Signal loop adjusting method and device, electronic equipment and storage medium

Abstract

The invention discloses a signal loop adjusting method and device, electronic equipment and a storage medium, and relates to the technical field of chips, the method is applied to an estimation module of a rotary transformer digital converter, and the method comprises the following steps: obtaining a first initial angle according to a sine output signal and a cosine output signal of a rotary transformer; acquiring a first initial angular velocity according to the at least two first initial angles and the sampling frequency of the analog-to-digital converter; and sending the first initial angle to the digitally controlled oscillator, and sending the first initial angular velocity to a loop filter, so that a signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity. According to the technical scheme provided by the embodiment of the invention, the construction time of a closed loop of the resolver digital converter is reduced, the response speed of a feedback control system in the resolver digital converter is improved, and the decoding efficiency of the resolver digital converter is further improved.

Description

Technical Field

[0001] The present invention relates to the field of chip technology, and in particular to a signal loop adjustment method, device, electronic equipment and storage medium. Background Art

[0002] As an electromagnetic sensor used to measure the shaft angle and angular velocity of a rotating object, resolver (transformer) is widely used in industrial production, and decoding of resolver has become a focus of attention.

[0003] In the prior art, signal decoding of a rotary transformer is usually performed by a resolver digital converter (i.e., a resolver digital conversion chip). The resolver digital converter uses an external input reference signal to control the frequency and phase of an oscillation signal inside a loop, thereby achieving automatic tracking of the output signal frequency with the input signal frequency, thereby completing loop construction. The resolver digital converter then performs signal decoding of the rotary transformer based on the constructed loop.

[0004] However, since the resolver-to-digital converter needs to achieve higher dynamic performance and stability, a longer loop construction time is required, which greatly limits the response speed of the constructed feedback control system, thereby reducing the decoding efficiency of the resolver-to-digital conversion chip. Summary of the invention

[0005] The present invention provides a signal loop adjustment method, device, electronic device and storage medium to solve the problem of long signal loop construction time of a resolver-to-digital converter.

[0006] According to one aspect of the present invention, a signal loop adjustment method is provided, which is applied to an estimation module of a resolver-to-digital converter, comprising:

[0007] Obtaining a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer;

[0008] Acquire a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter;

[0009] The first initial angle is sent to a digitally controlled oscillator, and the first initial angular velocity is sent to a loop filter, so that a signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

[0010] The step of obtaining a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer comprises: integrating the sine output signal and the cosine output signal respectively to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal; and obtaining the first initial angle according to the sine envelope signal and the cosine envelope signal.

[0011] The step of integrating the sine output signal and the cosine output signal to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal comprises: performing shaping processing on the sine output signal and the cosine output signal according to a sign flag to obtain a sine shaped signal matching the sine output signal and a cosine shaped signal matching the cosine output signal; wherein the sign flag is used to distinguish a positive half-axis period and a negative half-axis period of a carrier signal; and integrating the sine shaped signal and the cosine shaped signal to obtain a sine envelope signal matching the sine shaped signal and a cosine envelope signal matching the cosine shaped signal.

[0012] After sending the first initial angle to the digitally controlled oscillator and sending the first initial angular velocity to the loop filter, it also includes: if within a first preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, obtaining a second initial angle and a second initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer; sending the second initial angle to the digitally controlled oscillator, and sending the second initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the second initial angle and the second initial angular velocity.

[0013] After sending the second initial angle to the digitally controlled oscillator and sending the second initial angular velocity to the loop filter, it also includes: if within a second preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, obtaining a third initial angle and a third initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer; wherein the second preset time is less than the first preset time; sending the third initial angle to the digitally controlled oscillator, and sending the third initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the third initial angle and the third initial angular velocity.

[0014] After sending the first initial angle to the digitally controlled oscillator and sending the first initial angular velocity to the loop filter, it also includes: if within a first preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, updating the first initial angle and the first initial angular velocity respectively according to the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector; sending the updated first initial angle to the digitally controlled oscillator, and sending the updated first initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs the phase synchronization operation again based on the updated first initial angle and the updated first initial angular velocity.

[0015] According to another aspect of the present invention, a signal loop adjustment device is provided, which is applied to an estimation module of a resolver-to-digital converter, comprising:

[0016] An initial angle acquisition module, used to acquire a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer;

[0017] An initial angular velocity acquisition module, used to acquire a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter;

[0018] An initial parameter sending module is used to send the first initial angle to a digitally controlled oscillator, and to send the first initial angular velocity to a loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the signal loop adjustment method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the signal loop adjustment method described in any embodiment of the present invention when executed.

[0024] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the signal loop adjustment method according to any embodiment of the present invention is implemented.

[0025] According to the technical solution of the embodiment of the present invention, the estimation module of the resolver digital converter first obtains a first initial angle according to the sine output signal and the cosine output signal of the resolver; then obtains a first initial angular velocity according to at least two first initial angles and the sampling frequency of the analog-to-digital converter; finally, the first initial angle is sent to the digitally controlled oscillator, and the first initial angular velocity is sent to the loop filter, so that the signal loop of the resolver digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity, thereby reducing the construction time of the closed-loop loop of the resolver digital converter, improving the response speed of the feedback control system in the resolver digital converter, and further improving the decoding efficiency of the resolver digital converter.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of a signal loop adjustment method provided according to Embodiment 1 of the present invention;

[0029] Figure 2 is a schematic diagram of the structure of a resolver-to-digital converter provided according to Embodiment 1 of the present invention;

[0030] Figure 3 is a schematic diagram of a signal loop establishment process of a resolver-to-digital converter in a conventional technology according to a first embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of a signal loop establishment process of a resolver-to-digital converter when a first initial angular velocity is used as an initial parameter according to Embodiment 1 of the present invention;

[0032] Figure 5 is a schematic diagram of a signal loop establishment process of a resolver-to-digital converter when a first initial angle and a first initial angular velocity are used as initial parameters according to Embodiment 1 of the present invention;

[0033] Figure 6 is a flow chart of another signal loop adjustment method provided according to Embodiment 2 of the present invention;

[0034] Figure 7 is a structural schematic diagram of a signal loop adjustment device provided according to Embodiment 3 of the present invention;

[0035] Figure 8 It is a structural schematic diagram of an electronic device for implementing the signal loop adjustment method of the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Embodiment 1

[0039] Figure 1 A flow chart of a signal loop adjustment method provided in Embodiment 1 of the present invention. This embodiment is applicable to a resolver digital converter performing a phase synchronization operation based on an acquired initial angle and initial angular velocity. The method can be executed by a signal loop adjustment device in any embodiment of the present invention. The signal loop adjustment device can be implemented in the form of hardware and / or software. The signal loop adjustment device can be configured in a resolver digital converter, for example, Figure 2 In the estimation module of the resolver digital converter shown in FIG. 1 , the resolver digital converter can be configured in an electronic device. Figure 1 As shown, the method includes:

[0040] S101. Acquire a first initial angle according to a sine output signal and a cosine output signal of a rotary transformer.

[0041] like Figure 2 As shown, the resolver digital converter in the embodiment of the present invention includes an analog to digital converter (ADC), an estimation module, a phase detector (PD), a loop filter (LF) and a numerically controlled oscillator (NCO); wherein the loop filter and the numerically controlled oscillator can be directly connected in communication or connected through a delay unit.

[0042] The analog-to-digital converter is in communication with the rotary transformer and the phase detector, and is used to sample and obtain the output signal of the rotary transformer, including the sine output signal and the cosine output signal; at the same time, the sampled sine output signal and the cosine output signal are sent to the phase detector; wherein the sine output signal and the cosine output signal sampled and obtained by the analog-to-digital converter can be expressed by the following equation:

[0043] Q d =E0*sin(wt)*sin(θ)(Equation 1);

[0044] I d =E0*sin(wt)*cos(θ)(Equation 2);

[0045] Among them, Q d Represents a sinusoidal output signal; I d represents the cosine output signal; E0 is the product of the amplitude of the resolver output signal and the transformation ratio of the resolver; w is the angular velocity of the driving carrier; θ is the rotor angle of the resolver.

[0046] The phase detector obtains the sinusoidal output signal Q d The cosine value of the phase angle φ output by the numerically controlled oscillator, i.e., the cosine phase angle cos(φ), is multiplied by the obtained cosine output signal I d The product is calculated by multiplying the sine value of the output angle φ of the numerically controlled oscillator, that is, the sine phase angle sin(φ); and then the difference calculation is performed on the above two product calculation results to obtain the difference calculation result E r , that is, the difference result E is calculated by the following equation r :

[0047] E r =Q d *cos(φ)-I d*sin(φ)=E0*sin(wt)*sin(θ-φ) (Equation 3);

[0048] The phase detector converts the above difference result E r Multiplying with the excitation signal sin(wt) yields the following equation:

[0049]

[0050] After the loop filter filters the signal in the above equation 4, the output signal of the loop filter can be expressed by the following equation:

[0051]

[0052] The digitally controlled oscillator adjusts the oscillation frequency of the signal of equation 5 so that the difference between the rotor angle θ and the phase angle φ approaches 0; when the digitally controlled oscillator eliminates the error signal, the phase angle φ is equal to the rotor angle θ, thereby completing the feedback adjustment of the feedback control system and completing the closed-loop construction of the resolver-to-digital converter.

[0053] In the embodiment of the present invention, at the initial moment, after obtaining the sine output signal and the cosine output signal output by the analog-to-digital converter, the estimation module can directly perform an inverse tangent calculation on the two, that is, obtain the first initial angle θ1 through the following equation:

[0054]

[0055] In particular, the sampling angles obtained at multiple sampling moments can be calculated respectively through the above equation six, and the average value of each sampling angle can be used as the first initial angle, so as to improve the calculation accuracy of the first initial angle; in addition, since the first initial angular velocity needs to be calculated and obtained with the help of two or more sampling angles, the first initial angle can be calculated and obtained based on the average value of the above two or more sampling angles, so as to improve the calculation accuracy of the first initial angle while ensuring the synchronous issuance of the first initial angle and the first initial angular velocity.

[0056] S102: Obtain a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter.

[0057] Since the sampling period T of the analog-to-digital converter is a fixed value, the first initial angular velocity V1 can be obtained by the following equation: Wherein, Δθ1 represents the angle difference between the first initial angles θ1 obtained between two adjacent sampling moments:

[0058] V1*T=Δθ1(Equation 7).

[0059] In addition, the sampling angular velocities obtained at multiple sampling moments can be calculated respectively through the above equation 7, and the average value of each sampling angular velocity is used as the first initial angular velocity, so as to improve the calculation accuracy of the first initial angular velocity.

[0060] S103: Send the first initial angle to a digitally controlled oscillator, and send the first initial angular velocity to a loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

[0061] The estimation module sends the first initial angle as an initial input parameter to the numerically controlled oscillator, and sends the first initial angular velocity as an initial input parameter to the loop filter; the estimated first initial angle is itself an angle value close to the real value. After sending it to the numerically controlled oscillator, the resolver digital converter uses it as the starting condition for loop establishment. Similarly, the estimated first initial angular velocity is itself an angular velocity value close to the real value. After sending it to the loop filter, the resolver digital converter uses the first initial angle and the first initial angular velocity with similar values ​​as the starting conditions for loop establishment. Compared with the resolver digital converter that constructs the loop completely based on self-feedback, the technical solution of the embodiment of the present invention greatly reduces the time required for loop convergence, so that the response time of the feedback control system constructed by the resolver digital converter is greatly shortened, thereby achieving faster and more accurate angle detection and angular velocity detection.

[0062] Optionally, in an embodiment of the present invention, obtaining the first initial angle based on the sinusoidal output signal and the cosine output signal of the rotating transformer includes: integrating the sinusoidal output signal and the cosine output signal, respectively, to obtain a sinusoidal envelope signal matching the sinusoidal output signal, and a cosine envelope signal matching the cosine output signal; obtaining the first initial angle based on the sinusoidal envelope signal and the cosine envelope signal.

[0063] Specifically, the calculation method of obtaining the first initial angle through equation 6 may be affected by the high-frequency carrier, resulting in a certain error in the calculation result. Therefore, the envelope signal in the sine output signal and the cosine output signal can be extracted by an integral calculation method, so as to calculate the first initial angle again through the integral result. For the convenience of calculation, only the integral result Q of the sine output signal in the positive half-axis period can be extracted through the following equation: d 'The integration result of the cosine output signal in the positive half axis period I d '.

[0064]

[0065] Finally, the first initial angle θ1 is calculated using the following equation:

[0066]

[0067] In this way, the envelope signal obtained by integrating the sine output signal and the cosine output signal is used to calculate the first initial angle, thereby avoiding the influence of the high-frequency carrier on the calculation result, improving the calculation accuracy of the first initial angle, thereby reducing the construction time of the closed-loop loop of the resolver digital converter, and improving the response speed of the feedback control system in the resolver digital converter.

[0068] Optionally, in an embodiment of the present invention, the sine output signal and the cosine output signal are respectively integrated to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal, including: according to a sign flag, the sine output signal and the cosine output signal are respectively shaped to obtain a sine shaped signal matching the sine output signal and a cosine shaped signal matching the cosine output signal; wherein the sign flag is used to distinguish between a positive half-axis period and a negative half-axis period of a carrier signal; the sine shaped signal and the cosine shaped signal are respectively integrated to obtain a sine envelope signal matching the sine shaped signal and a cosine envelope signal matching the cosine shaped signal.

[0069] Specifically, in order to ensure that the integral result Q of the sinusoidal output signal in a complete cycle is obtained d ", and the integral result of the cosine output signal in a complete cycle I d ", while generating the carrier signal, the carrier sign flag can also be generated. The carrier signal is in the positive half axis period, the sign flag is 1, and the carrier signal is in the negative half axis period, the sign flag is -1; combined with the sign bit, the information of the negative half axis of the carrier is reversed, which is actually equivalent to taking the absolute value operation of the carrier information, that is, equation 1 in the above technical solution can be expressed by the following equation 11, and equation 2 in the above technical solution can be expressed by the following equation 12:

[0070] Qd = E0*|sin(wt)|*sin(θ) (Equation 11);

[0071] Id=E0*|sin(wt)|*cos(θ) (Equation 12);

[0072] The sine output signal in the above equation 11 is integrated and calculated within a complete carrier cycle. At the same time, the cosine output signal in the above equation 12 is integrated and calculated. Thus, the integral result Q of the sine output signal in the complete carrier cycle is obtained through the following equation 13: d", and the integral result of the fourteen cosine output signal over a complete carrier cycle I d ”:

[0073]

[0074] Finally, the first initial angle θ1 is calculated using the following equation:

[0075]

[0076] In this way, an envelope signal is obtained by shaping and integrating the sine output signal and the cosine output signal within a complete carrier cycle, further avoiding the influence of the high-frequency carrier on the calculation result, improving the calculation accuracy of the first initial angle, thereby reducing the construction time of the closed-loop loop of the resolver digital converter and improving the response speed of the feedback control system in the resolver digital converter.

[0077] Taking the above technical solution as an example, assuming that the sampling frequency of the analog-to-digital converter is T=160khz, the electrical frequency is 3125rps, the rotor angle of the rotary transformer is 0.5π at the initial moment, and the horizontal axis ts=n / T; wherein n is the number of simulation points, in seconds (s); Figure 3 It can be seen that when the first initial angle and the first initial angular velocity do not exist, that is, when the first initial angle and the first initial angular velocity are both 0, the loop establishment time of the resolver-to-digital converter is 0.01s; Figure 4 It can be seen that when the first initial angular velocity obtained by calculation is used as the initial parameter, the loop establishment time of the resolver digital converter is 0.0025s; Figure 5 It can be seen that when the first initial angular velocity and the first initial angle obtained by calculation are used as initial parameters, the loop establishment time of the resolver-to-digital converter is 0.001 s.

[0078] By the above Figure 3 and Figure 5 It can be seen that compared with the traditional technical solution, the signal loop convergence time of the resolver digital converter in the embodiment of the present invention is improved by 10 times; the estimation accuracy of the first initial angular velocity directly affects the speed of loop establishment, and a more accurate first initial angular velocity estimation can make the loop converge to the correct speed value faster, thereby reducing the adjustment time and improving the response speed of the feedback control system; similarly, the estimation accuracy of the first initial angle also plays a crucial role in the loop establishment speed, and accurate first initial angle estimation helps the loop to quickly lock the correct position information, thereby speeding up the response time of the feedback control system.

[0079] According to the technical solution of the embodiment of the present invention, the estimation module of the resolver digital converter first obtains a first initial angle according to the sine output signal and the cosine output signal of the resolver; then obtains a first initial angular velocity according to at least two first initial angles and the sampling frequency of the analog-to-digital converter; finally, the first initial angle is sent to the digitally controlled oscillator, and the first initial angular velocity is sent to the loop filter, so that the signal loop of the resolver digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity, thereby reducing the construction time of the closed-loop loop of the resolver digital converter, improving the response speed of the feedback control system in the resolver digital converter, and further improving the decoding efficiency of the resolver digital converter.

[0080] Embodiment 2

[0081] Figure 6 This is a flow chart of a signal loop adjustment method provided by Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiments is that if the closed loop constructed by the resolver digital converter is not stable within the first preset time, the initial angle and initial angular velocity are recalculated. Figure 6 As shown, the method includes:

[0082] S201. Obtain a first initial angle according to a sine output signal and a cosine output signal of a rotary transformer.

[0083] S202: Obtain a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter.

[0084] S203: Send the first initial angle to a digitally controlled oscillator, and send the first initial angular velocity to a loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

[0085] S204: If within a first preset time, the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, obtain a second initial angle and a second initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer.

[0086] The condition for the closed-loop loop constructed by the resolver digital converter to achieve stability is that the frequency and phase of the output signal of the numerically controlled oscillator are consistent with the frequency and phase of the input signal of the phase detector, that is, the phase difference between the two is eliminated, and the output signal of the numerically controlled oscillator automatically tracks the input signal of the phase detector; if the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship within the first preset time, it indicates that after the first preset time, the closed-loop loop constructed by the resolver digital converter has not reached stability. At this time, it may be due to the existence of sampling error or calculation error, which makes the numerical error of the calculated first initial angle and the first initial angular velocity too large. Therefore, the second initial angle and the second initial angular velocity can be recalculated according to the sine output signal and cosine output signal of the resolver.

[0087] S205: Send the second initial angle to the digitally controlled oscillator, and send the second initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the second initial angle and the second initial angular velocity.

[0088] The recalculated second initial angle and the second initial angular velocity are sent to the resolver digital converter, so as to guide the resolver digital converter to re-execute the phase synchronization operation through the modified initial parameters, that is, to guide the resolver digital converter to reconstruct the closed-loop loop of the feedback control system based on the second initial angle and the second initial angular velocity, and make it tend to be stable; thereby avoiding the phase synchronization operation of the resolver digital converter from taking too long due to the calculation error of the first initial angle and the first initial angular velocity, ensuring the accuracy of the numerical value of the initial parameter, and improving the execution efficiency of the phase synchronization operation of the resolver digital converter.

[0089] Optionally, in an embodiment of the present invention, after sending the second initial angle to the numerically controlled oscillator and sending the second initial angular velocity to the loop filter, it also includes: if within a second preset time, the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, obtaining a third initial angle and a third initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer; wherein the second preset time is less than the first preset time; sending the third initial angle to the numerically controlled oscillator, and sending the third initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the third initial angle and the third initial angular velocity.

[0090] Specifically, as described in the above technical solution, if within the first preset time, the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not conform to the preset phase relationship, the second initial angle and the second initial angular velocity are obtained by recalculation, and the resolver digital converter is guided to re-execute the phase synchronization operation. At this time, when the loop convergence result is monitored again, it is necessary to shorten the monitoring time, that is, the second preset time is less than the first preset time, so as to promptly correct the calculation errors of the initial angle and the initial angular velocity, so as to complete the update of the abnormal initial parameters in a shorter time.

[0091] Optionally, in an embodiment of the present invention, after sending the first initial angle to the digitally controlled oscillator and sending the first initial angular velocity to the loop filter, it also includes: if within a first preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not conform to a preset phase relationship, updating the first initial angle and the first initial angular velocity respectively according to the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector; sending the updated first initial angle to the digitally controlled oscillator, and sending the updated first initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the updated first initial angle and the updated first initial angular velocity.

[0092] Specifically, on the basis of the first initial angle and the first initial angular velocity that have been calculated and obtained, according to the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector, if the phase difference between the two is large, it means that the parameter value errors of the first initial angle and the first initial angular velocity are large. At this time, when the first initial angle and the first initial angular velocity are updated, the numerical change result of the updated first initial angle and the first initial angular velocity is larger; if the phase difference between the two is small, it means that the parameter value error of the first initial angle and the first initial angular velocity is small. At this time, when the first initial angle and the first initial angular velocity are updated, the numerical change result of the updated first initial angle and the first initial angular velocity is smaller. In this way, based on the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector, the first initial angle and the first initial angular velocity are updated in a targeted manner, thereby improving the updating accuracy and updating efficiency of the initial angle and the initial angular velocity, and avoiding the occurrence of possible calculation errors when recalculating and obtaining the initial angle and the initial angular velocity.

[0093] The technical solution of the embodiment of the present invention is that if the phase relationship between the output signal of the numerical control oscillator and the input signal of the phase detector does not meet the preset phase relationship within the first preset time, the second initial angle and the second initial angular velocity are obtained according to the sine output signal and the cosine output signal of the rotary transformer; the second initial angle is sent to the numerical control oscillator, and the second initial angular velocity is sent to the loop filter, so that the rotary digital converter performs the phase synchronization operation again based on the second initial angle and the second initial angular velocity. This avoids the excessive time consumption of the phase synchronization operation of the rotary digital converter due to the calculation error of the first initial angle and the first initial angular velocity, ensures the accuracy of the numerical value of the initial parameter, and improves the execution efficiency of the phase synchronization operation of the rotary digital converter.

[0094] Embodiment 3

[0095] Figure 7 : is a structural block diagram of a signal loop adjustment device provided in Embodiment 3 of the present invention, which is applied to an estimation module of a resolver digital converter, and specifically includes:

[0096] An initial angle acquisition module 301 is used to acquire a first initial angle according to a sine output signal and a cosine output signal of the resolver;

[0097] An initial angular velocity acquisition module 302, configured to acquire a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter;

[0098] The initial parameter sending module 303 is used to send the first initial angle to the digitally controlled oscillator, and send the first initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

[0099] According to the technical solution of the embodiment of the present invention, the estimation module of the resolver digital converter first obtains a first initial angle according to the sine output signal and the cosine output signal of the resolver; then obtains a first initial angular velocity according to at least two first initial angles and the sampling frequency of the analog-to-digital converter; finally, the first initial angle is sent to the digitally controlled oscillator, and the first initial angular velocity is sent to the loop filter, so that the signal loop of the resolver digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity, thereby reducing the construction time of the closed-loop loop of the resolver digital converter, improving the response speed of the feedback control system in the resolver digital converter, and further improving the decoding efficiency of the resolver digital converter.

[0100] Optionally, the initial angle acquisition module 301 is specifically used to integrate the sine output signal and the cosine output signal respectively to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal; and obtain a first initial angle based on the sine envelope signal and the cosine envelope signal.

[0101] Optionally, the initial parameter sending module 303 is specifically used to perform shaping processing on the sine output signal and the cosine output signal respectively according to the sign flag bit to obtain a sine shaped signal matching the sine output signal, and a cosine shaped signal matching the cosine output signal; wherein the sign flag bit is used to distinguish between the positive half-axis period and the negative half-axis period of the carrier signal; and integrate the sine shaped signal and the cosine shaped signal respectively to obtain a sine envelope signal matching the sine shaped signal, and a cosine envelope signal matching the cosine shaped signal.

[0102] Optionally, the signal loop adjustment device is also used to obtain a second initial angle and a second initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer if the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not conform to a preset phase relationship within a first preset time; send the second initial angle to the numerically controlled oscillator, and send the second initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the second initial angle and the second initial angular velocity.

[0103] Optionally, the signal loop adjustment device is also used to obtain a third initial angle and a third initial angular velocity according to the sine output signal and the cosine output signal of the rotary transformer if the phase relationship between the output signal of the numerically controlled oscillator and the input signal of the phase detector does not conform to the preset phase relationship within a second preset time; wherein the second preset time is less than the first preset time; send the third initial angle to the numerically controlled oscillator, and send the third initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the third initial angle and the third initial angular velocity.

[0104] Optionally, the signal loop adjustment device is also used to update the first initial angle and the first initial angular velocity respectively according to the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector if the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not conform to the preset phase relationship within a first preset time; send the updated first initial angle to the digitally controlled oscillator, and send the updated first initial angular velocity to the loop filter, so that the signal loop of the resolver-to-digital converter performs the phase synchronization operation again based on the updated first initial angle and the updated first initial angular velocity.

[0105] The above device can execute the signal loop adjustment method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the signal loop adjustment method provided by any embodiment of the present invention.

[0106] Embodiment 4

[0107] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0108] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a signal loop adjustment method.

[0111] In some embodiments, the signal loop adjustment method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the signal loop adjustment method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the signal loop adjustment method in any other appropriate manner (e.g., by means of firmware).

[0112] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or electronic device.

[0114] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0116] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0117] The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0119] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A signal loop adjustment method, characterized in that: Estimation module for resolver-to-digital converters, including: Obtaining a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer; Acquire a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter; The first initial angle is sent to a digitally controlled oscillator, and the first initial angular velocity is sent to a loop filter, so that a signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

2. The method according to claim 1, characterized in that The step of obtaining a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer comprises: Integrating the sine output signal and the cosine output signal respectively to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal; A first initial angle is acquired according to the sine envelope signal and the cosine envelope signal.

3. The method according to claim 2, characterized in that The step of integrating the sine output signal and the cosine output signal to obtain a sine envelope signal matching the sine output signal and a cosine envelope signal matching the cosine output signal comprises: According to the sign flag, the sine output signal and the cosine output signal are respectively shaped to obtain a sine shaped signal matching the sine output signal and a cosine shaped signal matching the cosine output signal; wherein the sign flag is used to distinguish between a positive half-axis period and a negative half-axis period of a carrier signal; The sine shaped signal and the cosine shaped signal are respectively integrated to obtain a sine envelope signal matching the sine shaped signal and a cosine envelope signal matching the cosine shaped signal.

4. The method according to claim 1, characterized in that: After sending the first initial angle to the digital controlled oscillator and sending the first initial angular velocity to the loop filter, the method further includes: If, within a first preset time, a phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet a preset phase relationship, a second initial angle and a second initial angular velocity are obtained according to the sine output signal and the cosine output signal of the rotary transformer; The second initial angle is sent to the digitally controlled oscillator, and the second initial angular velocity is sent to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the second initial angle and the second initial angular velocity.

5. The method according to claim 4, characterized in that After sending the second initial angle to the digital controlled oscillator and sending the second initial angular velocity to the loop filter, the method further includes: If, within a second preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, a third initial angle and a third initial angular velocity are obtained according to the sine output signal and the cosine output signal of the rotary transformer; wherein the second preset time is less than the first preset time; The third initial angle is sent to the digitally controlled oscillator, and the third initial angular velocity is sent to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the third initial angle and the third initial angular velocity.

6. The method according to claim 1, characterized in that After sending the first initial angle to the digital controlled oscillator and sending the first initial angular velocity to the loop filter, the method further includes: If within a first preset time, the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector does not meet the preset phase relationship, the first initial angle and the first initial angular velocity are updated respectively according to the phase relationship between the output signal of the digitally controlled oscillator and the input signal of the phase detector; The updated first initial angle is sent to the digitally controlled oscillator, and the updated first initial angular velocity is sent to the loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation again based on the updated first initial angle and the updated first initial angular velocity.

7. A signal loop adjustment device, characterized in that: Estimation module for resolver-to-digital converters, including: An initial angle acquisition module, used to acquire a first initial angle according to a sine output signal and a cosine output signal of the rotary transformer; An initial angular velocity acquisition module, used to acquire a first initial angular velocity according to at least two of the first initial angles and a sampling frequency of an analog-to-digital converter; An initial parameter sending module is used to send the first initial angle to a digitally controlled oscillator, and send the first initial angular velocity to a loop filter, so that the signal loop of the resolver-to-digital converter performs a phase synchronization operation based on the first initial angle and the first initial angular velocity.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the signal loop adjustment method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the signal loop adjustment method according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the signal loop adjustment method according to any one of claims 1 to 6 is implemented.

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