multiplier and the output of the second multiplier to obtain the d-axis component of the dq ⁺ coordinate system

The input terminal of the first inverter is connected to the second output terminal of the second sine generator for converting the sine value

Inversion; the first input of the third multiplier is used to receive the digital sine V _s (j), and the second input of the third multiplier is connected to the output of the first inverter; multiplied by the output value of the first inverter and the digital sine signal V _s (j); the first input end of the fourth multiplier is connected to the second output end of the first cosine generator , the second input terminal of the fourth multiplier is connected to the digital cosine signal V _c (j) output by the signal acquisition module, for combining the digital cosine signal V _c (j) and the cosine value

multiplication; the first input end of the second adder is connected to the output end of the third multiplier, and the second input end of the second adder is connected to the output end of the fourth multiplier, using In adding the output value of the third multiplier and the output value of the fourth multiplier to obtain the q-axis component value of the dq ⁺ coordinate system

用于根据所述角度估计值

输出余弦值所述第二正弦发生器的输入端用于接收输出角度估计值用于根据所述角度估计值

输出正弦值

所述第五乘法器的第一输入端连接至所述第一正弦发生器的输出端，所述第五乘法器的第二输入端连接所述信号采集模块输出的数字正弦V_s(j)，用于将所述数字正弦V_s(j)和所述余弦值

相乘；所述第二反相器的输入端连接至所述第二正弦发生器的输出端，用于将正弦值

反相；所述第六乘法器的第一输入端连接所述信号采集模块输出的数字余弦V_c(j)，所述第六乘法器的第二输入端与所述第二反相器的输出端连接，用于将所述数字余弦V_c(j)和所述第二反相器输出值相乘；所述第三加法器的第一输入端连接至所述第五乘法器的输出端，所述第三加法器的第二输入端连接至所述第六乘法器的输出端，用于将所述第五乘法器的输出值和所述第六乘法器的输出值相加得到dq^-坐标系的d轴分量

所述第七乘法器的第一输入端连接所述信号采集模块输出的数字正弦V_s(j)，所述第七乘法器的第二输入端连接至所述第二正弦发生器的输出端，用于将正弦值

和数字正弦V_s(j)相乘；所述第八乘法器的第一输入端连接至所述第二余弦发生器的输出端，所述第八乘法器的第二输入端连接所述信号采集模块输出的数字余弦V_c(j)，用于将所述数字余弦V_c(j)和所述余弦值

相乘；所述第四加法器的第一输入端连接至所述第七乘法器的输出端，所述第四加法器的第二输入端连接至所述第八乘法器的输出端，用于将第七乘法器的输出值和第八乘法器输出值相加得到dq^-坐标系的q轴分量 Wherein, the reverse Park converter includes a second cosine generator, a second sine generator, a fifth multiplier, a sixth multiplier, a third adder, a second inverter, a seventh multiplier, a second eight multipliers and a fourth adder; the input of the second cosine generator for receiving an output angle estimate

for estimating values based on the angle

output cosine an input of the second sine generator for receiving an output angle estimate for estimating values based on the angle

output sine

The first input of the fifth multiplier is connected to the output of the first sine generator, and the second input of the fifth multiplier is connected to the digital sine V _s (j) output by the signal acquisition module. , for converting the digital sine V _s (j) and the cosine

multiplication; the input end of the second inverter is connected to the output end of the second sine generator for converting the sine value

Inversion; the first input terminal of the sixth multiplier is connected to the digital cosine V _c (j) output by the signal acquisition module, and the second input terminal of the sixth multiplier is connected to the second inverter of the second inverter The output terminal is connected to multiply the digital cosine V _c (j) and the output value of the second inverter; the first input terminal of the third adder is connected to the output of the fifth multiplier end, the second input end of the third adder is connected to the output end of the sixth multiplier, for adding the output value of the fifth multiplier and the output value of the sixth multiplier to obtain dq ^- the d-axis component of the coordinate system

The first input of the seventh multiplier is connected to the digital sine V _s (j) output by the signal acquisition module, and the second input of the seventh multiplier is connected to the output of the second sine generator , for the sine value

and digital sine V _s (j); the first input of the eighth multiplier is connected to the output of the second cosine generator, and the second input of the eighth multiplier is connected to the The digital cosine V _c (j) output by the signal acquisition module is used to combine the digital cosine V _c (j) and the cosine value

multiplication; the first input end of the fourth adder is connected to the output end of the seventh multiplier, and the second input end of the fourth adder is connected to the output end of the eighth multiplier, using To add the output value of the seventh multiplier and the output value of the eighth multiplier to obtain the q-axis component of the dq ^- coordinate system

第二输入端为系数2，用于将角度估计值

与系数2相乘；所述第三正弦发生器的输入端用于接收第九乘法器的输出端，用于产生第九乘法器输出量的正弦值

第三余弦发生器输入端用于接收第九乘法器的输出端，用于产生第九乘法器输出量的余弦值

所述第十乘法器第一输入端连接至第三余弦发生器的输出端，第二输入端连接至第三低通滤波器输出端，用于将余弦值

和第三低通滤波器输出值

相乘；所述第十一乘法器第一输入端连接至第三正弦发生器输出端，第二输入端连接至第三低通滤波器输出端，用于将正弦值和第四通滤波器输出值

相乘；所述第五加法器第一输入端连接至将第十乘法器的输出端，第二输入端连接至第十一乘法器输出端，用于将第十乘法器的输出量和第十一乘法器输出量相加；所述第一减法器第一输入端连接至dq⁺坐标系的d轴输出端，第二输入端连接至第五加法器输出端，用于将dq⁺坐标系的d轴分量

与第五加法器输出量相减，得到正向解耦器的输出值

第十二乘法器第一输入端连接至第三低通滤波器输出端，第二输入端连接至第三正弦发生器输出端，用于将第三低通滤波器输出值

和正弦值相乘；第十三乘法器第一输入端连接至第四通滤波器输出端，第二输入端连接至第三余弦发生器输出端，用于将第四通滤波器输出值与余弦值

相乘；第二减法器第一输入端连接至第十二乘法器输出端，第二输入端连接至第十三乘法器输出端，用于将第十二乘法器输出值和第十三乘法器输出值相减；第六加法器第一输入端连接至第二减法器输出端，第二输入端连接至dq⁺坐标系的q轴分量输出端，用于将第二减法器输出值和dq⁺坐标系的q轴分量

相加得到正向解耦器的输出值

Wherein, the forward decoupler includes a ninth multiplier, a third sine generator, a third cosine generator, a tenth multiplier, an eleventh multiplier, a fifth adder, a first subtractor, a Twelve multipliers, a thirteenth multiplier, a second subtractor and a sixth adder; the first input of the ninth multiplier is an angle estimate

The second input is the coefficient 2, which is used to convert the angle estimate

Multiplied by coefficient 2; the input terminal of the third sine generator is used to receive the output terminal of the ninth multiplier, and is used to generate the sine value of the output of the ninth multiplier

The input end of the third cosine generator is used to receive the output end of the ninth multiplier, and is used to generate the cosine value of the output quantity of the ninth multiplier

The first input terminal of the tenth multiplier is connected to the output terminal of the third cosine generator, and the second input terminal is connected to the output terminal of the third low-pass filter for converting the cosine value

and the third low-pass filter output value

multiplication; the first input terminal of the eleventh multiplier is connected to the output terminal of the third sine generator, and the second input terminal is connected to the output terminal of the third low-pass filter for converting the sine value and the fourth-pass filter output value

multiplication; the first input end of the fifth adder is connected to the output end of the tenth multiplier, and the second input end is connected to the output end of the eleventh multiplier, for the output of the tenth multiplier and the output of the tenth multiplier The outputs of the eleven multipliers are added; the first input end of the first subtractor is connected to the d-axis output end of the dq ⁺ coordinate system, and the second input end is connected to the output end of the fifth adder for converting dq ⁺ coordinates d-axis component of the system

Subtract it from the output of the fifth adder to get the output value of the forward decoupler

The first input end of the twelfth multiplier is connected to the output end of the third low-pass filter, and the second input end is connected to the output end of the third sine generator, for the output value of the third low-pass filter

and the sine Multiply; the first input end of the thirteenth multiplier is connected to the output end of the fourth pass filter, and the second input end is connected to the output end of the third cosine generator for converting the output value of the fourth pass filter and cosine

multiplication; the first input end of the second subtractor is connected to the output end of the twelfth multiplier, and the second input end is connected to the output end of the thirteenth multiplier, for the output value of the twelfth multiplier and the thirteenth multiplier The first input end of the sixth adder is connected to the output end of the second subtractor, and the second input end is connected to the q-axis component output end of the dq ⁺ coordinate system, which is used to combine the output value of the second subtractor with the output value of the second subtractor dq ⁺ the q-axis component of the coordinate system

Adding to get the output value of the forward decoupler

第二输入端连接至系数2，用于将输出角度估计值

与系数2相乘；所述第四正弦发生器输入端连接至第十四乘法器输出端，用于产生第十四乘法器输出值的正弦值所述第四余弦发生器输入端连接至第十四乘法器输出端，用于产生第十四乘法器输出值的余弦值

所述第十五乘法器第一输入端连接至第四余弦发生器输出端，第二输入端连接至第一低通滤波器输出端，用于将余弦值

和第一低通滤波器输出值

相乘；所述第十六乘法器第一输入端连接至第四正弦发生器输出端，第二输入端连接至第二低通滤波器输出端，用于将正弦值

和第二低通滤波器输出值

相乘；所述第三减法器第一输入端连接至第十六乘法器输出端，第二输入端连接至第十五乘法器的输出端，用于将第十六乘法器输出值和第十五乘法器的输出值相减；所述第七加法器第一输入端连接至dq^-坐标系的d轴分量输出端，第二输入端连接至第三减法器的输出端，用于将dq^-坐标系的d轴分量

与第三减法器的输出值相加，得到反向解耦器的输出值

所述第十七乘法器第一输入端连接至第一低通滤波器输出端，第二输入端连接至第四正弦发生器输出端，用于将第一低通滤波器输出值

和正弦值

相乘；所述第十八乘法器第一输入端连接至第二低通滤波器输出端，第二输入端连接至第四余弦发生器输出端，用于将第二低通滤波器输出值

与余弦值

相乘；所述第八加法器第一输入端连接至第十七乘法器的输出端，第二输入端连接至第十八乘法器的输出端，用于将第十七乘法器的输出量和第十八乘法器的输出量相加；所述第四减法器第一输入端连接至dq^-坐标系的q轴分量输出端，第二输入端连接至第八加法器的输出端，用于将dq^-坐标系的q轴分量

与第八加法器的输出量相减，得到反向解耦器输出值

Wherein, the reverse decoupler includes a fourteenth multiplier, a fourth sine generator, a fourth cosine generator, a fifteenth multiplier, a sixteenth multiplier, a seventh adder, and a third subtractor , the seventeenth multiplier, the eighteenth multiplier, the fourth subtractor and the eighth adder; the first input of the fourteenth multiplier is connected to the angle estimate

The second input is connected to Coefficient 2 for converting the output angle estimate

multiplied by a factor of 2; the input of the fourth sine generator is connected to the output of the fourteenth multiplier for generating the sine of the output value of the fourteenth multiplier The input end of the fourth cosine generator is connected to the output end of the fourteenth multiplier for generating the cosine value of the output value of the fourteenth multiplier

The first input end of the fifteenth multiplier is connected to the output end of the fourth cosine generator, and the second input end is connected to the output end of the first low-pass filter for converting the cosine value

and the first low-pass filter output value

multiplication; the first input end of the sixteenth multiplier is connected to the output end of the fourth sine generator, and the second input end is connected to the output end of the second low-pass filter for converting the sine value

and the second low-pass filter output value

multiplication; the first input end of the third subtractor is connected to the output end of the sixteenth multiplier, and the second input end is connected to the output end of the fifteenth multiplier, for combining the output value of the sixteenth multiplier with the output value of the sixteenth multiplier The output values of the fifteen multipliers are subtracted; the first input of the seventh adder is connected to the d-axis component output of the dq ^- coordinate system, and the second input is connected to the output of the third subtractor for dq ^- the d-axis component of the coordinate system

Add the output value of the third subtractor to get the output value of the reverse decoupler

The first input terminal of the seventeenth multiplier is connected to the output terminal of the first low-pass filter, and the second input terminal is connected to the output terminal of the fourth sine generator for converting the output value of the first low-pass filter

and the sine

multiplication; the first input end of the eighteenth multiplier is connected to the output end of the second low-pass filter, and the second input end is connected to the output end of the fourth cosine generator for outputting the second low-pass filter value

and cosine

multiplication; the first input end of the eighth adder is connected to the output end of the seventeenth multiplier, and the second input end is connected to the output end of the eighteenth multiplier, for the output of the seventeenth multiplier and the output of the eighteenth multiplier are added; the first input end of the fourth subtractor is connected to the q-axis component output end of the dq ^- coordinate system, and the second input end is connected to the output end of the eighth adder, with q-axis component of the dq ^- coordinate system

Subtract it from the output of the eighth adder to get the output value of the reverse decoupler

Wherein, the structure of the first low-pass filter, the second low-pass filter, the third low-pass filter and the fourth low-pass filter is the same; the first low-pass filter includes the first low-pass filter Nineteen multipliers, the ninth adder, the twentieth multiplier and the first memory; the first input of the nineteenth multiplier is connected to the output of the forward decoupler, and the second input is connected to the sampling period T and the filter cut-off frequency ω _f product T*ω _f , which is used to convert the output value of the forward decoupler Multiplied with the sampling period T and the filter cut-off frequency _ωf product T* _ωf ; the first input terminal of the ninth adder is connected to the output terminal of the nineteenth multiplier, and the second input terminal is connected to the output terminal of the first memory, Used to store the nineteenth multiplier output value and the value of the previous moment of the first low-pass filter output value stored in the first memory Addition; the first input end of the twentieth multiplier is connected to the output end of the ninth adder, and the second input end is connected to the reciprocal of (1+T*ω _f ), used to add the output value of the ninth adder to (1 +T*ω _f ) multiplied by the reciprocal to get the output value of the first low-pass filter

比例系数K_P相乘；所述第五减法器第一输入端连接至系数K_I*T，第二输入端连接至系数K_P，用于将K_I*T与K_P相减；所述第二十二乘法器第一输入端连接至第二存储器的输出端，第二输入端连接至第二十一乘法器输出端，用于将第二存储器存储的正向解耦器输出值的前一时刻的值

)与第二十一乘法器输出量相乘；所述第十加法器第一输入端连接至第二十一乘法器输出端，第二输入端连接至第二十二乘法器输出端，用于将第二十一乘法器输出值和第二十二乘法器输出值相加；所述第十一加法器第一输入端连接至第三存储器输出端，第二输入端连接至第十加法器输出端，用于将第三存储器存储的前一时刻角速度值ω(j-1)与第十加法器输出值相加，输出角速度值ω(j)；所述第二十三乘法器第一输入端连接至系数K_I*T，第二输入端连接至第三存储器输出端，用于将第三存储器存储的前一时刻角速度值ω(j-1)与K_I*T相乘；所述第十二加法器第一输入端连接至第二十三乘法器输出端，第二输入端连接至第四存储器输出端，用于将第二十三乘法器输出值与第四存储器存储前一时刻角度值

相加，得到角度值

Wherein, the motion information solver includes a PI regulator and an integrator; the PI regulator includes a twenty-first multiplier, a twenty-second multiplier, a fifth subtractor, a tenth adder, and an eleventh adder , a second memory and a third memory; the integrator includes a twenty-third multiplier, a twelfth adder, and a fourth memory; the first input of the twenty-first multiplier is connected to the positive decoupling The output terminal of the decoupler, the second input terminal is connected to the proportional coefficient K _P , which is used to convert the output value of the positive decoupler

The proportional coefficient K _P is multiplied; the first input end of the fifth subtractor is connected to the coefficient K _I *T, and the second input end is connected to the coefficient K _P for subtracting K _I *T and K _P ; The first input end of the twenty-second multiplier is connected to the output end of the second memory, and the second input end is connected to the output end of the twenty-first multiplier, for storing the positive decoupler output value of the second memory value at the previous moment

) is multiplied with the output of the twenty-first multiplier; the first input end of the tenth adder is connected to the output end of the twenty-first multiplier, and the second input end is connected to the output end of the twenty-second multiplier, using Adding the output value of the twenty-first multiplier and the output value of the twenty-second multiplier; the first input terminal of the eleventh adder is connected to the third memory output terminal, and the second input terminal is connected to the tenth addition The output terminal of the device is used to add the angular velocity value ω(j-1) at the previous moment stored in the third memory to the output value of the tenth adder, and output the angular velocity value ω(j); the second multiplier of the twenty-third multiplier One input end is connected to the coefficient K _I * T, and the second input end is connected to the output end of the third memory, for the angular velocity value ω (j-1) of the previous moment stored in the third memory and multiplied by K _I * T; The first input end of the twelfth adder is connected to the output end of the twenty-third multiplier, and the second input end is connected to the output end of the fourth memory, for storing the output value of the twenty-third multiplier with the fourth memory Angle value at the previous moment

Add up to get the angle value

The present invention adopts the signal processing unit adopting double synchronous coordinate transformation to carry out coordinate transformation to the two sequence components of the fundamental wave positive sequence and negative sequence in the magnetoelectric signal at the same time, decompose it into the component under the dq coordinate system of positive sequence and negative sequence, through The decoupling network and filtering links realize the calculation of motion information, so that the signal distortion components caused by device differences and installation errors can be eliminated through decouplers and filters, thus greatly improving the calculation accuracy and accuracy of magnetic encoders. Anti-interference ability.

Description of drawings

FIG. 1 is a schematic diagram of the structure and principle of a magnetic encoder based on a dual synchronous rotating coordinate system provided by an embodiment of the present invention;

2 is a functional block diagram of a signal acquisition module in a magnetic encoder based on a dual synchronous rotating coordinate system provided by an embodiment of the present invention;

Fig. 3 is the functional block diagram of the forward Park converter in the signal processing unit provided by the embodiment of the present invention;

Fig. 4 is the functional block diagram of the reverse Park converter in the signal processing unit provided by the embodiment of the present invention;

5 is a functional block diagram of the forward decoupler in the signal processing unit provided by the embodiment of the present invention;

6 is a functional block diagram of a reverse decoupler in a signal processing unit provided by an embodiment of the present invention;

Fig. 7 is the functional block diagram of the low-pass filter in the signal processing unit that the embodiment of the present invention provides; Wherein Fig. 7 (a) is the first low-pass filter, Fig. 7 (b) is the second low-pass filter, Fig. 7 (c) is the 3rd low-pass filter, and Fig. 7 (d) is the 4th low-pass filter;

Fig. 8 is a functional block diagram of a motion information solver in a signal processing unit provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

The invention specifically relates to a magnetic encoder which can solve and encode the output signal of a magnetoelectric sensor (Hall sensor or magnetoresistive sensor), and can be applied to the fields of servo control and follow-up control.

The invention provides a novel magnetic encoder whose calculation accuracy is not affected by factors such as component differences and installation errors. At present, most of the magnetic encoders under research and in use in China are based on ideal two-way quadrature (or four-way differential quadrature) or three-way symmetrical (or six-way differential symmetrical) magnetoelectric signals for motion information calculation. However, due to the objective existence of factors such as installation errors and component performance differences, the orthogonality or symmetry of the magnetoelectric signals of magnetic encoders in reality must be affected by various error factors. The present invention adopts the dual synchronous coordinate transformation settlement method to extract the amplitudes of the fundamental positive sequence component and the fundamental negative sequence component in the magnetoelectric signal of the magnetic encoder and the fluctuation component of twice the frequency, so that due to device differences and installation errors The signal distortion components caused by such as can be eliminated by decouplers and filters, thus greatly improving the solution accuracy and anti-interference ability of the magnetic encoder.

Generally speaking, compared with the prior art, the above technical solution conceived by the present invention is not affected by factors such as device differences and installation errors, and improves the accuracy of the magnetic encoder for motion information calculation.

The present invention can solve the motion information for two-way orthogonal (or four-way differential orthogonal) or three-way symmetrical (or six-way differentially symmetrical) magnetoelectric signals. The present invention will be described below by taking two orthogonal signals as an example. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other. The purpose, technical solutions and advantages of the present invention are described in detail as follows in conjunction with the accompanying drawings and embodiments.

The invention discloses a novel magnetic encoder that can be used for motion information detection, which includes a magnetoelectric signal generator 1, a signal conditioner 2, a signal acquisition module 3 and a signal processing unit connected in sequence. The magnetoelectric signal generator 1 is used to convert the motion of the magnetic element into an analog electrical signal containing motion information. The signal conditioner 2 performs conditioning and analog filtering processing on the analog electric signal output by the magnetoelectric signal generator 1, so that it can match the input requirements of the signal acquisition module. The signal acquisition module 3 is composed of an A/D converter. The A/D converter is used to perform analog-to-digital conversion on the analog sine signal V _s (t) and the analog cosine signal V _c (t) output by the signal conditioner 2, and output the digital sine signal V _s (j) and the digital cosine signal V _c (j). A signal processing unit consisting of a forward Park converter 4, a reverse Park converter 5, a forward decoupler 6, a reverse decoupler 7, a low-pass filter 8 and a motion information solver 9, for Coordinate transformation, decoupling operation, filter processing and motion information calculation are performed on the digital electrical signal input by the signal acquisition module.

的余弦值第二正弦发生器42用于产生输出角度估计值

的正弦值

第一乘法器43将接收的数字正弦V_s(j)和余弦值

相乘，第二乘法器44将接收的数字余弦V_c(j)和正弦值

相乘，第一加法器45将第一乘法器43的输出量和第二乘法器44的输出量相加得到dq⁺坐标系的d轴分量

第一反相器46将正弦值

反相，第三乘法器47将反相器46的输出值和数字正弦信号V_s(j)相乘，第四乘法器48将数字余弦信号V_c(j)和余弦值

相乘，第二加法器49将第三乘法器47的输出值和第四乘法器48的输出值相加得到dq⁺坐标系的q轴分量值

The forward Park converter 4 is composed of the first cosine generator 41, the second sine generator 42, the first multiplier 43, the second multiplier 44, the first adder 45, the first inverter 46, the third multiplier device 47, a fourth multiplier 48, and a second adder 49. The first cosine generator 41 is used to generate the output angle estimate

cosine of The second sine generator 42 is used to generate the output angle estimate

the sine of

The first multiplier 43 will receive the digital sine V _s (j) and cosine

multiplied, the second multiplier 44 will receive the digital cosine V _c (j) and the sine value

multiplication, the first adder 45 adds the output of the first multiplier 43 and the output of the second multiplier 44 to obtain the d-axis component of the dq ⁺ coordinate system

The first inverter 46 converts the sine value

Inversion, the third multiplier 47 multiplies the output value of the inverter 46 and the digital sine signal V _s (j), and the fourth multiplier 48 multiplies the digital cosine signal V _c (j) and the cosine value

multiplication, the second adder 49 adds the output value of the third multiplier 47 and the output value of the fourth multiplier 48 to obtain the q-axis component value of the dq ⁺ coordinate system

第二正弦发生器52用于产生角度估计值

的正弦值

第五乘法器53将接收的数字正弦V_s(j)和余弦值相乘，第二反相器56将正弦值

反相，第六乘法器54将接收的数字余弦V_c(j)和第二反相器56输出值相乘，第三加法器55将第五乘法器53的输出值和第六乘法器54的输出值相加得到dq^-坐标系的d轴分量

第七乘法器57将正弦值

和数字正弦V_s(j)相乘，第八乘法器58将数字余弦V_c(j)和余弦值

相乘，第四加法器59将第七乘法器57的输出值和第八乘法器58输出值相加得到dq^-坐标系的q轴分量

Inverse Park converter 5 is composed of second cosine generator 51, second sine generator 52, fifth multiplier 53, sixth multiplier 54, third adder 55, second inverter 56, seventh multiplier device 57, the eighth multiplier 58, and the fourth adder 59. The second cosine generator 51 is used to generate the angle estimate cosine of

The second sine generator 52 is used to generate the angle estimate

the sine of

The fifth multiplier 53 will receive the digital sine V _s (j) and the cosine value multiplied, the second inverter 56 converts the sine value

Inversion, the sixth multiplier 54 multiplies the received digital cosine V _c (j) and the output value of the second inverter 56, and the third adder 55 multiplies the output value of the fifth multiplier 53 and the sixth multiplier 54 Adding the output values of dq ^- the d-axis component of the coordinate system

The seventh multiplier 57 converts the sine value

and the digital sine V _s (j) are multiplied, and the eighth multiplier 58 converts the digital cosine V _c (j) and the cosine value

multiplication, the fourth adder 59 adds the output value of the seventh multiplier 57 and the output value of the eighth multiplier 58 to obtain the q-axis component of the dq ^- coordinate system

与系数2相乘，第三正弦发生器602用于产生第九乘法器输出量的正弦值第三余弦发生器603用于产生第九乘法器输出量的余弦值

第十乘法器604将余弦值

和第三低通滤波器输出值

相乘，第十一乘法器605将正弦值和第四通滤波器输出值

相乘，第五加法器606将第十乘法器604的输出量和第十一乘法器605输出量相加，第一减法器607将dq⁺坐标系的d轴分量与第五加法器606输出量相减，得到正向解耦器的输出值

第十二乘法器608将第三低通滤波器输出值

和正弦值

相乘，第十三乘法器609将第四通滤波器输出值

与余弦值

相乘，第二减法器610将第十二乘法器608输出值和第十三乘法器609输出值相减，第六加法器611将第二减法器610输出值和dq⁺坐标系的q轴分量

相加得到正向解耦器的输出值 Forward decoupler 6 is composed of the ninth multiplier 601, the third sine generator 602, the third cosine generator 603, the tenth multiplier 604, the eleventh multiplier 605, the fifth adder 606, the first subtraction 607, the twelfth multiplier 608, the thirteenth multiplier 609, the second subtractor 610, and the sixth adder 611. The ninth multiplier 601 converts the angle estimate

Multiplied with coefficient 2, the third sine generator 602 is used to generate the sine value of the output of the ninth multiplier The third cosine generator 603 is used to generate the cosine value of the output of the ninth multiplier

The tenth multiplier 604 converts the cosine value

and the third low-pass filter output value

multiplied, the eleventh multiplier 605 converts the sine value and the fourth-pass filter output value

multiplication, the fifth adder 606 adds the output of the tenth multiplier 604 and the output of the eleventh multiplier 605, and the first subtractor 607 adds the d-axis component of the dq ⁺ coordinate system subtracted from the output of the fifth adder 606 to obtain the output value of the forward decoupler

The twelfth multiplier 608 converts the third low-pass filter output value

and the sine

multiplied, the thirteenth multiplier 609 converts the fourth-pass filter output value

and cosine

Multiplication, the second subtractor 610 subtracts the output value of the twelfth multiplier 608 and the output value of the thirteenth multiplier 609, and the sixth adder 611 subtracts the output value of the second subtractor 610 and the q axis of the dq ⁺ coordinate system weight

Adding to get the output value of the forward decoupler

第四余弦发生器703用于产生第十四乘法器701输出值的余弦值第十五乘法器704将余弦值和第一低通滤波器输出值

相乘，第十六乘法器705将正弦值

和第二低通滤波器输出值相乘，第三减法器707将第十六乘法器705输出值和第十五乘法器704的输出值相减，第七加法器706将dq^-坐标系的d轴分量

与第三减法器707的输出值相加，得到反向解耦器的输出值

第十七乘法器708将第一低通滤波器输出值

和正弦值

相乘，第十八乘法器709将第二低通滤波器输出值

与余弦值相乘，第八加法器711将第第十七乘法器708的输出量和第十八乘法器709的输出量相加，第四减法器710将dq^-坐标系的q轴分量

与第八加法器711的输出量相减，得到反向解耦器输出值

The reverse decoupler 7 is composed of the fourteenth multiplier 701, the fourth sine generator 702, the fourth cosine generator 703, the fifteenth multiplier 704, the sixteenth multiplier 705, the seventh adder 706, the fourth The third subtractor 707, the seventeenth multiplier 708, the eighteenth multiplier 709, the fourth subtractor 710, and the eighth adder 711 are composed. The fourteenth multiplier 701 will output the angle estimate Multiplied by coefficient 2, the fourth sine generator 702 is used to generate the sine value of the output value of the fourteenth multiplier 701

The fourth cosine generator 703 is used to generate the cosine value of the output value of the fourteenth multiplier 701 The fifteenth multiplier 704 converts the cosine value and the first low-pass filter output value

multiplied, the sixteenth multiplier 705 converts the sine value

and the second low-pass filter output value multiplied, the third subtractor 707 subtracts the output value of the sixteenth multiplier 705 and the output value of the fifteenth multiplier 704, and the seventh adder 706 takes the d-axis component of the dq ^- coordinate system

is added to the output value of the third subtractor 707 to obtain the output value of the reverse decoupler

The seventeenth multiplier 708 converts the first low-pass filter output value

and the sine

multiplied, the eighteenth multiplier 709 converts the second low-pass filter output value

and cosine multiplication, the eighth adder 711 adds the output of the seventeenth multiplier 708 and the output of the eighteenth multiplier 709, and the fourth subtractor 710 adds the q-axis component of the dq ^- coordinate system

subtracted from the output of the eighth adder 711 to obtain the output value of the reverse decoupler

和采样周期T和滤波截止频率ω_f乘积T*ω_f相乘，第九加法器82将第十九乘法器81输出值和第一存储器84存储的第一低通滤波器输出值的前一时刻的值相加，第二十乘法器83将第九加法器82输出值和(1+T*ω_f)的倒数相乘，得到第一低通滤波器输出值

Low-pass filter 8 is made up of four identical first low-pass filter 801, second low-pass filter 802, the 3rd low-pass filter 803, the 4th low-pass filter 804, each filter is made up of tenth low-pass filter Nine multipliers 81, ninth adders 82, twentieth multipliers 83, and first memory 84. Among them, the first low-pass filter 801 includes a nineteenth multiplier 81 that converts the forward decoupler output value

Multiplied with the sampling period T and the filter cut-off frequency ω _f product T*ω _f , the ninth adder 82 is the previous one of the nineteenth multiplier 81 output value and the first low-pass filter output value stored in the first memory 84 value of moment In addition, the twentieth multiplier 83 multiplies the output value of the ninth adder 82 and the reciprocal of (1+T*ω _f ) to obtain the first low-pass filter output value

和采样周期T和滤波截止频率ω_f乘积T*ω_f相乘，第九加法器82将第十九乘法器输出值和第一存储存储器84存储的第二低通滤波器输出值的前一时刻的值

相加，第二十乘法器83将第九加法器输出值和(1+T*ω_f)的倒数相乘，得到第二低通滤波器输出值

The second low-pass filter 802 includes a nineteenth multiplier 81 that converts the forward decoupler output value

Multiplied with the sampling period T and the filter cut-off frequency ω _f product T*ω _f , the 9th adder 82 is the previous one of the 19th multiplier output value and the second low-pass filter output value stored in the first storage memory 84 value of moment

In addition, the twentieth multiplier 83 multiplies the output value of the ninth adder and the reciprocal of (1+T*ω _f ) to obtain the second low-pass filter output value

和采样周期T和滤波截止频率ω_f乘积T*ω_f相乘，第九加法器82将第十九乘法器81输出值和第一存储器84存储的第三低通滤波器输出值的前一时刻的值

相加，第二十乘法器83将第九加法器82输出值和(1+T*ω_f)的倒数相乘，得到第三低通滤波器输出值

The third low-pass filter 803 includes the nineteenth multiplier 81 to reverse the decoupler output value

Multiplied with the sampling period T and the filter cut-off frequency ω _f product T*ω _f , the ninth adder 82 is the previous one of the nineteenth multiplier 81 output value and the third low-pass filter output value stored in the first memory 84 value of moment

In addition, the twentieth multiplier 83 multiplies the output value of the ninth adder 82 and the reciprocal of (1+T*ω _f ) to obtain the third low-pass filter output value

和采样周期T和滤波截止频率ω_f乘积T*ω_f相乘，第九加法器82将第十九乘法器81输出值和第一存储器84存储的第四低通滤波器输出值的前一时刻的值

相加，第二十乘法器83将第九加法器82输出值和(1+T*ω_f)的倒数相乘，得到第四低通滤波器输出值

The fourth low-pass filter 804 includes the nineteenth multiplier 81 to reverse the decoupler output value

Multiplied with the sampling period T and the filter cut-off frequency ω _f product T*ω _f , the ninth adder 82 is the previous one of the 19th multiplier 81 output value and the fourth low-pass filter output value stored in the first memory 84 value of moment

In addition, the twentieth multiplier 83 multiplies the output value of the ninth adder 82 and the reciprocal of (1+T*ω _f ) to obtain the fourth low-pass filter output value

The motion information solver 9 is composed of a PI regulator 91 and an integrator 92 . Wherein the PI regulator 91 is composed of the twenty-first multiplier 910, the twenty-second multiplier 911, the fifth subtractor 912, the tenth adder 913, the eleventh adder 914, the second memory 915, the third memory 916 composition.

比例系数K_P相乘，第五减法器912将K_I*T与K_P相减，第二十二乘法器911将第二存储器915存储的正向解耦器的输出值的前一时刻的值

)与第二十一乘法器910输出量相乘，第十加法器913将第二十一乘法器910输出值和第二十二乘法器911输出值相加，第十一加法器914将第三存储器916存储的前一时刻角速度值ω(j-1)与第十加法器913输出值相加，输出角速度值ω(j)。第二十三乘法器920将前一时刻角速度值ω(j-1)与K_I*T相乘，第十二加法器921将第二十三乘法器920与第四存储器922存储前一时刻角度值

相加，得到角度值

The integrator 92 is composed of a twenty-third multiplier 920 , a twelfth adder 921 , and a fourth memory 922 . The twenty-first multiplier 910 will forward the decoupler output value

The proportional coefficient K _P is multiplied, the fifth subtractor 912 subtracts K _I *T and K _P , and the twenty-second multiplier 911 stores the output value of the forward decoupler stored in the second memory 915 at the previous moment value

) is multiplied with the twenty-first multiplier 910 output, the tenth adder 913 adds the twenty-first multiplier 910 output value and the twenty-second multiplier 911 output value, and the eleventh adder 914 adds the first The angular velocity value ω(j−1) stored in the third memory 916 at the previous moment is added to the output value of the tenth adder 913 to output the angular velocity value ω(j). The twenty-third multiplier 920 multiplies the previous moment angular velocity value ω (j-1) and K _I * T, and the twelfth adder 921 stores the previous moment in the twenty-third multiplier 920 and the fourth memory 922 angle value

Add up to get the angle value

和

反向帕克变换器5的输出满足： $V_{\mathrm{sd}}^{-}\left(j\right)=V_s\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)-V_c*\sin \widehat{\mathrm{\θ}}\left(j\right)$ 和 $V_{\mathrm{sq}}^{-}\left(j\right)=V_c\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)+V_s*\sin \widehat{\mathrm{\θ}}\left(j\right).$ 正向解耦器6的输出满足： $V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ 和 $V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)=V_{\mathrm{sq}}^{+}\left(j\right)+\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right)).$ 反向解耦器7的输出满足： $V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ 和 $V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)=V_{\mathrm{sq}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right)).$ 低通滤波器8中第一低通滤波器801的输出满足： $\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{+}}(j-1)+K_P*V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{+}}^{*}(j-1).$ 第二低通滤波器802的输出满足： $\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{+}}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1).$ 第三低通滤波器803的输出满足： $\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{-}}(j-1)+K_P*V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{-}}^{*}(j-1).$ 第四低通滤波器804的输出满足： $\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{-}}(j-1)+K_P*V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{-}}^{*}(j-1).$ 运动信息解算器9的输出满足： $\mathrm{\ω}\left(j\right)=\mathrm{\ω}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1)$ 和 $\widehat{\mathrm{\θ}}\left(j\right)=\widehat{\mathrm{\θ}}(j-1)+K_I*T*\mathrm{\ω}(j-1).$ The magnetic encoder provided by the embodiment of the present invention can process the two-phase, three-phase or six-phase signals output by the magnetoelectric signal generator. This example takes two-phase signal output as an example to illustrate but not limited to two-phase signal. Wherein, the output of the forward park converter 4 satisfies:

and

The output of the inverse park converter 5 satisfies: $V_{\mathrm{sd}}^{-}\left(j\right)=V_{\mathrm{the\; s}}\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)-V_c*\sin \widehat{\mathrm{\θ}}\left(j\right)$ and $V_{\mathrm{sq}}^{-}\left(j\right)=V_c\left(j\right)*\cos \widehat{\mathrm{\θ}}\left(j\right)+V_{\mathrm{the\; s}}*\sin \widehat{\mathrm{\θ}}\left(j\right).$ The output of forward decoupler 6 satisfies: $V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ and $V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)=V_{\mathrm{sq}}^{+}\left(j\right)+\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right)).$ The output of reverse decoupler 7 satisfies: $V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)=V_{\mathrm{sd}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))+\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right))$ and $V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)=V_{\mathrm{sq}}^{-}\left(j\right)-\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)*\cos (2*\widehat{\mathrm{\θ}}\left(j\right))-\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)*\sin (2*\widehat{\mathrm{\θ}}\left(j\right)).$ The output of the first low-pass filter 801 in the low-pass filter 8 satisfies: $\stackrel{\‾}{V_{\mathrm{sd}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{+}}(j-1)+K_P*V_{{\mathrm{sd}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{+}}^{*}(j-1).$ The output of the second low-pass filter 802 satisfies: $\stackrel{\‾}{V_{\mathrm{sq}}^{+}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{+}}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1).$ The output of the third low-pass filter 803 satisfies: $\stackrel{\‾}{V_{\mathrm{sd}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sd}}^{-}}(j-1)+K_P*V_{{\mathrm{sd}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sd}}^{-}}^{*}(j-1).$ The output of the fourth low-pass filter 804 satisfies: $\stackrel{\‾}{V_{\mathrm{sq}}^{-}}\left(j\right)=\stackrel{\‾}{V_{\mathrm{sq}}^{-}}(j-1)+K_P*V_{{\mathrm{sq}}^{-}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{-}}^{*}(j-1).$ The output of motion information solver 9 satisfies: $\mathrm{\ω}\left(j\right)=\mathrm{\ω}(j-1)+K_P*V_{{\mathrm{sq}}^{+}}^{*}\left(j\right)+(-K_P+K_I*T)*V_{{\mathrm{sq}}^{+}}^{*}(j-1)$ and $\widehat{\mathrm{\θ}}\left(j\right)=\widehat{\mathrm{\θ}}(j-1)+K_I*T*\mathrm{\ω}(j-1).$

In the embodiment of the present invention, for the case of three-phase input signals; assuming that the three-phase input signals are V _a , V _b , and V _c respectively, then the output of the forward park converter 4 at this time satisfies:

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; sd</span>}}^{<span\; class="notranslate">\; +</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; sq</span>}}^{<span\; class="notranslate">\; +</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

Then the output of the inverse Park converter 5 at this time satisfies:

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; sd</span>}}^{<span\; class="notranslate">\; -</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; sq</span>}}^{<span\; class="notranslate">\; -</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; a</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; sin</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; cos</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>$

The rest are exactly the same and will not be repeated here.

In the embodiment of the present invention, in order to compare the accuracy and speed of the embodiment of the present invention and the traditional demodulation method, a simulation experiment is carried out. Suppose the magnetoelectric signal generator outputs V _s (t)=K _e *sin(100*t), V _c (t)=0.8*K _e cos(100*t), that is, the cosine signal amplitude is the sine signal amplitude 0.8 times. The simulation results show that the present invention can track and lock the calculated angle value to the actual angle value in a very short time, the calculated angular velocity is equal to the actual angular velocity of the signal 100rad/s, and the calculated result is not affected by the amplitude difference.

If the magnetoelectric signal generator outputs V _s (t)=K _e sin(100*t), V _c (t)=0.8*K _e cos(100*t+10°), that is, the cosine signal lags the sine signal 10°. The simulation results show that the present invention can still achieve the calculated angular velocity equal to the actual angular velocity of 100rad/s in a relatively short period of time, but the calculated angular value is affected by the phase deviation and has a constant deviation, so it can be easily compensated according to the test.

Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (7)

1. A magnetic encoder based on double synchronous rotating coordinate system, is characterized in that, comprises the magnetoelectric signal generator (1), signal conditioner (2), signal acquisition module (3) and signal processing unit connected successively; The signal processing unit comprises: a forward Parker converter (4), a reverse Parker converter (5), a forward decoupler (6), a reverse decoupler (7), a first low-pass filter ( 801), a second low-pass filter (802), a third low-pass filter (803), a fourth low-pass filter (804) and a motion information solver (9); The magnetoelectric signal generator (1) is used to convert the motion of the magnetic element into an analog electrical signal containing motion information; the signal conditioner (2) is used to condition and analog filter the analog electrical signal After outputting a signal matched with the signal acquisition module (3); the signal acquisition module (3) is used to perform analog-to-digital conversion on the output of the signal conditioner (2) and output a digital electrical signal; The input terminal of the forward park converter (4) is connected to the output terminal of the signal acquisition module (3), and is used to convert the digital electrical signal to rotate at a forward fundamental wave synchronous angular velocity ω with a constant amplitude Under the dq ⁺ coordinate system, the amplitude of the fundamental positive sequence component in the digital electrical signal is extracted, and the fundamental negative sequence component in the digital electrical signal is separated at twice the frequency fluctuation component; The input end of the reverse Park converter (5) is connected to the output end of the signal acquisition module (3), and is used to convert the digital electrical signal to rotate at the reverse fundamental synchronous angular velocity -ω with a constant amplitude Under the dq ^- coordinate system, extract the magnitude of the fundamental wave negative sequence component in the digital electrical signal, and simultaneously separate the fundamental wave positive sequence component twice the frequency fluctuation component in the digital electrical signal; The input end of the forward decoupler (6) is connected to the output end of the forward Park converter (4); it is used to eliminate the dq ⁺ coordinates by the magnitude feedback of the fundamental negative sequence component of the digital electrical signal The AC component caused by the negative sequence component of the fundamental wave in the digital electrical signal under the system; The input terminal of the reverse decoupler (7) is connected with the output terminal of the reverse Park converter (5); it is used to eliminate the dq ^- coordinate by the magnitude feedback of the fundamental wave positive sequence component of the digital electrical signal The AC component caused by the positive sequence component of the fundamental wave in the digital electrical signal under the system; The input end of the first low-pass filter (801) is connected to the first output end of the forward decoupler (6), and the output end of the first low-pass filter (801) is connected to the The first feedback terminal of the reverse decoupler (7); used to filter out the double frequency fluctuation component of the fundamental wave positive sequence component under the dq ⁺ coordinate system output by the forward decoupler, and obtain the fundamental wave under the dq ⁺ coordinate system The magnitude of the positive sequence component. The input end of the second low-pass filter (802) is connected to the second output end of the forward decoupler (6), and the output end of the second low-pass filter (802) is connected to the The second feedback terminal of the reverse decoupler (7), the output terminal of the second low-pass filter (802) is also used as the fundamental wave positive sequence component amplitude output terminal in the digital electric signal; The double-frequency fluctuation component of the fundamental negative sequence component in the dq ⁺ coordinate system output by the decoupler is obtained to obtain the amplitude of the fundamental negative sequence component in the dq ⁺ coordinate system; The input end of the third low-pass filter (803) is connected to the first output end of the reverse decoupler (7), and the output end of the third low-pass filter (803) is connected to the The first feedback terminal of the positive decoupler (6), the output terminal of the third low-pass filter (803) is also used as the amplitude output terminal of the fundamental wave negative sequence component in the digital electrical signal; The double-frequency fluctuation component of the fundamental wave positive sequence component under the dq ^- coordinate system output by the decoupler, obtains the fundamental wave positive sequence component amplitude under the dq ^- coordinate system; The input end of the fourth low-pass filter (804) is connected to the second output end of the reverse decoupler (7), and the output end of the fourth low-pass filter (804) is connected to the The second feedback terminal of the positive decoupler (6), the output terminal of the fourth low-pass filter (804) is also used as the fundamental negative sequence component amplitude output terminal in the digital electrical signal; for filtering the negative Under the dq ^- coordinate system of the decoupler output, the double-frequency fluctuation component of the fundamental wave positive sequence component obtains the amplitude value of the fundamental wave positive sequence component under the dq ^- coordinate system; the input terminal of the described motion information solver (9) is connected To the second output terminal of the forward decoupler (6), used for phase-locking the digital electric signal containing motion information, and solving the motion distance and motion speed of the magnetic element in the magnetoelectric signal generator The angular velocity of the movement of the rear output magnetic element

and the angle value

2. The magnetic encoder according to claim 1, characterized in that, the forward Park converter (4) comprises: a first cosine generator (41), a second sine generator (42), a first Multiplier (43), second multiplier (44), first adder (45), first inverter (46), third multiplier (47), fourth multiplier (48) and second adder device (49); The input end of described first cosine generator (41) is used for receiving output angle estimation value

is used to output angle estimates based on the

output cosine

The input of the second sine generator (42) is used to receive the output angle estimate

is used to output angle estimates based on the

output sine

The first input end of the first multiplier (43) is connected to the digital sine V _s (j) output by the signal acquisition module (3), and the second input end of the first multiplier (43) is connected to the The first output terminal of the first cosine generator (41) is used to convert the digital sine V _s (j) and the cosine value multiplied; The first input of the second multiplier (44) is connected to the first output of the second sine generator (42), and the second input of the second multiplier (44) is used to receive digital cosine V _c (j), for combining the received digital cosine V _c (j) and the sine

multiplied; The first input end of the first adder (45) is connected to the output end of the first multiplier (43), and the second input end of the second adder (45) is connected to the second multiplier The output terminal of device (44), is used to add the output quantity of described first multiplier (43) and the output quantity of described second multiplier (44) to obtain the d axis component of dq ⁺ coordinate system

The input terminal of the first inverter (46) is connected to the second output terminal of the second sine generator (42) for converting the sine value

inversion; The first input terminal of the third multiplier (47) is used to receive the digital sine V _s (j), and the second input terminal of the third multiplier (47) is connected to the first inverter (46 ) output terminal; for multiplying the output value of the first inverter (46) and the digital sinusoidal signal V _s (j); The first input end of the fourth multiplier (48) is connected to the second output end of the first cosine generator (41), and the second input end of the fourth multiplier (48) is connected to the The digital cosine signal V _c (j) output by the signal acquisition module (3) is used to combine the digital cosine signal V _c (j) and the cosine value

multiplied; The first input end of the second adder (49) is connected to the output end of the third multiplier (47), and the second input end of the second adder (49) is connected to the fourth multiplier The output terminal of device (48), is used for the output value of the 3rd multiplier (47) and the output value of described 4th multiplier (48) are added and obtains the q-axis component value of dq ⁺ coordinate system

3. The magnetic encoder as claimed in claim 1 or 2, characterized in that, the reverse Park converter (5) comprises a second cosine generator (51), a second sine generator (52), a second Five multipliers (53), sixth multipliers (54), third adders (55), second inverters (56), seventh multipliers (57), eighth multipliers (58) and fourth adder (59); The input end of described second cosine generator (51) is used for receiving output angle estimation value

for estimating values based on the angle

output cosine

The input of the second sine generator (52) is used to receive the output angle estimate

for estimating values based on the angle

output sine

The first input of the fifth multiplier (53) is connected to the output of the first sinusoidal generator (51), and the second input of the fifth multiplier (53) is connected to the signal acquisition module (3) The output digital sine V _s (j), which is used to combine the digital sine V _s (j) and the cosine value

multiplied; The input terminal of the second inverter (56) is connected to the output terminal of the second sine generator (52) for converting the sine value

inversion; The first input end of the sixth multiplier (54) is connected to the digital cosine V _c (j) output by the signal acquisition module (3), and the second input end of the sixth multiplier (54) is connected to the The output end of the second inverter (56) is connected for multiplying the digital cosine V _c (j) and the output value of the second inverter (56); The first input end of the third adder (55) is connected to the output end of the fifth multiplier (53), and the second input end of the third adder (55) is connected to the sixth multiplier The output terminal of device (54), is used to add the output value of described the 5th multiplier (53) and the output value of described sixth multiplier (54) to obtain the d axis component of dq ^- coordinate system

The first input end of the seventh multiplier (57) is connected to the digital sine V _s (j) output by the signal acquisition module (3), and the second input end of the seventh multiplier (57) is connected to the Describe the output end of the second sine generator (52), for the sine value

Multiply with digital sine V _s (j); The first input end of the eighth multiplier (58) is connected to the output end of the second cosine generator (51), and the second input end of the eighth multiplier (58) is connected to the signal acquisition The digital cosine V _c (j) that module (3) outputs, is used for described digital cosine V _c (j) and described cosine value

multiplied; The first input end of the fourth adder (59) is connected to the output end of the seventh multiplier (57), and the second input end of the fourth adder (59) is connected to the eighth multiplier The output terminal of device (58), is used to add the output value of the seventh multiplier (57) and the eighth multiplier (58) output value to obtain the q axis component of dq ^- coordinate system

4. The magnetic encoder according to any one of claims 1-3, characterized in that, the forward decoupler (6) comprises a ninth multiplier (601), a third sinusoidal generator (602), The third cosine generator (603), the tenth multiplier (604), the eleventh multiplier (605), the fifth adder (606), the first subtractor (607), the twelfth multiplier (608 ), the thirteenth multiplier (609), the second subtractor (610) and the sixth adder (611); The first input terminal of the ninth multiplier (601) is an angle estimate The second input is the coefficient 2, which is used to convert the angle estimate

Multiply with factor 2; The input terminal of the third sine generator (602) is used to receive the output terminal of the ninth multiplier (601), and is used to generate the sine value of the output quantity of the ninth multiplier

The third cosine generator (603) input is used to receive the output of the ninth multiplier (601), for producing the cosine value of the output of the ninth multiplier

The first input terminal of the tenth multiplier (604) is connected to the output terminal of the third cosine generator (603), and the second input terminal is connected to the output terminal of the third low-pass filter for converting the cosine value

and the third low-pass filter output value

multiplied; The first input terminal of the eleventh multiplier (605) is connected to the output terminal of the third sine generator (602), and the second input terminal is connected to the output terminal of the third low-pass filter for converting the sine value

and the fourth-pass filter output value

multiplied; The first input of the fifth adder (606) is connected to the output of the tenth multiplier (604), and the second input is connected to the output of the eleventh multiplier (605), for multiplying the tenth The output of device (604) and the output of the eleventh multiplier (605) are added; The first input end of the first subtractor (607) is connected to the d-axis output end of the dq ⁺ coordinate system, and the second input end is connected to the output end of the fifth adder (606), which is used to convert the d of the dq ⁺ coordinate system axis

Subtract from the output of the fifth adder (606) to obtain the output value of the forward decoupler

The first input terminal of the twelfth multiplier (608) is connected to the output terminal of the third low-pass filter, and the second input terminal is connected to the output terminal of the third sine generator (602) for outputting the third low-pass filter value

and the sine

multiplied; The first input end of the thirteenth multiplier (609) is connected to the fourth pass filter output end, and the second input end is connected to the third cosine generator (603) output end, for the fourth pass filter output value

and cosine

multiplied; The first input of the second subtractor (610) is connected to the output of the twelfth multiplier (608), and the second input is connected to the output of the thirteenth multiplier (609), for the twelfth multiplier ( 608) output value and the thirteenth multiplier (609) output value are subtracted; The first input end of the sixth adder (611) is connected to the output end of the second subtractor (610), and the second input end is connected to the q-axis component output end of the dq ⁺ coordinate system, which is used to connect the second subtractor (610) Output value and q-axis component of the dq ⁺ coordinate system Adding to get the output value of the forward decoupler

5. The magnetic encoder according to any one of claims 1-4, characterized in that, said reverse decoupler (7) comprises a fourteenth multiplier (701), a fourth sinusoidal generator (702) , the fourth cosine generator (703), the fifteenth multiplier (704), the sixteenth multiplier (705), the seventh adder (706), the third subtractor (707), the seventeenth multiplier (708), eighteenth multiplier (709), fourth subtractor (710) and eighth adder (711); The first input of the fourteenth multiplier (701) is connected to the angle estimate

The second input is connected to Coefficient 2 for converting the output angle estimate

Multiply with factor 2; The input of the fourth sine generator (702) is connected to the output of the fourteenth multiplier (701), for generating the sine value of the output value of the fourteenth multiplier (701)

The input of the fourth cosine generator (703) is connected to the output of the fourteenth multiplier (701), for generating the cosine value of the output value of the fourteenth multiplier (701)

The first input end of the fifteenth multiplier (704) is connected to the output end of the fourth cosine generator (703), and the second input end is connected to the output end of the first low-pass filter for converting the cosine value

and the first low-pass filter output value

multiplied; The first input terminal of the sixteenth multiplier (705) is connected to the output terminal of the fourth sine generator (702), and the second input terminal is connected to the output terminal of the second low-pass filter for converting the sine value

and the second low-pass filter output value

multiplied; The first input end of the third subtractor (707) is connected to the output end of the sixteenth multiplier (705), and the second input end is connected to the output end of the fifteenth multiplier (704), for the sixteenth The output value of the multiplier (705) and the fifteenth multiplier (704) are subtracted; The first input terminal of the seventh adder (706) is connected to the d-axis component output terminal of the dq ^- coordinate system, and the second input terminal is connected to the output terminal of the third subtractor (707), which is used to convert the dq ^- coordinate system to the output terminal of the third subtractor (707). d-axis component of

Add the output value of the third subtractor (707) to obtain the output value of the reverse decoupler $V_{{\mathrm{sd}}^{-}}^{*}\left(j\right);$ The first input terminal of the seventeenth multiplier (708) is connected to the output terminal of the first low-pass filter, and the second input terminal is connected to the output terminal of the fourth sine generator (702), for the first low-pass filter output value and the sine multiplied; The first input of the eighteenth multiplier (709) is connected to the output of the second low-pass filter, and the second input is connected to the output of the fourth cosine generator (703) for converting the second low-pass Filter output value

and cosine

multiplied; The first input end of the eighth adder (711) is connected to the output end of the seventeenth multiplier (708), and the second input end is connected to the output end of the eighteenth multiplier (709), for combining the tenth The output of the seventh multiplier (708) and the output of the eighteenth multiplier (709) are added; The first input terminal of the fourth subtractor (710) is connected to the output terminal of the q-axis component of the dq ^- coordinate system, and the second input terminal is connected to the output terminal of the eighth adder (711), for converting the dq ^- coordinate system to the output terminal of the eighth adder (711). The q-axis component of

Subtract the output of the eighth adder (711) to obtain the reverse decoupler output value

6. The magnetic encoder according to any one of claims 1-5, characterized in that, the first low-pass filter (801), the second low-pass filter (802), the third Low-pass filter (803) is identical in structure with described 4th low-pass filter (804); Described first low-pass filter (801) comprises the 19th multiplier (81), the 9th adder (82) , the twentieth multiplier (83) and the first memory (84); The first input terminal of the nineteenth multiplier (81) is connected to the output terminal of the forward decoupler, and the second input terminal is connected to the product T*ω _f of the sampling period T and the filter cut-off frequency ω _f , which is used to convert the forward Decoupler output value

Multiply with the sampling period T and the filter cut-off frequency ω _f product T*ω _f ; The first input end of the ninth adder (82) is connected to the output end of the nineteenth multiplier (81), and the second input end is connected to the output end of the first memory (84), for the nineteenth multiplier ( 81) the value of the previous moment of the first low-pass filter output value stored in the output value and the first memory (84) $\stackrel{\&OverBar;}{V_{\mathrm{sd}}^{+}}(j-1)$ Add; The first input of the twentieth multiplier (83) is connected to the output of the ninth adder (82), and the second input is connected to the reciprocal of (1+T*ω _f ), for the ninth adder (82 ) output value and the reciprocal of (1+T*ω _f ) are multiplied to obtain the output value of the first low-pass filter 7. The magnetic encoder according to any one of claims 1-6, wherein said motion information solver (9) comprises a PI regulator (91) and an integrator (92); The PI regulator (91) includes a twenty-first multiplier (910), a twenty-second multiplier (911), a fifth subtractor (912), a tenth adder (913), an eleventh adder (914 ), a second memory (915) and a third memory (916); The integrator (92) includes a twenty-third multiplier (920), a twelfth adder (921), and a fourth memory (922); The first input terminal of the twenty-first multiplier (910) is connected to the output terminal of the forward decoupler, and the second input terminal is connected to the proportional coefficient K _P for converting the output value of the forward decoupler

The proportional coefficient K _P is multiplied; The first input terminal of the fifth subtractor (912) is connected to the coefficient K _I *T, and the second input terminal is connected to the coefficient K _P for subtracting K _I *T from K _P ; The first input of the twenty-second multiplier (911) is connected to the output of the second memory (915), and the second input is connected to the output of the twenty-first multiplier (910), for the second The value at the previous moment of the forward decoupler output value stored in the memory (915)

) is multiplied with the twenty-first multiplier (910) output; The first input of the tenth adder (913) is connected to the output of the twenty-first multiplier (910), and the second input is connected to the output of the twenty-second multiplier (911), for the second The eleventh multiplier (910) output value and the twenty-second multiplier (911) output value are added; The first input end of the eleventh adder (914) is connected to the output end of the third memory (916), and the second input end is connected to the output end of the tenth adder (913), for the third memory (916) Stored previous moment angular velocity value ω (j-1) is added to the output value of the tenth adder (913), output angular velocity value ω (j); The first input terminal of the twenty-third multiplier (920) is connected to the coefficient K _I *T, and the second input terminal is connected to the output terminal of the third memory (916), which is used to store the previous Multiply the angular velocity value ω(j-1) by K _I *T at one moment; The first input terminal of the twelfth adder (921) is connected to the output terminal of the twenty-third multiplier (920), and the second input terminal is connected to the output terminal of the fourth memory (922), for combining the twenty-third The multiplier (920) output value and the fourth memory (922) store the previous moment angle value

Add up to get the angle value

Images