A decoding method, system, medium and device for rotary transformer

Abstract

The invention discloses a decoding method, system, medium and equipment of a rotary transformer, and the method includes: obtaining a sine-cosine envelope signal fed back by a rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component; the negative-sequence component is introduced due to amplitude imbalance and phase non-orthogonality; the sine-cosine envelope signal is sequentially subjected to negative-sequence transformation and low-pass filtering to obtain a negative-sequence DC component; the negative-sequence DC component is subjected to negative-sequence inverse transformation to obtain an AC component of the negative-sequence component under positive-sequence transformation; the signal obtained by positive-sequence transformation of the sine-cosine envelope signal is subtracted from the AC component to remove the negative-sequence component due to amplitude imbalance and phase non-orthogonality; the signal obtained by positive-sequence transformation of the sine-cosine envelope signal is subtracted from the negative-sequence DC component to remove the DC component due to phase non-orthogonality. The invention has the advantages of high decoding accuracy under abnormal signals, simple operation, strong versatility and wide adaptability.

Description

Technical Field

[0001] The present invention mainly relates to a rotary transformer, and in particular to a decoding method, system, medium and equipment of the rotary transformer. Background Art

[0002] The resolver (referred to as "resolver") is an electromagnetic sensor that can accurately measure the absolute angular position of the motor rotor. It has the advantages of being durable, vibration-resistant, and having a wide applicable temperature range. It is widely used in the electric drive system of new energy vehicles. The commonly used method at present is to use software decoding to replace the dedicated resolver decoding chip. Since the principle of software decoding is similar to that of the dedicated decoding chip, whether it is software decoding or dedicated chip decoding, the industry will face the following two unavoidable problems:

[0003] 1. The amplitudes of the sine and cosine envelopes of the resolver feedback signals are not equal, and a periodic fluctuation angle error will appear in the decoded angle. The amplitude of the angle fluctuation is proportional to the degree of imbalance of the sine and cosine envelopes;

[0004] 2. The angular phase of the sine and cosine envelopes of the resolver feedback signal is not orthogonal, and the decoding angle will not only have a periodic fluctuation angle error, but also a fixed DC bias angle error. The amplitude of the periodic fluctuation angle error and the DC bias angle error are proportional to the phase non-orthogonality.

[0005] Therefore, when the resolver feedback signal sine and cosine envelope is abnormal (amplitude imbalance, phase angle is not orthogonal), the existing resolver decoding solutions cannot output the correct angle information and cannot work properly. In particular, when there is a problem with the phase of the resolver feedback signal sine and cosine envelope, it is difficult to detect, let alone compensate for the phase. Therefore, resolver decoding under the non-orthogonal phase of the resolver feedback signal sine and cosine envelope is a difficult problem faced by the industry. Summary of the invention

[0006] The technical problem to be solved by the present invention is: in view of the problems existing in the prior art, the present invention provides a decoding method, system, medium and device for a rotary transformer with high decoding accuracy.

[0007] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0008] A decoding method for a rotary transformer, including a decoding method when the amplitude of a sine-cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding method when the phase of the sine-cosine envelope signal is not orthogonal, and a decoding method when the amplitude of the sine-cosine envelope signal is unbalanced and the phase is not orthogonal, wherein the decoding method when the amplitude of the sine-cosine envelope signal fed back by the rotary transformer is unbalanced comprises the steps of:

[0009] S11, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals includes a positive sequence component and a negative sequence component; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals;

[0010] S12, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0011] S13, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0012] S14, subtracting the AC component in step S13 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby achieving normal angle tracking.

[0013] As a further improvement of the above technical solution:

[0014] The specific process of step S12 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC .

[0015] The invention also includes a decoding method when the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal, which specifically includes the steps of:

[0016] S21, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive-sequence components and negative-sequence components, wherein the positive-sequence component contains a positive-sequence error component introduced due to non-orthogonal phase, and the negative-sequence component is introduced due to non-orthogonal phase of the sine and cosine envelope signals;

[0017] S22, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0018] S23, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0019] S24, subtracting the AC component in step S23 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals;

[0020] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0021] The specific process of step S22 is: the sine and cosine envelope signals are transformed by negative sequence to obtain Ud-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S23, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0022] The steps of the decoding method when the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal are as follows:

[0023] S31, obtaining the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal includes a positive-sequence component and a negative-sequence component, wherein the negative-sequence component includes both a negative-sequence component introduced by an unbalanced amplitude of the sine-cosine envelope signal and a negative-sequence component introduced by a non-orthogonal phase of the sine-cosine envelope signal; and the positive-sequence component includes a positive-sequence error component introduced by a non-orthogonal phase;

[0024] S32, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0025] S33, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0026] S34, subtracting the AC component in step S33 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence components caused by the unbalanced amplitude and non-orthogonal phase of the sine and cosine envelope signals;

[0027] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0028] The specific process of step S32 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S34, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0029] The present invention also discloses a decoding system for a rotary transformer, including a decoding unit when the amplitude of a sine-cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding unit when the phase of the sine-cosine envelope signal is not orthogonal, and a decoding unit when the amplitude of the sine-cosine envelope signal is unbalanced and the phase is not orthogonal. The decoding unit when the amplitude of the sine-cosine envelope signal fed back by the rotary transformer is unbalanced includes:

[0030] The eleventh module is used to obtain the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive sequence components and negative sequence components; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals;

[0031] The twelfth module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence;

[0032] The thirteenth module is used to transform the negative sequence DC component through negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0033] The fourteenth module is used to subtract the AC component in the thirteenth module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby achieving normal angle tracking.

[0034] As a further improvement of the above technical solution:

[0035] The decoding unit in the case where the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal comprises:

[0036] The twenty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase, and the negative-sequence component is introduced due to the non-orthogonality of the phase of the sine-cosine envelope signal;

[0037] The twenty-second module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence;

[0038] The twenty-third module is used to transform the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0039] The twenty-fourth module is used to subtract the AC component in the twenty-third module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals, so as to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals;

[0040] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0041] The decoding unit in the case where the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal comprises:

[0042] The thirty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the negative-sequence component is introduced due to the imbalance of the amplitude of the sine-cosine envelope signal and the non-orthogonality of the phase, and the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase;

[0043] Module 32, performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals in sequence to obtain a negative sequence DC component;

[0044] Module 33, transforming the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0045] The thirty-fourth module is to obtain the signal obtained by positive sequence transformation of the sine and cosine envelope signals, and to subtract the AC component in the thirty-third module to remove the negative sequence component existing due to the imbalance of amplitude and non-orthogonality of phase of the sine and cosine envelope signals;

[0046] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0047] The present invention also discloses a decoding system for a rotating transformer, comprising a positive-sequence transformation unit, a negative-sequence transformation unit, a low-pass filtering unit, a negative-sequence inverse transformation unit and an angle observation unit; the output end of the positive-sequence transformation unit is connected to the input end of the angle observation unit; the input end of the positive-sequence transformation unit is connected to the input end of the negative-sequence transformation unit, the output end of the negative-sequence transformation unit is connected to the input end of the low-pass filtering unit, the output end of the low-pass filtering unit is connected to the input end of the negative-sequence inverse transformation unit and the output end of the positive-sequence transformation unit, and the output end of the negative-sequence inverse transformation unit is connected to the output end of the positive-sequence transformation unit.

[0048] The present invention further discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the decoding method of the rotary transformer as described above are executed.

[0049] The present invention also discloses a computer device, including a memory and a processor, wherein the memory and the processor are connected, and a computer program is stored in the memory, and when the computer program is run by the processor, the steps of the decoding method of the rotary transformer as described above are executed.

[0050] Compared with the prior art, the advantages of the present invention are:

[0051] The decoding method of the present invention uses a positive-negative sequence separation method to obtain negative-sequence DC component information by using negative-sequence transformation plus low-pass filtering, and then performs a 2-fold frequency negative-sequence inverse transformation to obtain an AC signal of the negative-sequence DC component in a positive-sequence coordinate system; the positive-sequence component can be obtained by subtracting the two; the method has strong versatility and a wide range of applications; the resolver decoding based on the positive-negative sequence separation method solves the problem that traditional resolver decoding cannot work normally under the conditions of amplitude imbalance and phase non-orthogonality, greatly improves the decoding accuracy of the resolver under abnormal signals, and has strong engineering application value.

[0052] The decoding method of the present invention is realized based on positive-negative sequence separation, wherein the positive-negative sequence separation method can detect the sine and cosine envelopes of the resolver feedback signal; when the sine and cosine envelopes of the resolver feedback signal are abnormal (amplitude imbalance, phase non-orthogonality), the resolver negative sequence component contains non-zero DC component information, and the negative sequence DC component information can be extracted by low-pass filtering the negative sequence component, thereby determining whether the sine and cosine envelopes of the resolver feedback signal are abnormal; on this basis, the negative sequence DC component information is used to realize the decoupling of the positive sequence component, and finally realize normal decoding under abnormal signal: the negative sequence component is in the positive sequence, and the negative sequence DC component information is in the negative sequence, and the positive sequence component is in the positive sequence, and the negative ... In the sequence coordinate system, it appears as a double-frequency fluctuation signal, which is compensated by a double-negative-sequence inverse transformation signal of the negative-sequence DC component; the DC error component of the positive-sequence error component in the Q-axis of the positive-sequence coordinate system is compensated by the Q-axis DC component of the negative-sequence component in the negative-sequence coordinate system, so that finally the Q-axis component of the sinusoidal and cosine envelope of the resolver feedback signal in the positive-sequence rotating coordinate contains only the normal positive-sequence component; the angle observer tracks the positive-sequence Q-axis component, and the output angle contains only the normal angle information, thus realizing the normal decoding of the resolver feedback signal sinusoidal and cosine envelope under abnormal conditions (amplitude imbalance, non-orthogonal phase). BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is the phase-locking principle diagram of the present invention under the DQ rotating coordinate.

[0054] Figure 2 The figure is a block diagram of a resolver decoding system based on positive and negative sequence separation of the present invention.

[0055] Figure 3 The simulation waveform of the traditional amplitude imbalance (U α =0.8Acosθ,U β =Asinθ).

[0056] Figure 4 The simulation waveform of the traditional non-orthogonal phase (U α =Acosθ,U β =Asin(θ+15°)).

[0057] Figure 5This is the traditional amplitude unbalanced and phase non-orthogonal simulation waveform (U α =0.8Acosθ,U β =Asin(θ+15°)).

[0058] Figure 6 The simulation waveform diagram of the amplitude imbalance in the present invention (U α =0.8Acosθ,U β =Asinθ).

[0059] Figure 7 The simulation waveform diagram of the non-orthogonal phase in the present invention (U α =Acosθ,U β =Asin(θ+15°)).

[0060] Figure 8 This is the amplitude unbalanced and phase non-orthogonal simulation waveform diagram of the present invention (U α =0.8Acosθ,U β =Asin(θ+15°)). DETAILED DESCRIPTION

[0061] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0062] like Figure 1 and Figure 2 As shown, the decoding method of the rotary transformer of the present embodiment includes a decoding method when the amplitude of the sine and cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding method when the phase of the sine and cosine envelope signal is not orthogonal, and a decoding method when the amplitude of the sine and cosine envelope signal is unbalanced and the phase is not orthogonal; wherein the decoding method when the amplitude of the sine and cosine envelope signal fed back by the rotary transformer is unbalanced includes the steps of:

[0063] S11, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals includes a positive sequence component and a negative sequence component; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals;

[0064] S12, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0065] S13, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0066] S14, subtracting the AC component in step S13 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby achieving normal angle tracking.

[0067] Furthermore, the specific process of step S12 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC .

[0068] In this embodiment, a decoding method is also included in the case where the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal, which specifically includes the steps of:

[0069] S21, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive-sequence components and negative-sequence components, wherein the positive-sequence component contains a positive-sequence error component introduced due to non-orthogonal phase, and the negative-sequence component is introduced due to non-orthogonal phase of the sine and cosine envelope signals;

[0070] S22, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0071] S23, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0072] S24, subtracting the AC component in step S23 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals;

[0073] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0074] Furthermore, the specific process of step S22 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S23, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0075] In this embodiment, the steps of the decoding method when the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal are as follows:

[0076] S31, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive-sequence components and negative-sequence components, wherein the negative-sequence components are introduced due to the imbalance of the amplitude of the sine and cosine envelope signals and the non-orthogonality of the phases, and the positive-sequence components contain positive-sequence error components introduced due to the non-orthogonality of the phases;

[0077] S32, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component;

[0078] S33, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation;

[0079] S34, subtracting the AC component in step S33 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence components caused by the unbalanced amplitude and non-orthogonal phase of the sine and cosine envelope signals;

[0080] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0081] Furthermore, the specific process of step S32 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S34, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0082] Of course, in this embodiment, when the sine and cosine envelopes of the resolver feedback signal are abnormal (amplitude imbalance, non-orthogonal phase), the resolver negative-sequence component contains non-zero DC component information, and the negative-sequence DC component information can be extracted by low-pass filtering the negative-sequence component, thereby determining whether the sine and cosine envelopes of the resolver feedback signal are abnormal.

[0083] On this basis, the negative-sequence DC component information is used to decouple the positive-sequence component, and finally normal decoding is achieved under abnormal signals: the negative-sequence component appears as a 2-fold frequency fluctuation signal in the positive-sequence coordinate system, which is compensated by a 2-fold negative-sequence inverse transformation signal of the negative-sequence DC component; the DC error component of the positive-sequence error component in the Q-axis of the positive-sequence coordinate system is compensated by the Q-axis DC component of the negative-sequence component in the negative-sequence coordinate system, and finally the Q-axis component of the sinusoidal and cosine envelope of the resolver feedback signal in the positive-sequence rotating coordinate system contains only normal positive-sequence components; the angle observer tracks the positive-sequence Q-axis component, and the output angle only contains normal angle information, thus achieving normal decoding under abnormal conditions of the sinusoidal and cosine envelope of the resolver feedback signal (amplitude imbalance, non-orthogonal phase).

[0084] The present invention also discloses a decoding system for a rotary transformer, including a decoding unit when the amplitude of a sine-cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding unit when the phase of the sine-cosine envelope signal is not orthogonal, and a decoding unit when the amplitude of the sine-cosine envelope signal is unbalanced and the phase is not orthogonal, wherein the decoding unit when the amplitude of the sine-cosine envelope signal fed back by the rotary transformer is unbalanced includes:

[0085] The eleventh module is used to obtain the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive sequence components and negative sequence components; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals;

[0086] The twelfth module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence;

[0087] The thirteenth module is used to transform the negative sequence DC component through negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0088] The fourteenth module is used to subtract the AC component in the thirteenth module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby achieving normal angle tracking.

[0089] In this embodiment, the decoding unit when the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal includes:

[0090] The twenty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase, and the negative-sequence component is introduced due to the non-orthogonality of the phase of the sine-cosine envelope signal;

[0091] The twenty-second module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence;

[0092] The twenty-third module is used to transform the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0093] The twenty-fourth module is used to subtract the AC component in the twenty-third module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals, so as to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals;

[0094] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0095] In this embodiment, the decoding unit when the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal includes:

[0096] The thirty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the negative-sequence component is introduced due to the imbalance of the amplitude of the sine-cosine envelope signal and the non-orthogonality of the phase, and the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase;

[0097] Module 32, performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals in sequence to obtain a negative sequence DC component;

[0098] Module 33, transforming the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation;

[0099] The thirty-fourth module is to obtain the signal obtained by positive sequence transformation of the sine and cosine envelope signals, and to subtract the AC component in the thirty-third module to remove the negative sequence component existing due to the imbalance of amplitude and non-orthogonality of phase of the sine and cosine envelope signals;

[0100] The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

[0101] The present invention further discloses a decoding system of a rotary transformer, comprising a positive sequence conversion unit, a negative sequence conversion unit, a low pass filter unit, a negative sequence inverse conversion unit and an angle observation unit; the output end of the positive sequence conversion unit is connected to the input end of the angle observation unit; the input end of the positive sequence conversion unit is connected to the input end of the negative sequence conversion unit, the output end of the negative sequence conversion unit is connected to the input end of the low pass filter unit, the output end of the low pass filter unit is connected to the input end of the negative sequence inverse conversion unit and the output end of the positive sequence conversion unit, and the output end of the negative sequence inverse conversion unit is connected to the output end of the positive sequence conversion unit. The above decoding system is used to execute the above decoding method, and also has the advantages described in the above decoding method.

[0102] The present invention also discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the decoding method of the rotary transformer described above are executed. The present invention further discloses a computer device, including a memory and a processor, the memory and the processor are connected, and a computer program is stored on the memory, and when the computer program is run by the processor, the steps of the decoding method of the rotary transformer described above are executed.

[0103] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0104] The above method and system are described in detail below in conjunction with a specific complete embodiment:

[0105] like Figure 1 and Figure 2 As shown, when performing the transformation, the sine and cosine envelopes of the resolver feedback signal are placed in the two-phase stationary coordinates (αβ coordinates), the cosine envelope corresponds to the α axis, and the sine envelope corresponds to the β axis. Under normal circumstances, the amplitudes of the sine and cosine feedback signal envelopes are equal and the phases are orthogonal, and their space vector expressions are as follows:

[0106] Vs=A cosθ+jA sinθ=Ae jθ (1)

[0107] The space vector is a rotating vector, and the rotation trajectory is a circle with a radius of A. It can be seen from equation (1) that the space vector under normal signal conditions only has positive sequence component information, but no negative sequence component information. Positive sequence transformation (i.e. positive sequence DQ transformation) means that the DQ rotating coordinate system rotates at the same speed and direction as the positive sequence component, and the space vector becomes a DC quantity in the positive sequence DQ rotating coordinate system. When Uq+ When it is 0, the rotating coordinate coincides with the space vector, and the rotation angle φ of the rotating coordinate is equal to the rotation angle θ of the space vector Vs. In this way, the output angle and the input angle can be phase-locked and tracked, and the decoded output of the resolver angle can be realized.

[0108] When the amplitude of the sine and cosine envelope of the resolver feedback signal is unbalanced or the phase is not orthogonal, its space vector Vs contains both positive-sequence components and negative-sequence components. The positive-sequence component is converted into a DC quantity after the positive-sequence DQ transformation, and the negative-sequence component is expressed as a fluctuation of twice the frequency in the positive-sequence coordinate system, that is, U d+all and U q+all It contains both DC component information and AC component information with double frequency. If it is not processed, the angle observer output angle will introduce a double frequency angle error signal. Similarly, the negative sequence component is transformed into DC quantity by negative sequence DQ transformation, and the positive sequence component is expressed as AC component with double frequency in the negative sequence coordinate system. Use a low-pass filter to filter out the double frequency positive sequence AC component and extract the negative sequence DC component U d-DC and U q-DC ; Then, the negative sequence inverse transform with double frequency can be used to obtain the AC component information U of the negative sequence component under the positive sequence DQ transform. al-2AC and U be-2AC . Transform U under positive sequence DQ q+all Subtract U be-2AC The negative sequence double frequency component can be removed to achieve normal angle tracking.

[0109] When the phase of the positive and negative envelopes of the resolver feedback signal is not orthogonal, the above method can be used to remove the negative sequence component; however, the positive sequence component also contains the positive sequence error component introduced by the non-orthogonal phase. When the angle observer outputs an angle φ≈θ, U q+all will not be equal to 0, because the positive sequence DC error component introduced by the phase non-orthogonality. This DC component will cause a DC offset error in the tracking angle. Therefore, it is necessary to use the U in the negative sequence DQ transformation. q-DC To eliminate the positive sequence DC error component. The block diagram of the resolver decoding system based on positive and negative sequence separation is as follows: Figure 2 shown.

[0110] Under normal circumstances, the amplitude of the sine and cosine envelopes of the resolver feedback signal is equal and the phase is orthogonal (90° difference). The sine and cosine envelope signals are U α =Acosθ,U β =Asinθ. Then the space vector Vs = Acosθ + jAsinθ = Ae jθ , which only contains the positive sequence component information. Perform a positive sequence DQ transformation on it, and the rotation angle is the angle observer output angle φ.

[0111] When U q+allWhen =0, the angle φ output by the angle observer is consistent with the angle θ of the resolver envelope signal, which means that the tracking and decoding of the resolver angle is realized.

[0112] The positive sequence DQ transformation formula is as follows:

[0113]

[0114] When the sine and cosine envelope amplitudes of the resolver feedback signal are unbalanced:

[0115] Without loss of generality, the cosine signal amplitude is used as a reference, and the analysis method for other cases is similar. Assuming that the sine envelope amplitude is greater than the cosine envelope amplitude by Δ, the cosine envelope of the resolver feedback signal is U α =Acosθ, sine envelope U β =(A+Δ)sinθ, and its space vector is as follows:

[0116]

[0117] Since the negative sequence component appears as an AC component with double frequency in the positive sequence DQ coordinate system, it causes the angle observer to output an error angle with double frequency. The DC component of the negative sequence component in the negative sequence coordinate system is extracted by using negative sequence DQ transformation + low pass filter.

[0118] The negative sequence DQ conversion formula is as follows:

[0119]

[0120] The DC component information of the negative sequence component in the negative sequence DQ coordinate is as follows:

[0121]

[0122] Then, the negative sequence DQ inverse transformation (DQ→αβ) is used to obtain the negative sequence component in the positive sequence DQ coordinate. al-2AC ,U be-2AC . U in the positive sequence DQ coordinate q+all Subtract U be-2AC The influence of the negative sequence component on the positive sequence DQ can be removed, thus achieving the separation of the positive sequence and the negative sequence.

[0123] The 2x negative sequence DQ inverse transform formula is as follows:

[0124]

[0125] The situation where the sine and cosine envelope phases of the resolver feedback signal are not orthogonal:

[0126] Without loss of generality, the cosine signal is used as a reference, and the analysis methods for other cases are similar. Assume that the sine and cosine envelope signals are U α =Acosθ,Uβ =Asin(θ+δ), then the space vector is as follows:

[0127]

[0128] The amplitude unbalance method is used to remove the double frequency AC component of the negative sequence component in the positive sequence coordinate system. Since the rotation angle in the positive sequence component of Vs is Therefore, when the positive sequence DQ rotation coordinate is aligned with the space vector, the tracked angle is exist The fixed DC bias angle error; that is, if the positive sequence rotation coordinate rotation angle φ is aligned to the angle θ, U q+ is not zero,

[0129] When the positive sequence DQ rotation coordinate is rotated to the θ position, the decomposition of the positive sequence component in the positive sequence DQ coordinate is as follows:

[0130]

[0131] When the negative sequence DQ rotation coordinate is rotated to the -θ position, the decomposition of the negative sequence component in the negative sequence DQ coordinate is as follows:

[0132]

[0133] So there is U q+ =U q- , which can be used to q- The negative sequence component is used to eliminate the DC offset error introduced by the non-orthogonal phase.

[0134] When the resolver feedback signals have both non-orthogonal phases and unequal amplitudes:

[0135] Taking the cosine signal as a reference, the analysis methods for other situations are similar. Assume that the cosine signal is: U α =Acosθ; the sinusoidal signal is U β =(A+Δ)sin(θ+δ), then the space vector is

[0136]

[0137] From the previous calculation, we can know that the positive sequence component introduced when the phase is not orthogonal is decomposed as follows:

[0138]

[0139] The negative sequence component introduced by the phase non-orthogonality is as follows:

[0140]

[0141] The positive sequence component introduced by positive sequence component 1 is as follows:

[0142]

[0143] The negative sequence component introduced by negative sequence component 1 is as follows:

[0144]

[0145] The overall positive sequence components are as follows:

[0146]

[0147] The overall sequence components are as follows:

[0148]

[0149] Consistent with the case of simple phase non-orthogonality, there exists U qsum+ =U qsum- Similarly, the negative sequence DC component can be used to eliminate the DC angle error in the positive sequence component.

[0150] The simulation verification results are as follows: The simulation waveform of the existing resolver decoding system under the condition of abnormal sine and cosine envelope of resolver feedback signal is as follows: Figures 3 to 5 As shown in the figure, the angles and velocities obtained in each figure are wavy, and there is a certain deviation in the output. The simulation of the resolver decoding system based on positive and negative sequence separation under the condition of abnormal sine and cosine envelope of the resolver feedback signal is shown in the figure. Figures 6 to 8 As shown, the angles and speeds in the above figures are all linear, and the output is stable and accurate. Therefore, the decoding method of the present invention can improve the decoding accuracy of the resolver under abnormal signals.

[0151] The decoding method of the present invention uses a positive-negative sequence separation method to obtain negative-sequence DC component information by using negative-sequence transformation plus low-pass filtering, and then performs a 2-fold frequency negative-sequence inverse transformation to obtain an AC signal of the negative-sequence DC component in a positive-sequence coordinate system; the positive-sequence component can be obtained by subtracting the two; the method has strong versatility and a wide range of applications; the resolver decoding based on the positive-negative sequence separation method solves the problem that traditional resolver decoding cannot work normally under the conditions of amplitude imbalance and phase non-orthogonality, greatly improves the decoding accuracy of the resolver under abnormal signals, and has strong engineering application value.

[0152] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A decoding method for a rotary transformer, including a decoding method when the amplitude of a sine-cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding method when the phase of the sine-cosine envelope signal is not orthogonal, and a decoding method when the amplitude of the sine-cosine envelope signal is unbalanced and the phase is not orthogonal, characterized in that: The decoding method under the condition that the amplitude of the sine and cosine envelope signals fed back by the rotary transformer is unbalanced comprises the steps of: S11, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals includes a positive sequence component and a negative sequence component; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals; S12, sequentially subjecting the sine and cosine envelope signals to negative sequence transformation and low pass filtering to obtain a negative sequence DC component; S13, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation; S14, subtracting the AC component in step S13 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby achieving angle tracking.

2. The decoding method of the rotary transformer according to claim 1, characterized in that: The specific process of step S12 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC .

3. The decoding method of the rotary transformer according to claim 1, characterized in that: The invention also includes a decoding method for the case where the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal, which specifically includes the steps of: S21, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive-sequence components and negative-sequence components, wherein the positive-sequence component contains a positive-sequence error component introduced due to non-orthogonal phase, and the negative-sequence component is introduced due to non-orthogonal phase of the sine and cosine envelope signals; S22, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component; S23, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation; S24, subtracting the AC component in step S23 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals; The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

4. The decoding method of the rotary transformer according to claim 3, characterized in that: The specific process of step S22 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S23, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

5. The decoding method of the rotary transformer according to claim 1, characterized in that: The steps of the decoding method when the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal are as follows: S31, obtaining the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive-sequence components and negative-sequence components, wherein the negative-sequence components are introduced due to the imbalance of the amplitude of the sine and cosine envelope signals and the non-orthogonality of the phases, and the positive-sequence components contain positive-sequence error components introduced due to the non-orthogonality of the phases; S32, sequentially performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals to obtain a negative sequence DC component; S33, performing negative sequence inverse transformation on the negative sequence DC component to obtain an AC component of the negative sequence component under positive sequence transformation; S34, subtracting the AC component in step S33 from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence components caused by the amplitude imbalance and non-orthogonal phase of the sine and cosine envelope signals; The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

6. The decoding method of the rotary transformer according to claim 5, characterized in that: The specific process of step S32 is: the sine and cosine envelope signals are transformed by negative sequence to obtain U d-all and U q-all , and then filter out the positive sequence AC component through low-pass filtering to extract the negative sequence DC component U d-DC and U q-DC In step S34, through the negative sequence DC component U q-DC Eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

7. A decoding system for a rotary transformer, comprising a decoding unit for a case where the amplitude of a sine-cosine envelope signal fed back by the rotary transformer is unbalanced, a decoding unit for a case where the phase of the sine-cosine envelope signal is not orthogonal, and a decoding unit for a case where the amplitude of the sine-cosine envelope signal is unbalanced and the phase is not orthogonal, characterized in that: The decoding unit in the case where the amplitude of the sine and cosine envelope signals fed back by the rotary transformer is unbalanced is used to perform the steps of the decoding method in the case where the amplitude of the sine and cosine envelope signals fed back by the rotary transformer is unbalanced in the decoding method of the rotary transformer according to any one of claims 1 to 6, specifically comprising: The eleventh module is used to obtain the sine and cosine envelope signals fed back by the rotary transformer, wherein the space vector of the sine and cosine envelope signals contains positive sequence components and negative sequence components; wherein the negative sequence component is introduced due to the imbalance of the amplitude of the sine and cosine envelope signals; The twelfth module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence; The thirteenth module is used to transform the negative sequence DC component through negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation; The fourteenth module is used to subtract the AC component in the thirteenth module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals to remove the negative sequence component existing due to the amplitude imbalance of the sine and cosine envelope signals, thereby realizing angle tracking.

8. The decoding system of the rotary transformer according to claim 7, characterized in that: The decoding unit in the case where the phase of the sine and cosine envelope signals fed back by the rotary transformer is not orthogonal comprises: The twenty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase, and the negative-sequence component is introduced due to the non-orthogonality of the phase of the sine-cosine envelope signal; The twenty-second module is used to obtain a negative-sequence DC component by performing negative-sequence transformation and low-pass filtering on the sine and cosine envelope signals in sequence; The twenty-third module is used to transform the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation; The twenty-fourth module is used to subtract the AC component in the twenty-third module from the signal obtained by positive sequence transformation of the sine and cosine envelope signals, so as to remove the negative sequence component existing due to the non-orthogonal phase of the sine and cosine envelope signals; The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

9. The decoding system of the rotary transformer according to claim 7, characterized in that: The decoding unit in the case where the amplitude of the sine and cosine envelope signals is unbalanced and the phases are not orthogonal comprises: The thirty-first module is used to obtain the sine-cosine envelope signal fed back by the rotary transformer, wherein the space vector of the sine-cosine envelope signal contains a positive-sequence component and a negative-sequence component, wherein the negative-sequence component is introduced due to the imbalance of the amplitude of the sine-cosine envelope signal and the non-orthogonality of the phase, and the positive-sequence component contains a positive-sequence error component introduced due to the non-orthogonality of the phase; Module 32, performing negative sequence transformation and low pass filtering on the sine and cosine envelope signals in sequence to obtain a negative sequence DC component; Module 33, transforming the negative sequence DC component by negative sequence inverse transformation to obtain the AC component of the negative sequence component under positive sequence transformation; The thirty-fourth module is to obtain the signal obtained by positive sequence transformation of the sine and cosine envelope signals, and to subtract the AC component in the thirty-third module to remove the negative sequence component existing due to the imbalance of amplitude and non-orthogonality of phase of the sine and cosine envelope signals; The negative sequence DC component is used to eliminate the positive sequence DC error component introduced by the non-orthogonal phase of the sine and cosine envelope signals.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program executes the steps of the decoding method for a resolver according to any one of claims 1 to 6.

11. A computer device, comprising a memory and a processor, wherein the memory and the processor are connected, and a computer program is stored in the memory, wherein: When the computer program is executed by a processor, the computer program executes the steps of the decoding method for a resolver according to any one of claims 1 to 6.

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