CN111245443B - A kind of resolver soft decoding processing method and device based on DSADC - Google Patents

Abstract

A resolver decoding processing method based on DSADC disclosed in the present invention comprises the following steps: 1. receiving the original resolver signal generated by the resolver, and filtering the received original resolver signal; 2. filtering the resolver signal The final resolver signal is demodulated so that the resolver signal generates a Sin signal and a Cos signal; 3. An offset detection is performed on the Sin signal and the Cos signal, and the Sin signal and the Cos signal are performed according to the offset detection result Offset error compensation; 4. Calculate the Sin signal and Cos signal after offset error compensation, generate and output the resolver angle signal and resolver speed signal. Also disclosed is a device for realizing the above-mentioned DSADC-based resolver soft decoding processing method. The invention improves the decoding precision, has simple operation and occupies less system resources.

Description

A kind of resolver soft decoding processing method and device based on DSADC

technical field

The invention relates to the technical field of automotive electronics, in particular to a DSADC-based resolver soft decoding processing method and a device thereof.

Background technique

Due to its high precision and strong anti-interference ability, the resolver is widely used in the electric drive application of electric vehicles, but the cost of the decoding chip used in conjunction with the resolver is relatively high. In recent years, the DSADC-based resolver soft decoding scheme has become a research hotspot. See Figure 1. The figure shows the existing DSADC-based resolver soft decoding process, including the following steps:

1. The resolver 10 generates the original resolver signal, and sends the original resolver signal to the DSADC module 20;

2. The DSADC module 20 performs filtering processing on the received original resolver signal, and sends the filtered resolver signal to the demodulation module 30;

3. The demodulation module 30 demodulates the resolver signal through the filtering process, generates a Sin signal and a Cos signal, and inputs the generated Sin signal and Cos signal to the angle observer module 40;

4. The angle observer module 40 calculates and processes the Sin signal and the Cos signal, generates and outputs a resolver angle signal and a resolver speed signal.

The above DSADC-based resolver soft decoding processing scheme does not require a special decoding chip, which can effectively reduce the cost, but in the processing process, due to the limitation of the chip's computing power and compensation method, generally the resolver will not be installed eccentrically. , DSADC sampling drift and other signal errors caused by compensation. If the resolver signal error is not compensated or the compensation is inaccurate, the decoded angle will contain periodic errors. Using it as a control input will cause system performance degradation or even instability.

For this reason, the applicant has found a solution to the above-mentioned problems through beneficial exploration and research, and the technical solutions to be introduced below are produced under this background.

Contents of the invention

One of the technical problems to be solved by the present invention is to provide a DSADC-based resolver soft-decode processing method that improves system performance for the problem of system performance degradation caused by the existing DSADC-based resolver soft-decode processing method.

The second technical problem to be solved by the present invention is to provide a device for realizing the above-mentioned DSADC-based resolver soft decoding processing method.

A kind of resolver decoding processing method based on DSADC as the first aspect of the present invention, comprises the following steps:

Step S10, receiving the original resolver signal generated by the resolver, and filtering the received original resolver signal;

Step S20, demodulating the resolver signal after filtering, so that the resolver signal generates a Sin signal and a Cos signal;

Step S30, performing offset detection on the Sin signal and the Cos signal, and performing offset error compensation on the Sin signal and the Cos signal according to the offset detection result;

Step S40, calculating the Sin signal and the Cos signal after offset error compensation, generating and outputting a resolver angle signal and a resolver speed signal.

In a preferred embodiment of the present invention, in the step S30, offset detection is performed on the Sin signal and the Cos signal, and offset error compensation is performed on the Sin signal and the Cos signal according to the offset detection result, including The following substeps:

Step S31, in each calculation cycle, integrate the angle output by the soft decoding, when the angle integral is greater than 360 degrees, generate an enabling signal, and simultaneously clear the angle integral;

Step S32, in each calculation cycle, compare the Sin signal value of the current cycle with the historical maximum value SinMax and the historical minimum value SinMin respectively, if the Sin signal value of the current cycle is greater than the historical maximum value SinMax, then the current cycle Sin The signal value replaces the historical maximum value SinMax. If the Sin signal value of the current cycle is less than the historical minimum value SinMin, the current cycle Sin signal value replaces the historical minimum value SinMin;

Compare the Cos signal value in the current cycle with the historical maximum value CosMax and the historical minimum value CosMin. If the Cos signal value in the current cycle is greater than the historical maximum value CosMax, replace the historical maximum value CosMax with the current cycle Cos signal value. If the current If the Cos signal value of the period is less than the historical minimum value CosMin, the Cos signal value of the current period will replace the historical minimum value CosMin;

Step S33, after detecting the enable signal of step S31, output the historical maximum value SinMax, historical minimum value SinMin, historical maximum value CosMax and historical minimum value CosMin, and output the historical maximum value SinMax, historical minimum value SinMin, The historical maximum value CosMax and the historical minimum value CosMin are cleared;

Step S34, add the historical maximum value SinMax and the historical minimum value SinMin output in step S33 and divide by 2 to obtain the amplitude offset SinOffset of the Sin signal:

SinOffset=(SinMax+SinMin)/2;

Add the historical maximum value CosMax output by step S33 to the historical minimum value CosMin and divide by 2 to obtain the amplitude offset CosOffset of the Cos signal:

CosOffset=(CosMax+CosMin)/2;

Subtract the historical maximum value SinMaxOutput output by step S33 from the historical minimum value SinMinOutput and divide by 2 to obtain the Sin amplitude SinAmp of the Sin envelope signal:

SinAmp=(SinMaxOutput-SinMinOutput)/2;

Subtract the historical maximum value CosMaxOutput output by step S33 from the historical minimum value CosMinOutput and divide by 2 to obtain the Cos amplitude CosAmp of the Cos signal:

CosAmp = (CosMaxOutput-CosMinOutput)/2;

Divide the amplitude SinAmp by the amplitude CosAmp to obtain the amplitude ratio SinCosRatio of the Sin amplitude relative to the Cos amplitude:

SinCosRatio = SinAmp/CosAmp;

Step S35, in each calculation cycle, subtract the amplitude offset SinOffset and the amplitude offset CosOffset output by step S34 respectively from the Sin signal value and the Cos signal value in the current cycle, and multiply the Cos signal value by the step The amplitude ratio SinCosRatio output by S34, the compensated Sin signal value and Cos signal value

SinComp=Sin-SinOffset

CosComp=(Cos-CosOffset)*SinCosRatio;

Step S36, in each calculation cycle, the signals SinComp, CosComp compensated according to step S35 are used as input for angle calculation.

As a second aspect of the present invention, a device for realizing the above-mentioned DSADC-based resolver soft decoding processing method includes:

A DSADC module, the DSADC module is used to receive the original resolver signal generated by the resolver, and filter the received original resolver signal;

A demodulation module, the demodulation module is used to demodulate the resolver signal filtered by the DSADC module, so that the resolver signal generates a Sin signal and a Cos signal;

An error compensation module, the error compensation module is used to perform offset detection on the Sin signal and the Cos signal generated by the demodulation module, and perform offset error compensation on the Sin signal and the Cos signal according to the offset detection result;

An angle observer module, the angle observer module is used to calculate the Sin signal and the Cos signal after offset error compensation by the error compensation module, generate and output a resolver angle signal and a resolver speed signal.

Due to the adoption of the above technical solution, the beneficial effects of the present invention are: the present invention detects and compensates the signal errors caused by the eccentricity of the resolver installation and the DSADC sampling drift in real time during the soft decoding process of the resolver, and improves the decoding accuracy. It is simple, occupies less system resources, and can dynamically monitor the current error value from time to time. It has the ability to adapt to the change of system error, and the compensation is accurate and effective. After testing, after adding error compensation, the angle accuracy can be increased by 10%, effectively improving the system performance.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a processing flowchart of the existing DSADC-based resolver soft decoding.

FIG. 2 is a flow chart of the DSADC-based resolver decoding processing method of the present invention.

Fig. 3 is a schematic diagram of demodulated Sin signal and Cos signal including amplitude offset and amplitude ratio error.

FIG. 4 is a flow chart of signal error detection and compensation processing in the present invention.

FIG. 5 is a schematic structural diagram of a resolver decoding processing device based on DSADC according to the present invention.

Fig. 6 is a relationship diagram of the soft decoding output speed and angle without adding error detection and compensation.

Fig. 7 is a diagram of the relationship between the output speed and the angle of the soft decoding with error detection and compensation added.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

Referring to Fig. 2, a kind of resolver decoding processing method based on DSADC is shown in the figure, including the following steps:

Step S10, receiving the original resolver signal generated by the resolver, and filtering the received original resolver signal;

Step S20, performing demodulation processing on the resolved resolver signal after filtering, so that the resolver signal generates a Sin signal and a Cos signal. The Sin signal and Cos signal after resolver demodulation contain information such as amplitude offset and amplitude ratio error, as shown in Figure 3, which are not directly used for the calculation of angle and speed, but are firstly processed for error compensation;

Step S30, performing offset detection on the Sin signal and the Cos signal, and performing offset error compensation on the Sin signal and the Cos signal according to the offset detection result;

Step S40, calculating the Sin signal and the Cos signal after offset error compensation, generating and outputting a resolver angle signal and a resolver speed signal.

In step S30, referring to Fig. 4, Sin signal and Cos signal are carried out offset detection, and described Sin signal and Cos signal are carried out offset error compensation according to the result of offset detection, including the following sub-steps:

Step S31, in each calculation cycle, integrate the angle output by the soft decoding, when the angle integral is greater than 360 degrees, generate an enabling signal, and simultaneously clear the angle integral;

Step S32, in each calculation cycle, compare the Sin signal value of the current cycle with the historical maximum value SinMax and the historical minimum value SinMin respectively, if the Sin signal value of the current cycle is greater than the historical maximum value SinMax, then the current cycle Sin The signal value replaces the historical maximum value SinMax. If the Sin signal value of the current cycle is less than the historical minimum value SinMin, the current cycle Sin signal value replaces the historical minimum value SinMin;

Compare the Cos signal value in the current cycle with the historical maximum value CosMax and the historical minimum value CosMin. If the Cos signal value in the current cycle is greater than the historical maximum value CosMax, replace the historical maximum value CosMax with the current cycle Cos signal value. If the current If the Cos signal value of the period is less than the historical minimum value CosMin, the Cos signal value of the current period will replace the historical minimum value CosMin;

Step S33, after detecting the enable signal of step S31, output the historical maximum value SinMax, historical minimum value SinMin, historical maximum value CosMax and historical minimum value CosMin, and output the historical maximum value SinMax, historical minimum value SinMin, The historical maximum value CosMax and the historical minimum value CosMin are cleared;

Step S34, add the historical maximum value SinMax and the historical minimum value SinMin output in step S33 and divide by 2 to obtain the amplitude offset SinOffset of the Sin signal:

SinOffset=(SinMax+SinMin)/2;

Add the historical maximum value CosMax output by step S33 to the historical minimum value CosMin and divide by 2 to obtain the amplitude offset CosOffset of the Cos signal:

CosOffset=(CosMax+CosMin)/2;

Subtract the historical maximum value SinMaxOutput output by step S33 from the historical minimum value SinMinOutput and divide by 2 to obtain the Sin amplitude SinAmp of the Sin envelope signal:

SinAmp=(SinMaxOutput-SinMinOutput)/2;

Subtract the historical maximum value CosMaxOutput output by step S33 from the historical minimum value CosMinOutput and divide by 2 to obtain the Cos amplitude CosAmp of the Cos signal:

CosAmp = (CosMaxOutput-CosMinOutput)/2;

Divide the amplitude SinAmp by the amplitude CosAmp to obtain the amplitude ratio SinCosRatio of the Sin amplitude relative to the Cos amplitude:

SinCosRatio = SinAmp/CosAmp;

Step S35, in each calculation cycle, subtract the amplitude offset SinOffset and the amplitude offset CosOffset output by step S34 respectively from the Sin signal value and the Cos signal value in the current cycle, and multiply the Cos signal value by the step The amplitude ratio SinCosRatio output by S34, the compensated Sin signal value and Cos signal value

SinComp=Sin-SinOffset

CosComp=(Cos-CosOffset)*SinCosRatio;

Step S36, in each calculation cycle, the signals SinComp, CosComp compensated according to step S35 are used as input for angle calculation.

Referring to FIG. 5 , shown in the figure is a device for implementing the above-mentioned DSADC-based resolver soft decoding processing method, including a DSADC module 100 , a demodulation module 200 , an error compensation module 300 and an angle observer module 400 .

The DSADC module 100 is used to receive the original resolver signal generated by the resolver 10 , filter the received original resolver signal, and send the filtered resolver signal to the demodulation module 200 . The demodulation module 200 is used to demodulate the resolver signal filtered by the DSADC module 100, so that the resolver signal generates a Sin signal and a Cos signal, and sends the generated Sin signal and Cos signal to the error compensation module 300. The error compensation module 300 is used to perform offset detection on the Sin signal and the Cos signal generated by the demodulation module 200, and perform offset error compensation on the Sin signal and the Cos signal according to the offset detection result, and then the offset error compensated Sin signal and Cos signals are sent to the angle observer module 400 . The angle observer module 400 is used to calculate the Sin signal and the Cos signal after offset error compensation by the error compensation module 300 , generate and output a resolver angle signal and a resolver speed signal.

In the soft decoding process of the resolver, the present invention detects and compensates the signal errors caused by the eccentricity of the resolver installation and the DSADC sampling drift in real time, improves the decoding accuracy, has simple operation, takes up less system resources, and can dynamically monitor the current The error value has the ability to adapt to the change of the system error, and the compensation is accurate and effective. After testing, after adding error compensation, the angle accuracy can be increased by 10%, effectively improving the system performance.

Referring to Figure 6 and Figure 7, Figure 6 is the relationship between the soft decoding output speed and angle without error detection and compensation, and Figure 7 is the relationship between the soft decoding output speed and angle with error detection and compensation, comparing the two can be It can be seen that the present invention can eliminate the periodic fluctuation of the soft decoding output speed.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (3)

1. The DSADC-based rotary-variable decoding processing method is characterized by comprising the following steps of:

step S10, receiving an original rotation signal generated by a rotary transformer, and performing filtering processing on the received original rotation signal;

step S20, demodulating the filtered rotation-varying signal to generate a Sin signal and a Cos signal;

step S30, performing offset detection on the Sin signal and the Cos signal, and performing offset error compensation on the Sin signal and the Cos signal according to an offset detection result;

step S40, calculating the Sin signal and the Cos signal after offset error compensation, generating and outputting a rotation angle signal and a rotation speed signal.

2. The DSADC-based rotary decoding processing method of claim 1, wherein in the step S30, offset detection is performed on the Sin signal and the Cos signal, and offset error compensation is performed on the Sin signal and the Cos signal according to a result of the offset detection, comprising the sub-steps of:

s31, integrating the angle output by soft decoding in each operation period, generating an enabling signal when the angle integral is larger than 360 degrees, and clearing the angle integral;

step S32, in each operation period, comparing the Sin signal value of the current period with a historical maximum value SinMx and a historical minimum value SinMin respectively, if the Sin signal value of the current period is larger than the historical maximum value SinMx, replacing the Sin signal value of the current period with the historical maximum value SinMx, and if the Sin signal value of the current period is smaller than the historical minimum value SinMin, replacing the Sin signal value of the current period with the historical minimum value SinMin;

comparing the Cos signal value in the current period with a historical maximum value CosMax and a historical minimum value CosMin, if the Cos signal value in the current period is larger than the historical maximum value CosMax, replacing the Cos signal value in the current period with the historical maximum value CosMax, and if the Cos signal value in the current period is smaller than the historical minimum value CosMin, replacing the Cos signal value in the current period with the historical minimum value CosMin;

step S33, outputting the historical maximum value SinMx, the historical minimum value SinMin, the historical maximum value CosMax and the historical minimum value CosMin after the enabling signal of the step S31 is detected, and clearing the historical maximum value SinMx, the historical minimum value SinMin, the historical maximum value CosMax and the historical minimum value CosMin after outputting;

step S34, adding the historical maximum value SinMax and the historical minimum value SinMin output in the step S33 and dividing by 2 to obtain the amplitude offset SinOffset of the Sin signal:

SinOffset＝(SinMax+SinMin)/2；

the history maximum value CosMax output in step S33 is added to the history minimum value CosMin and divided by 2 to obtain the amplitude offset CosOffset of the Cos signal:

CosOffset＝(CosMax+CosMin)/2；

subtracting the historical maximum value SinmaxOutput and the historical minimum value SinmInOutput output in the step S33 and dividing the historical maximum value SinmaxOutput and the historical minimum value SinmInOutput by 2 to obtain the Sin amplitude Sinamp of the Sin envelope signal:

SinAmp＝(SinMaxOutput-SinMinOutput)/2；

subtracting the historical maximum value CosMaxOutput output in the step S33 from the historical minimum value CosMinOutput and dividing the historical maximum value CosMaxOutput by 2 to obtain a Cos amplitude CosAmp of the Cos signal:

CosAmp＝(CosMaxOutput-CosMinOutput)/2；

dividing the amplitude Sinamp by the amplitude Cosamp to obtain an amplitude ratio SinCosRatio of Sin amplitude relative to Cos amplitude:

SinCosRatio＝SinAmp/CosAmp；

step S35, in each operation period, subtracting the amplitude offset SinOffset and the amplitude offset CosOffset output in the step S34 from the Sin signal value and the Cos signal value in the current period, respectively, multiplying the Cos signal value by the amplitude proportion SinCosRatio output in the step S34, wherein the compensated Sin signal value and the Cos signal value are

SinComp＝Sin-SinOffset

CosComp＝(Cos-CosOffset)*SinCosRatio；

In step S36, the signal SinComp, cosComp compensated in step S35 is used as an input for angle calculation in each calculation cycle.

3. An apparatus for implementing the DSADC-based soft-spin-decoding processing method of claim 1 or 2, comprising:

the DSADC module is used for receiving an original rotation signal generated by the rotary transformer and filtering the received original rotation signal;

the demodulation module is used for demodulating the rotation-varying signal subjected to the DSADC module filtering processing so that the rotation-varying signal generates a Sin signal and a Cos signal;

the error compensation module is used for carrying out offset detection on the Sin signal and the Cos signal generated by the demodulation module and carrying out offset error compensation on the Sin signal and the Cos signal according to an offset detection result;

and the angle observer module is used for calculating the Sin signal and the Cos signal subjected to offset error compensation by the error compensation module, generating a rotation angle signal and a rotation speed signal and outputting the rotation angle signal and the rotation speed signal.

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