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CN112087169B - Decoding method and device, control system and method of rotary transformer - Google Patents

Decoding method and device, control system and method of rotary transformer Download PDF

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Publication number
CN112087169B
CN112087169B CN202010823800.9A CN202010823800A CN112087169B CN 112087169 B CN112087169 B CN 112087169B CN 202010823800 A CN202010823800 A CN 202010823800A CN 112087169 B CN112087169 B CN 112087169B
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signal
resolver
rotary transformer
signals
sine
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CN112087169A (en
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王智明
张峥
邹继斌
曲汉武
张爽
张松炜
邵天宇
姜东�
崔爱贞
孙宝阳
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China Oilfield Services Ltd
China National Offshore Oil Corp CNOOC
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China Oilfield Services Ltd
China National Offshore Oil Corp CNOOC
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H21/00—Adaptive networks
    • H03H21/0012—Digital adaptive filters

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  • Power Engineering (AREA)
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Abstract

The embodiment of the application discloses a decoding method and a device, a control system and a method of a rotary transformer, wherein the decoding method of the rotary transformer comprises the following steps: collecting sine and cosine signals output by the rotary transformer at the sampling moment; demodulating the collected sine and cosine signals, and filtering the demodulated signals by using a self-adaptive filter according to the position signals of the rotary transformer; and adopting a phase-locked loop to perform position decoding on the filtered signal to obtain a position signal of the rotary transformer at the sampling moment. By the scheme of the disclosure, the adaptive filter is added in the decoding method, and the error of position decoding is reduced.

Description

Decoding method and device, control system and method of rotary transformer
Technical Field
The embodiment of the application relates to but is not limited to the field of well logging, in particular to a decoding method and device, a control system and a method for a rotary transformer.
Background
The rotary transformer (which may be abbreviated as rotary transformer herein) has the advantages of vibration resistance, strong pollution resistance, and wide temperature working range as a position sensor, and can still stably work even in some severe environments such as deep sea and under oil wells. Therefore, in some extreme environments, there is an increasing use of rotary transformers.
For this reason, many experts and scholars have conducted a great deal of research on how to read position information from the resolver signal of the resolver. Currently, most of the applications are that a special hardware chip is adopted to decode the rotary position information; the position decoding is accurate by adopting the special hardware chips, but the cost is relatively high, and the peripheral circuit is relatively complex, so that the research on how to realize the rotation decoding by using software has important significance.
In some technologies, the more widely used software decoding methods include an anti-tangential method and a phase-locked loop method. The arctangent method is simple in principle and relatively easy to implement, but the arctangent method is an open-loop system in nature, is sensitive to external interference, and is easy to form error codes when noise occurs in a sampling signal.
The phase-locked loop control decoding is a feedback closed-loop system and has good anti-interference performance, and most of the interior of the special decoding chip for the rotary transformer is solved by using the phase-locked loop. The decoding of the software phase-locked loop is realized by using a DSP (Digital Signal Processing), so that the circuit design is simpler, the flexibility is higher, and the corresponding control method can be adjusted according to different working environments and application conditions.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The present disclosure provides a decoding method and apparatus for a resolver, which can reduce the position decoding error of a rotor when the rotor operates at different rotational speeds and widen the speed range of the resolver rotor operation by using an adaptive filter in the decoding method.
The present disclosure provides a decoding method of a resolver, including:
collecting sine and cosine signals output by the rotary transformer at the sampling moment;
demodulating the collected sine and cosine signals, and filtering the demodulated signals by using a self-adaptive filter according to the position signals of the rotary transformer;
and adopting a phase-locked loop to perform position decoding on the filtered signal to obtain a position signal of the rotary transformer at the sampling moment.
In an exemplary embodiment, the demodulating the acquired sine and cosine signals includes:
multiplying the acquired rotary sine and cosine signals by excitation signals of a rotary transformer, and converting the multiplied data into superposed signals by using a preset trigonometric function formula;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals; k represents the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; theta represents the angle of rotation of the rotor of the resolver; KE0sin ω t represents an excitation signal of the resolver; e0Representing the amplitude of the excitation signal of the resolver.
In an exemplary embodiment, the filtering the demodulated signal by using an adaptive filter according to the position signal of the resolver includes:
step 1, acquiring a position signal of a rotary transformer at the previous sampling moment, and fitting theoretical signal data of the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using an adaptive filter which is set according to filter parameters to obtain a filtered rotary-transformed signal;
step 3, carrying out difference processing on the filtered sine and cosine signals and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
In an exemplary embodiment, the obtaining the position signal of the resolver at the last sampling time and fitting theoretical signal data at the current sampling time includes:
fitting theoretical signal data of the current sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment;
wherein the fitting formula is:
Figure BDA0002635433060000031
Figure BDA0002635433060000032
wherein, Usin1And Ucos1Is the fitted theoretical signal data; k is the transformation ratio of the rotary transformer and is a preset inherent parameter;
Figure BDA0002635433060000033
the position signal of the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t denotes an excitation signal.
The present disclosure also provides a decoding apparatus of a resolver, the apparatus including: the system comprises a rotary transformer signal acquisition module, a rotary transformer signal phase-sensitive demodulation and filtering module and an R/D conversion module;
the rotary transformer signal acquisition module is used for acquiring sine and cosine signals output by the rotary transformer at the sampling moment;
the resolver signal phase-sensitive demodulation and filtering module is used for demodulating the collected sine and cosine signals and filtering the demodulated signals by using the self-adaptive filter according to the position signals of the resolver;
and the R/D conversion module is used for carrying out position decoding on the filtered signal by adopting a phase-locked loop to obtain a position signal of the rotary transformer at the sampling moment.
In an exemplary embodiment, the phase-sensitive demodulation and filtering module for the rotation-varying signal demodulates the collected sine and cosine signals, and includes:
the rotary-change signal phase-sensitive demodulation and filtering module is used for multiplying the collected sine and cosine signals with excitation signals of the rotary transformer and converting the multiplied data into superposed signals by utilizing a preset trigonometric function formula;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals; k is the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; θ represents an angle through which the rotor of the resolver rotates; e0sin ω t represents an excitation signal of the resolver; e0Representing the amplitude of the spinning excitation signal.
In an exemplary embodiment, the filtering, by the phase-sensitive demodulation and filtering module for the resolver signal, the demodulated signal by using an adaptive filter according to the position signal of the resolver includes:
step 1, acquiring a position signal of a rotary transformer at the last sampling moment, and fitting theoretical signal data at the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using a self-adaptive filter which is set according to filter parameters to obtain a filtered sine and cosine signal;
step 3, carrying out difference processing on the filtered sine and cosine signals and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value or not;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
In an exemplary embodiment, the obtaining the position signal of the resolver at the last sampling time and fitting theoretical signal data at the current sampling time includes:
fitting theoretical signal data of the current sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment;
wherein the fitting formula is:
Figure BDA0002635433060000051
Figure BDA0002635433060000052
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals; k is the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; θ represents an angle through which the rotor of the resolver rotates; e0sin ω t represents an excitation signal of the resolver; e0Representing the amplitude of the rotating excitation signal.
The present disclosure also provides a control system applied to an electrical system including a motor and a resolver, the control system including: the resolver decoding device according to any one of the preceding embodiments, a motor control module;
the decoding device of the rotary transformer is used for determining a position signal of the rotary transformer;
the motor control module is configured to control a motor using the determined position signal of the resolver.
The present disclosure also provides a control method applied to an electrical system including a motor and a resolver, the control method including:
determining a position signal of the rotary transformer according to the decoding method of the rotary transformer in any one of the above embodiments;
controlling the motor according to the determined position signal of the resolver.
In one aspect, an embodiment of the present application provides a decoding method for a resolver, where the method includes: collecting sine and cosine signals output by the rotary transformer at the sampling moment; demodulating the collected sine and cosine signals, and filtering the demodulated signals by using a self-adaptive filter according to the position signals of the rotary transformer; and adopting a phase-locked loop to perform position decoding on the filtered signal to obtain a position signal of the rotary transformer at the sampling moment. Through the scheme disclosed by the invention, the position decoding error of the rotary transformer can be reduced, and the running speed range of the rotor of the rotary transformer is widened.
On the other hand, the embodiment of the application also provides a motor control system which is applied to an electrical system, wherein the electrical system comprises a motor and a rotary transformer; the motor control system includes: the decoding device of the rotary transformer and the motor control module; the decoding device of the rotary transformer is used for determining the position signal of the rotary transformer; the motor control module is configured to control the motor using the determined position signal of the resolver. Through the scheme disclosed by the invention, the rotary transformer decoding device can decode the position more accurately, and the motor can be effectively controlled to operate.
Other aspects will be apparent upon reading and understanding the attached drawings and detailed description.
Drawings
Fig. 1 is a flowchart of a decoding method of a resolver according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of the operating principle of the resolver;
FIG. 3 is a schematic diagram of an adaptive filter;
FIG. 4 is a flow diagram of a filtering process in some exemplary embodiments;
FIG. 5 is a schematic diagram of a phase locked loop;
FIG. 6 is a schematic diagram of a decoding apparatus of a resolver according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a control system according to an embodiment of the present application;
FIG. 8 is a flowchart of a control method according to an embodiment of the present application;
FIG. 9 illustrates a sine and cosine signal U collected in some exemplary embodimentssinAnd UcosA schematic view;
FIG. 10 is a schematic diagram of the operation of a phase locked loop in some exemplary embodiments;
FIG. 11 is a diagram illustrating sine and cosine signals sin θ and cos θ after filtering in some exemplary embodiments;
FIG. 12 is a schematic diagram of a position waveform after resolver position decoding in some exemplary embodiments;
fig. 13 is a flow chart of a control method applied to a motor in some exemplary embodiments.
Detailed Description
Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that the features of the embodiments and examples of the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 1 is a flowchart of a decoding method of a resolver according to an embodiment of the present disclosure, as shown in fig. 1, including steps 100 and 102:
step 100, collecting sine and cosine signals output by the rotary transformer at the sampling moment;
step 101, demodulating the collected sine and cosine signals, and filtering the demodulated signals by using a self-adaptive filter according to the position signals of the rotary transformer;
and 102, adopting a phase-locked loop to perform position decoding on the filtered signal to obtain a position signal of the rotary transformer at the sampling moment.
In some exemplary embodiments, the excitation of the resolver and the signal acquisition can be realized by using a peripheral interface of the DSP, and a software phase-locked loop is realized by using an internal programming code, so as to complete the decoding of the position information of the resolver signal.
In step 100, sine and cosine signals output by the resolver at the sampling time are collected.
In an exemplary embodiment, the resolver is an electromagnetic sensor, also known as a synchroresolver. The small AC motor is used to measure angular displacement and speed of rotating shaft of rotating object and consists of stator and rotor. The stator winding is used as the primary side of the transformer and receives the excitation voltage, and the excitation frequency is usually 400Hz, 3000Hz, 5000Hz and the like. The rotor winding is used as a secondary side of the rotary transformer, and induction voltage is obtained through electromagnetic coupling. The working principle of the rotary transformer is as follows: the primary side and secondary side windings of the rotary transformer change relative positions along with the angular displacement of the rotor, so that the output voltage changes along with the angular displacement of the rotor, and the voltage amplitude of the output winding and the rotor rotation angle form a sine function relation and a cosine function relation.
In some exemplary embodiments, generating the excitation signal of the resolver may be implemented by configuring a comparison value of a CMPR comparison register inside the DSP to change in a sinusoidal rule, and a PWM (Pulse Width Modulation) external interface generates a corresponding SPWM signal; after the SPWM signal is generated by the DSP, the SPWM signal is amplified through capacitance filtering and operational amplification, and the amplified signal is used as a rotating excitation signal.
In some exemplary embodiments, as shown in the schematic operation diagram of the resolver in fig. 2, E1 and E2 are excitation signals input by the resolver, S1 and S2 are sine signals output by the resolver, C1 and C2 are cosine signals output by the resolver, and θ is an angular displacement of the resolver rotor, that is, an angle rotated by the rotor. When theta changes, UsinAnd UcosWill change accordingly.
The operating principle of the rotary transformer can be as follows:
Usin＝KE0sinθsinωt
Ucos＝KE0cosθsinωt
in the above relational formula, UsinAnd UcosIs a sine and cosine signal output by the rotary transformer; theta is the rotating angle of the rotor of the rotary transformer; e0sin ω t represents the input excitation signal; k being a rotary transformerThe transformation ratio, namely the transformation ratio of the primary side and the secondary side of the rotary transformer, is an inherent parameter of the rotary transformer; e0The amplitude of the rotary-change excitation signal can be + 5V; ω denotes the excitation frequency and is typically set to about 10 KHz.
In step 101, the acquired sine and cosine signals are demodulated, and the demodulated signals are filtered by an adaptive filter according to the position signal of the rotary transformer.
In some exemplary embodiments, in step 101, the demodulated signal is filtered by an adaptive filter, which is schematically illustrated in fig. 3, where the input signal x (n) ═ d (n) + v (n), where d (n) is an ideal signal and v (n) is interference noise. When the input signal x (n) passes through the adjustable filter, the estimation signal is obtained
Figure BDA0002635433060000081
The estimated signal is processed
Figure BDA0002635433060000082
Obtaining an error signal e (n) by subtracting the ideal signal d (n); adjusting parameters of the adaptive filter based on the error signal e (n) and the input signal x (n) together as input signals for the adaptive filter algorithm; the parameters for adjusting the adaptive filter may be adjusted by an LMS (Least Mean Square) algorithm.
In some exemplary embodiments, the demodulating the acquired sine and cosine signals includes: multiplying the acquired rotary sine and cosine signals with excitation signals of a rotary transformer, and converting the multiplied data into superposed signals by using a preset trigonometric function formula, wherein the superposed signals comprise: a position fundamental frequency signal and a double frequency excitation signal; the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals of the rotary transformer; θ represents an angle through which the rotor of the resolver rotates; e0sin ω t represents the input excitation signal; k is the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; e0Representing the amplitude of the excitation signal of the resolver.
In some exemplary embodiments, the filtering process of the demodulated signal by using the adaptive filter according to the position signal of the resolver includes the following implementation steps, as shown in fig. 4:
step 1, acquiring a position signal of a rotary transformer at the last sampling moment, and fitting theoretical signal data at the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using a self-adaptive filter which is set according to filter parameters to obtain a filtered sine and cosine signal; in step 2, when step 2 is executed for the first time, the filter parameter may be a preset default value, and the filter parameter after the execution for the first time is the filter parameter adjusted according to the error signal data;
step 3, carrying out difference processing on the sine and cosine signals filtered in the step 2 and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
In some exemplary embodiments, obtaining a position signal of the resolver at a previous sampling time, and fitting theoretical signal data at the current sampling time includes: fitting theoretical signal data of the sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment; wherein the fitting formula is:
Figure BDA0002635433060000091
Figure BDA0002635433060000092
wherein, Usin1And Ucos1Is the fitted theoretical signal data;
Figure BDA0002635433060000093
the position signal of the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t represents the input excitation signal.
In step 103, the phase-locked loop is used to perform position decoding on the filtered signal, so as to obtain a position signal of the resolver at the current sampling time.
In some exemplary embodiments, the phase-locked loop may be used to perform position decoding on the filtered signal to obtain a position signal of the resolver at the current sampling time, and as shown in fig. 5, the sine and cosine signals (sin θ and cos θ) obtained after filtering are used as input of the phase-locked loop to obtain a sine and cosine signal(s) (output at a previous sampling time of the resolver) output at the previous sampling time
Figure BDA0002635433060000101
And
Figure BDA0002635433060000102
) (ii) a Wherein sin θ and
Figure BDA0002635433060000103
the result of multiplication, subtractionDecos θ and
Figure BDA0002635433060000104
the result of multiplication obtained
Figure BDA0002635433060000105
Multiplying Kp and Ki/S respectively and adding to obtain
Figure BDA0002635433060000106
Multiplying by 1/S to obtain
Figure BDA0002635433060000107
Where Kp and Ki/s are control parameters of the phase locked loop, they can be understood as parameters in PID control. An accurate position signal can be obtained by adjusting Kp and Ki/s.
Wherein, theta is the rotating angle of the rotor at the sampling moment,
Figure BDA0002635433060000108
the position signal of the rotary transformer decoded at the sampling time, and the angular speed of the rotary transformer decoded at the sampling time
Figure BDA0002635433060000109
The present disclosure also provides a decoding apparatus of a resolver, the apparatus including: a resolver signal acquisition module 601, a resolver signal phase-sensitive demodulation and filtering module 602, and an R/D conversion module 603;
the resolver signal acquisition module 601 is configured to acquire a sine signal and a cosine signal output by the resolver at the sampling time;
a resolver signal phase-sensitive demodulation and filtering module 602, configured to demodulate the acquired sine and cosine signals, and filter the demodulated signals by using an adaptive filter according to the position signal of the resolver;
and the R/D conversion module 603 is configured to perform position decoding on the filtered signal by using a phase-locked loop to obtain a position signal of the resolver at the current sampling time.
In some exemplary embodiments, the decoding means may be implemented by a DSP.
In some exemplary embodiments, the demodulation and filtering module demodulates the acquired rotational sine and cosine signal, and includes:
the phase-sensitive demodulation and filtering module of the rotary transformer signal is used for multiplying the collected sine and cosine signals with the excitation signal of the rotary transformer and converting the multiplied data into a superposed signal by using a preset trigonometric function formula, wherein the superposed signal comprises: a position fundamental frequency signal and a double frequency excitation signal;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals of the rotary transformer; k is the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; theta represents the angle of rotation of the rotor of the resolver; e0sin ω t represents an excitation signal of the resolver; e0Representing the amplitude of the spinning excitation signal.
In some exemplary embodiments, the phase-sensitive demodulation and filtering module for the resolver signal performs filtering processing on the demodulated signal by using an adaptive filter according to the position signal of the resolver, and includes:
step 1, acquiring a position signal of a rotary transformer at the last sampling moment, and fitting theoretical signal data at the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using a self-adaptive filter which is set according to filter parameters to obtain a filtered sine and cosine signal;
step 3, carrying out difference processing on the filtered sine and cosine signals and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value or not;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
In some exemplary embodiments, the obtaining the position signal of the resolver at the last sampling time and fitting theoretical signal data at the current sampling time includes:
fitting theoretical signal data of the current sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment;
wherein,
Figure BDA0002635433060000111
Figure BDA0002635433060000112
wherein, Usin1And Ucos1Is the fitted theoretical signal data;
Figure BDA0002635433060000121
the position signal of the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t represents the input excitation signal.
The present disclosure also provides a motor control system applied to an electrical system, the electrical system including a motor and a resolver, the motor control system including: a resolver decoding device 701, a motor control module 702; the decoding apparatus 701 may adopt the decoding apparatus in any of the above embodiments; the decoding device of the rotary transformer is used for determining a position signal of the rotary transformer; the motor control module is configured to control a motor using the determined position signal of the resolver.
In some exemplary embodiments, the motor control system further includes a spin excitation module 700 (not shown) for generating a spin excitation signal.
The present disclosure also provides a motor control method applied to an electrical system, where the electrical system includes a motor and a resolver, and the motor control method includes:
step 800, determining a position signal of the rotary transformer according to the decoding method of the rotary transformer provided by any one of the embodiments;
and step 801, controlling a motor according to the determined position signal of the rotary transformer.
In some exemplary embodiments, the motor control method further includes generating a spin excitation signal in advance.
In practice, the inventor of the present application finds that, in the implementation of software phase-locked loop decoding by using a DSP digital signal processor, when a rotor of a resolver operates at a high speed, many existing decoding methods have a certain error in position decoding, which results in reducing the speed range of the operation of the resolver. To address this situation, a decoding method for a resolver is proposed.
The decoding method of the resolver is described below by way of an example in application, and includes the following steps S1 to S5:
and S1, generating an excitation signal of the rotary transformer by using the DSP.
In the step, the excitation signal of the rotary transformer can be changed in a sine rule by configuring the CMPR comparison value inside the DSP, and the PWM external interface can generate a corresponding SPWM signal; after the DSP generates the SPWM signal, the SPWM signal is amplified through capacitance filtering and operational amplification, and the amplified signal is used asAnd exciting signals of the rotary transformer. Inputting the generated excitation signal of the rotary transformer into the rotary transformer, and obtaining sine and cosine signals (U) output by the rotary transformer according to the working principle of the rotary transformersinAnd Ucos)。
S2, acquiring a rotary sine and cosine signal U output by the rotary transformer at the sampling moment by utilizing an AD sampling modulesinAnd UcosAs shown in fig. 9.
S3, the collected sine and cosine signals U are processedsinAnd UcosAnd carrying out demodulation processing.
In this step, the collected rotary sine and cosine signals are multiplied by the excitation signal of the rotary transformer, and the multiplied data are converted into a superimposed signal (U) by using a predetermined trigonometric function formulamsinAnd Umcos)；
Wherein the superimposed signal comprises: a position fundamental frequency signal and a double frequency excitation signal;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the acquired rotary sine and cosine signals; k is the transformation ratio of the rotary transformer and is the inherent parameter of the rotary transformer; theta represents the angle of rotation of the rotor of the resolver; e0sin ω t represents the input excitation signal; e0Representing the amplitude of the rotating excitation signal.
And S4, filtering the demodulated signal by using an adaptive filter according to the position signal of the rotary transformer.
In this step, the demodulated signal is subjected to filtering processing by an adaptive filter based on the position signal of the resolver, as shown in fig. 10After the position signal of the rotary transformer at the previous sampling moment is obtained, a corresponding reference waveform, namely theoretical signal data (U) at the current sampling moment is fittedsin1And Ucos1). Acquisition of rotational U by ADC module of DSP chipmsinAnd UmcosAnd then, filtering by using a self-adaptive filter to obtain a demodulated rotary variable signal, obtaining an error signal e (n) by making a difference with the fitted reference waveform, and using the error signal as the input of the self-adaptive filter to adjust the parameters of the filter so as to continuously modify the parameters of the filter at different rotating speeds of the motor.
As an application example, the process of filtering the demodulated signal by using the adaptive filter according to the position signal of the resolver includes:
step 41, obtaining the position signal of the rotary transformer at the last sampling moment
Figure BDA0002635433060000131
Fitting theoretical signal data (U) of the sampling timesin1And Ucos1)；
Step 42, demodulating the signal (U) at the current sampling timemsinAnd Umcos) Performing filtering processing by using an adaptive filter that has been set according to filter parameters to obtain filtered rotation signals (sin θ and cos θ), as shown in fig. 11;
step 43, fitting the filtered rotation signals (sin theta and cos theta) with the fitted theoretical signal (U)sin1And Ucos1) Performing difference processing to obtain error signal data;
step 44, judging whether the error signal data meet a preset threshold value;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not satisfy the preset threshold, executing step 45;
and 45, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 42 to 44 again.
In step 41, obtaining a position signal of the resolver at a previous sampling time, and fitting theoretical signal data at the current sampling time, the method includes: fitting theoretical signal data of the sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment; wherein the fitting formula is:
Figure BDA0002635433060000141
Figure BDA0002635433060000142
wherein, Usin1And Ucos1Is the fitted theoretical signal data;
Figure BDA0002635433060000143
the position signal of the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t represents the input excitation signal.
In step 42, the filter parameter may be a predetermined default value when step 42 is performed for the first time, and the filter parameter after performing the first time is the filter parameter adjusted according to the error signal data.
In step 45, the LMS algorithm may be used to adjust filter parameters based on the error signal data.
S5, adopting a phase-locked loop to perform position decoding on the filtered signals (sin theta and cos theta) to obtain a position signal of the rotary transformer at the sampling moment
Figure BDA0002635433060000144
As shown in fig. 12.
In the step, the position signal of the rotary transformer at the sampling moment is obtained through position decoding
Figure BDA0002635433060000145
When the next sampling time position decoding is executed, the sampling time is rotated to the rotated angle of the rotor
Figure BDA0002635433060000146
As the position signal of the resolver at the last sampling timing in step 41.
In the application example, the self-adaptive filter is added in the decoding method of the rotary transformer, so that the position decoding error of the rotor when the rotor operates at different rotating speeds is reduced, and the speed range of the operation of the rotary transformer is widened.
The motor control method of the resolver is described as an example in application, and as shown in fig. 13, includes the following steps 131 and 135:
and 131, generating an excitation signal of the rotary transformer by using the DSP.
Step 132, utilizing the AD sampling module to collect sine and cosine signals U output by the rotary transformer at the sampling momentsinAnd UcosAs shown in fig. 9.
Step 133, for the collected sine and cosine signal UsinAnd UcosAnd performing phase-sensitive demodulation and adaptive filtering.
In this step, the collected rotary sine and cosine signals are multiplied by the excitation signal of the rotary transformer, and the multiplied data are converted into a superimposed signal (U) by using a predetermined trigonometric function formulamsinAnd Umcos)。
Position signal of rotary transformer according to last sampling time
Figure BDA0002635433060000151
The demodulated signal is filtered by an adaptive filter to obtain filtered rotation signals (sin θ and cos θ), as shown in fig. 11
And step 134, realizing the R/D conversion of the signal.
In this step, the phase-locked loop is used to perform position decoding on the filtered signals (sin θ and cos θ) to obtain the rotation variation of the sampling timePosition signal of pressure device
Figure BDA0002635433060000152
As shown in fig. 12.
In the step, the position signal of the rotary transformer at the sampling moment is obtained through position decoding
Figure BDA0002635433060000153
When the next sampling time position decoding is executed, the sampling time is rotated to the rotated angle of the rotor
Figure BDA0002635433060000154
As the resolver position signal at the last sampling time in step 133.
And 135, controlling the motor of the rotary transformer.
In this step, the motor is closed-loop controlled by the position signal of the resolver at the current sampling time obtained after the R/D conversion.
Wherein, the position signal of the rotary transformer at the sampling moment is obtained by position decoding
Figure BDA0002635433060000155
Namely, the rotated angle of the rotor at the current sampling time is changed, and when the position decoding of the next sampling time is executed, the rotated angle of the rotor at the current sampling time is changed
Figure BDA0002635433060000156
As the position signal of the resolver at the last sampling instant, it jumps to the adaptive filtering for the resolver in step 133.
According to the application example of the application, the resolver decoding is used for decoding the position signal, the running speed of the resolver rotor is effectively controlled, and the closed-loop control of the speed of the resolver is realized.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

Claims (8)

1. A method of decoding a resolver, the method comprising:
collecting sine and cosine signals output by the rotary transformer at the sampling moment;
demodulating the collected sine and cosine signals, and filtering the demodulated signals by using a self-adaptive filter according to the position signals of the rotary transformer;
adopting a phase-locked loop to perform position decoding on the filtered signal to obtain a position signal of the rotary transformer at the sampling moment;
the filtering the demodulated signal by using the adaptive filter according to the position signal of the resolver includes:
step 1, acquiring a position signal of a rotary transformer at the last sampling moment, and fitting theoretical signal data at the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using a self-adaptive filter which is set according to filter parameters to obtain a sine and cosine signal after filtering;
step 3, carrying out difference processing on the sine and cosine signals after filtering processing and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
2. The resolver decoding method according to claim 1, wherein the demodulating the collected sine and cosine signals includes:
multiplying the collected sine and cosine signals by the excitation signals of the rotary transformer, and converting the multiplied data into superposed signals by using a preset trigonometric function formula;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting a superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals; k represents the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; θ represents an angle through which the rotor of the resolver rotates; e0sin ω t represents an excitation signal of the resolver; e0Representing the amplitude of the excitation signal of the resolver.
3. The resolver decoding method according to claim 1, wherein the obtaining of the resolver position signal at the previous sampling time and fitting the position signal to theoretical signal data at the current sampling time includes:
fitting theoretical signal data of the sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment;
wherein the fitting formula is:
Figure FDA0003569007470000021
Figure FDA0003569007470000022
wherein, Usin1And Ucos1The fitting theoretical signal data of the sampling moment; k is the transformation ratio of the rotary transformer;
Figure FDA0003569007470000023
the position signal of the rotary transformer at the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t denotes an excitation signal of the resolver, E0The amplitude of the excitation signal of the resolver is represented, and ω t represents the excitation frequency of the excitation signal.
4. An apparatus for decoding a resolver, the apparatus comprising: the system comprises a resolver signal acquisition module, a resolver signal phase-sensitive demodulation and filtering module and a rotating speed/data R/D conversion module;
the rotary transformer signal acquisition module is used for acquiring sine and cosine signals output by the rotary transformer at the sampling moment;
the resolver signal phase-sensitive demodulation and filtering module is used for demodulating the acquired sine and cosine signals and filtering the demodulated signals by using the self-adaptive filter according to the position signals of the resolver to obtain filtered signals;
the R/D conversion module is used for carrying out position decoding on the filtered signal by adopting a phase-locked loop to obtain a position signal of the rotary transformer at the sampling moment;
the filtering processing of the demodulated signal by the resolver signal phase-sensitive demodulation and filtering module by using the adaptive filter according to the position signal of the resolver comprises the following steps:
step 1, acquiring a position signal of a rotary transformer at the last sampling moment, and fitting theoretical signal data at the current sampling moment;
step 2, filtering the demodulated signal at the sampling moment by using a self-adaptive filter which is set according to filter parameters to obtain a sine and cosine signal after filtering;
step 3, carrying out difference processing on the sine and cosine signals after filtering processing and the fitted theoretical signals to obtain error signal data;
step 4, judging whether the error signal data meets a preset threshold value;
when the error signal data meets a preset threshold value, taking the sine and cosine signals after filtering as the signals after filtering;
when the error signal data does not meet the preset threshold value, executing the step 5;
and 5, adjusting filter parameters according to the error signal data, setting the self-adaptive filter by adopting the adjusted filter parameters, and executing the steps 2-4 again.
5. The resolver decoding device according to claim 4, wherein the resolver signal phase-sensitive demodulation and filtering module demodulates the acquired resolver sine and cosine signals, and includes:
multiplying the collected sine and cosine signals by the excitation signals of the rotary transformer, and converting the multiplied data into superposed signals by using a preset trigonometric function formula;
the predetermined trigonometric function formula includes:
Umsin＝Usin·sinωt＝KE0sinθsin2ωt＝0.5KE0sinθ-0.5KE0sinθcos(2ωt)
Umcos＝Ucos·sinωt＝KE0cosθsin2ωt＝0.5KE0cosθ-0.5KE0cosθcos(2ωt)
wherein, UmsinAnd UmcosRepresenting the superimposed signal; u shapesinAnd UcosRepresenting the collected sine and cosine signals; k represents the transformation ratio of the rotary transformer and is an inherent parameter of the rotary transformer; θ represents an angle through which the rotor of the resolver rotates; e0sin ω t represents an excitation signal of the resolver; e0The amplitude of the excitation signal of the resolver is represented, and ω t represents the excitation frequency of the excitation signal.
6. The resolver decoding device according to claim 4, wherein the obtaining of the resolver position signal at the previous sampling time and fitting the theoretical signal data at the current sampling time includes:
fitting theoretical signal data of the current sampling moment by using a fitting formula according to the acquired position signal of the rotary transformer at the last sampling moment;
wherein the fitting formula is:
Figure FDA0003569007470000041
Figure FDA0003569007470000042
wherein, Usin1And Ucos1The data is the fitted theoretical signal data of the sampling moment; k is the transformation ratio of the rotary transformer;
Figure FDA0003569007470000043
the position signal of the rotary transformer at the last sampling moment represents the rotating angle of the rotor of the rotary transformer; e0sin ω t denotes the excitation signal of the resolver.
7. A control system for an electrical system including an electric machine and a rotary transformer, the control system comprising: the resolver decoding device according to any one of claims 4 to 6, wherein the motor control module;
the decoding device of the rotary transformer is used for determining the position signal of the rotary transformer;
and the motor control module is used for controlling the motor to operate by utilizing the determined position signal of the rotary transformer.
8. A control method applied to an electrical system including a motor and a resolver, the control method comprising:
determining a position signal of the resolver according to a resolver decoding method of any one of claims 1 to 3;
and controlling the motor to operate according to the determined position signal of the rotary transformer.
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