Rotation angle compensation method and device

Abstract

The embodiments of the present disclosure disclose a rotation angle compensation method and device. The rotation angle compensation method comprises: an output signal acquisition step of acquiring an output signal of a resolver; a difference acquisition step of acquiring a difference signal of the output signal; a compensation angle calculation step of calculating a compensation angle based on the difference signal of the output signal; a rotation angle calculation step of calculating a rotation angle based on the output signal; and a compensation step of compensating the rotation angle with the compensation angle, thereby reducing the interference of large waves, reducing the detection error of the rotation angle, and improving the accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical technology, specifically to a method and apparatus for compensating for rotational angles. Background Technology

[0002] A rotary transformer is an electromagnetic sensor widely used for angle measurement, such as the rotation angle of an electric motor shaft. However, angle measurement using this type of rotary transformer often suffers from measurement distortion. For example, the following non-patent literature published at www.analog.com / jp / analogdialogue describes the detection of DC bias distortion, but it does not analyze how to handle this distortion.

[0003] <Prior art documents> <Non-patent document> "High-precision measurement of angular position and speed using high-precision rotary transformer / digital converter" Summary of the Invention

[0004] The inventors conducted in-depth analysis and research on the above-mentioned distortion phenomenon and found that due to the distribution of wires in the winding, product quality variations during manufacturing, noise in the usage environment, etc., the output amplitude of the rotary transformer may generate large and small waves, thereby causing distortion in the detection of the rotation angle.

[0005] In order to solve the problems in the related technology, the present invention discloses a rotation angle compensation method and apparatus.

[0006] In a first aspect, this disclosure provides a rotation angle compensation method, including: The output signal acquisition step includes acquiring the output signal of the rotary transformer; The differential step involves acquiring the differential signal of the output signal; The compensation angle calculation step includes detecting the amplitude difference between the large and small waves based on the amplitude of the differential signal of the output signal, and calculating the compensation angle based on the amplitude difference between the large and small waves when the amplitude difference exceeds a preset threshold. The rotation angle calculation step includes calculating the rotation angle based on the output signal; and The compensation step involves compensating the rotation angle with the compensation angle.

[0007] In conjunction with the first aspect, in the first implementation of the first aspect, The differential step is implemented using a differential circuit.

[0008] In conjunction with the first aspect or the first implementation of the first aspect, this disclosure, in the second implementation of the first aspect, The compensation angle calculation step is implemented using a microcontroller.

[0009] In conjunction with the first aspect, this disclosure, in the third implementation of the first aspect, The output signal includes: a first output signal and / or a second output signal. The amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal; and / or the amplitude of the cosine envelope of the differential signal of the second output signal.

[0010] In conjunction with the third implementation of the first aspect, in the fifth implementation of the first aspect of this disclosure, the step of calculating the compensation angle includes: If the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold, the compensation angle is calculated based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal.

[0011] Secondly, this disclosure provides a rotation angle compensation device, comprising: A rotary transformer is configured to generate an output signal; The differential acquisition module is configured to acquire the differential signal of the output signal; The compensation angle calculation module is configured to detect the amplitude difference between the large and small waves based on the amplitude of the differential signal of the output signal, and calculate the compensation angle based on the amplitude difference between the large and small waves when the amplitude difference exceeds a preset threshold. The rotation angle detection module is configured to calculate the rotation angle based on the output signal; The compensation module is configured to compensate the rotation angle with the compensation angle.

[0012] In conjunction with the second aspect, in the first implementation of the second aspect, The differential acquisition module is a differential circuit.

[0013] In conjunction with the second aspect or the first implementation of the second aspect, this disclosure provides a second implementation of the second aspect. The compensation angle calculation module is a microcontroller.

[0014] In conjunction with the second aspect, this disclosure provides a third implementation of the second aspect. The output signal includes: a first output signal and / or a second output signal. The amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal; and / or the amplitude of the cosine envelope of the differential signal of the second output signal.

[0015] In conjunction with the third implementation of the second aspect, this disclosure provides a fifth implementation of the second aspect. The compensation angle calculation module includes: The wavelet detection submodule is configured to detect wavelet size based on the amplitude. The compensation angle calculation submodule is configured to calculate the compensation angle based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal when the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold.

[0016] The technical solution provided by the embodiments of this disclosure may include the following beneficial effects: According to the technical solution provided by the embodiments of this disclosure, a differential signal of the output signal is obtained through a differential step; a compensation angle calculation step is performed to calculate a compensation angle based on the differential signal of the output signal; a rotation angle calculation step is performed to calculate a rotation angle based on the output signal; and a compensation step is performed to compensate the rotation angle with the compensation angle, thereby reducing the interference of distortions such as large and small wavelets, reducing the detection error of the rotation angle, and improving the detection accuracy.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings: Figure 1a An exemplary schematic diagram of a rotary transformer according to an embodiment of the present disclosure is shown; Figure 1b An exemplary schematic diagram of a rotary transformer according to an embodiment of the present disclosure is shown; Figure 1c An exemplary schematic diagram showing the waveform of a rotary transformer according to an embodiment of the present disclosure is provided. Figure 1d An exemplary schematic diagram showing the normal voltage waveform and rotation angle error of the SIN phase output of a rotary transformer according to an embodiment of the present disclosure is provided. Figure 1e An exemplary schematic diagram showing the large and small wave voltage waveforms and rotation angle errors of the SIN phase output of a rotary transformer according to an embodiment of the present disclosure is provided. Figure 2a An exemplary structural block diagram of a rotation angle compensation device according to an embodiment of the present disclosure is shown; Figure 2b An exemplary schematic diagram showing an implementation scenario of the rotation angle compensation method according to an embodiment of the present disclosure is provided. Figure 2c An exemplary schematic diagram showing an implementation scenario of the rotation angle compensation method according to an embodiment of the present disclosure is provided. Figure 3a An exemplary structural block diagram of a rotation angle compensation device according to another embodiment of the present disclosure is shown; Figure 3b An exemplary flowchart illustrating an implementation scenario of a rotation angle compensation method according to another embodiment of the present disclosure is shown. Figure 3c An exemplary schematic diagram illustrating an implementation scenario of a rotation angle compensation method according to another embodiment of the present disclosure; Figure 4 A flowchart illustrating a rotation angle compensation method according to an embodiment of the present disclosure is shown; Figure 5 Showing according to Figure 4 A flowchart of step S403 in the illustrated embodiment is shown. Figure 6 A structural block diagram of a rotation angle compensation device according to an embodiment of the present disclosure is shown; Figure 7 Showing according to Figure 6 The structural block diagram of the compensation angle calculation module 603 in the embodiment shown. Detailed Implementation

[0019] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of the exemplary embodiments have been omitted from the drawings.

[0020] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of numbers, steps, actions, components, portions or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other numbers, steps, actions, components, portions or combinations thereof.

[0021] It should also be noted that, unless otherwise specified, the embodiments and labels in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] A rotary transformer is an electromagnetic sensor widely used for measuring angles such as the rotation angle of an electric motor shaft. The inventors have discovered that due to factors such as the distribution of wires in the windings, variations in product quality during manufacturing, and noise in the operating environment, the output amplitude of a rotary transformer may exhibit large and small fluctuations, leading to errors in the detection of rotation angles. Uneven output amplitude of the rotary transformer is characterized by large and small fluctuations. When the degree of amplitude unevenness exceeds a certain threshold, it significantly impacts the rotation angle detection error, resulting in higher distortion of the detection results.

[0023] To address the aforementioned problems, this disclosure proposes a rotation angle compensation method and apparatus.

[0024] Figure 1a An exemplary schematic diagram of a rotary transformer according to an embodiment of the present disclosure is shown.

[0025] Those skilled in the art will understand that Figure 1a An exemplary schematic diagram of a rotary transformer is shown, but it does not constitute a limitation of this disclosure.

[0026] Specifically, Figure 1a An exemplary schematic diagram of a rotor-excited rotary transformer is shown. Figure 1a As shown, for the rotor excitation rotary transformer 100, an excitation voltage is applied between R1 and R2 at both ends of the primary winding 101 of the rotor. The rotation angle of the rotary transformer is The output voltage V is between S3 and S1 at both ends of the secondary winding 102 of the SIN phase. S The output voltage V is between S2 and S4 at both ends of the secondary winding 103 of the COS phase. C .

[0027] Figure 1b An exemplary schematic diagram of a rotary transformer according to an embodiment of the present disclosure is shown.

[0028] Those skilled in the art will understand that Figure 1b An exemplary schematic diagram of a rotary transformer is shown, but it does not constitute a limitation of this disclosure.

[0029] Specifically, Figure 1b An exemplary schematic diagram of a stator-excited rotary transformer is shown. Figure 1b As shown, for the stator excitation rotary transformer 110, an excitation voltage is applied between R1 and R2 at both ends of the stator primary winding 111. The rotation angle of the rotary transformer is The output voltage V between S3 and S1 at both ends of the secondary winding 112 of the SIN phase is... S The output voltage V is between S2 and S4 at both ends of the secondary winding 113 of the COS phase. C .

[0030] Figure 1c An exemplary schematic diagram of the waveform of a rotary transformer according to an embodiment of the present disclosure is shown.

[0031] Those skilled in the art will understand that Figure 1c An exemplary schematic diagram of the waveform of a rotary transformer is shown, but it does not constitute a limitation of this disclosure.

[0032] like Figure 1c As shown, excitation signal 121 is applied to... Figure 1a or Figure 1b The primary windings R1-R2 of the rotary transformer are shown. The rotary transformer outputs voltage waveform 122 between S3-S1 of the SIN phase secondary windings. Voltage waveform 122 is the differential signal between S3 and S1, and its value changes with the rotation angle of the rotary transformer. A changing sinusoidal envelope; the output voltage waveform 123 of the rotary transformer between S2 and S4 of the secondary winding of the COS phase. Voltage waveform 123 is the differential signal between S2 and S4, and voltage waveform 123 varies with the rotation angle of the rotary transformer. The changing cosine envelope.

[0033] Figure 1d An exemplary schematic diagram showing the normal voltage waveform and rotation angle error of the SIN phase output of a rotary transformer according to an embodiment of the present disclosure is provided.

[0034] Those skilled in the art will understand that Figure 1d The diagram illustrates an exemplary schematic of the normal voltage waveform and rotation angle error of the SIN phase output of a rotary transformer, but does not constitute a limitation of this disclosure.

[0035] Specifically, Figure 1d This shows the rotation angle error of the rotary transformer under the condition of normal voltage waveform output in the SIN phase.

[0036] like Figure 1d As shown, for the normal output voltage waveform of the SIN phase, voltage waveform 131 has a sinusoidal envelope 132 with constant amplitude. The angle error 133 is very small, within the tolerable angle error threshold 134. Figure 1d In the example, the angle error threshold is 134. point.

[0037] Figure 1eAn exemplary schematic diagram showing the large and small wave voltage waveforms and rotation angle errors of the SIN phase output of a rotary transformer according to an embodiment of the present disclosure is provided.

[0038] Those skilled in the art will understand that Figure 1e The diagram illustrates exemplary waveforms of the large and small wave voltages and rotation angle errors of the SIN phase output of a rotary transformer, but does not constitute a limitation of this disclosure.

[0039] Specifically, Figure 1e This shows the rotation angle error of the rotary transformer under the condition of output large and small wave voltage waveforms of the SIN phase.

[0040] like Figure 1e As shown, for the SIN phase output voltage waveform, voltage waveform 141 has a sinusoidal envelope 142 with varying amplitudes of large and small waves. The angle error 143 increases, exceeding the tolerable angle error threshold 134. In Figure 1e In the example, the angle error threshold is 134. Divide, and Figure 1d The angle error threshold 134 is the same.

[0041] Those skilled in the art will understand that, with Figure 1e Similar to the large and small wave voltage waveforms of the SIN phase output, the COS phase output signal can also exhibit large and small wave voltage waveforms, causing the angle error to exceed the threshold. This will not be elaborated further in this disclosure.

[0042] Figure 2a An exemplary structural block diagram of a rotation angle compensation device according to an embodiment of the present disclosure is shown.

[0043] Those skilled in the art will understand that Figure 2a An exemplary structural block diagram of a rotation angle compensation device is shown, but it does not constitute a limitation of this disclosure.

[0044] like Figure 2aAs shown, the rotary transformer 201 receives the excitation signal 2011 from the rotation angle detection module 202 and outputs the SIN phase output signal 2012 and the COS phase output signal 2013 to the rotation angle detection module 202. Due to the influence of at least one of the following factors, such as the distribution of wires in the windings of the rotary transformer 201, product quality variations during manufacturing, and noise in the operating environment, the differential signal of the COS phase output signal 2013 of the rotary transformer has large and small wave amplitudes. When the SIN phase output signal 2012 is normal, it causes a large error in the rotation angle calculated by the rotation angle detection module 202. The differential acquisition module 203 acquires the COS phase output signal 2013 of the rotary transformer 201. The COS phase differential numerator module 2033 in the differential acquisition module 203 performs differential processing on the COS phase output signal 2013 to obtain the COS phase differential signal 2034. The compensation angle calculation module 204 calculates the compensation angle from the COS phase differential signal 2034. The compensation module 205 compensates for the rotation angle by using a compensation angle to obtain the compensated angle.

[0045] Those skilled in the art will understand that the situation where the SIN phase has large and small waves while the COS phase is normal can also be handled by differentially dividing the SIN phase output signal and calculating the compensation angle through the compensation angle calculation module. This disclosure will not elaborate further on this.

[0046] Those skilled in the art will understand that a rotary transformer can also employ output signals in addition to the SIN and COS phases, and can process signals with distortions such as large and small waves in any phase; this disclosure does not limit this.

[0047] Figure 2b An exemplary schematic diagram shows an implementation scenario of the rotation angle compensation method according to an embodiment of the present disclosure.

[0048] Those skilled in the art will understand that Figure 2b The illustration shows an exemplary scenario of implementing the rotation angle compensation method, but does not constitute a limitation of this disclosure.

[0049] Specifically, Figure 2b Showing the Figure 2a An example of processing the COS phase differential signal 2034 to determine whether it has large and small wavelets.

[0050] like Figure 2b As shown, Figure 2aThe compensation angle calculation module 204 performs analog-to-digital conversion (ADC) sampling on the COS phase differential signal 2034, starting from the angle corresponding to X microseconds (µs) before the mechanical angle of 45 degrees and the electrical angle of 180 degrees, until the angle corresponding to X microseconds (µs) after the mechanical angle of 45 degrees and the electrical angle of 180 degrees. Near the mechanical angle of 45 degrees and the electrical angle of 180 degrees, the maximum voltage value V2 is obtained. V2 is the first maximum value of the envelope 211 of the COS phase differential signal 2034. For the COS phase differential signal 2034, starting from the angle corresponding to X microseconds (µs) before the mechanical angle of 90 degrees and the electrical angle of 360 degrees, ADC sampling is performed on the COS phase differential signal 2034, until the angle corresponding to X microseconds (µs) after the mechanical angle of 90 degrees and the electrical angle of 360 degrees. Near the mechanical angle of 90 degrees and the electrical angle of 360 degrees, the maximum voltage value V1 is obtained. V1 is the second maximum value of the envelope 211 of the COS phase differential signal 2034. When the absolute value of the voltage amplitude difference V1-V2 is greater than a preset threshold, corresponding wavelet compensation processing can be performed. The preset threshold only needs to meet the required accuracy; for example, an appropriate voltage threshold can be set based on actual application or needs.

[0051] Those skilled in the art will understand that for SIN phase differential signals, the microcontroller can employ... Figure 2b The same method is used to process and determine the wave size, which will not be repeated here.

[0052] Those skilled in the art will understand that the SIN phase output signal 2012 and the COS phase output signal 2013 can also be sampled by ADC conversion and then differentially processed in the digital domain; this disclosure does not limit this.

[0053] Figure 2c An exemplary schematic diagram shows an implementation scenario of the rotation angle compensation method according to an embodiment of the present disclosure.

[0054] Those skilled in the art will understand that Figure 2c The illustration shows an exemplary scenario of implementing the rotation angle compensation method, but does not constitute a limitation of this disclosure.

[0055] Specifically, Figure 2c Showing from Figure 2b An example of calculating the compensation angle for the voltage amplitude difference V1-V2 of the large and small waves.

[0056] Figure 2c The left figure shows the relationship between the voltage amplitude difference of the COS phase wave and the compensation angle. The horizontal axis is voltage and the vertical axis is compensation angle. Figure 2cThe left figure shows the maximum compensation angle curve 221 and the minimum compensation angle curve 222. When the voltage amplitude difference V1-V2 of the large and small waves is -0.15 volts, which is the position of the vertical line 223, the intersection point 224 of the vertical line 223 and the maximum compensation angle curve 221 is obtained, which is the maximum compensation angle of 37 minutes; the intersection point 225 of the vertical line 223 and the minimum compensation angle curve 222 is obtained, which is the minimum compensation angle of -37 minutes.

[0057] Figure 2c The right figure shows the angle error before and after compensation. The horizontal axis is the rotation angle, and the vertical axis is the angle error. Figure 2c In the right-hand figure, 226 represents the rotation angle error before compensation, which exceeds the error threshold 229. 227 is the error compensation curve. The maximum and minimum compensation angles of the error compensation curve 227 are determined by the intersection points 224 and 225. 228 represents the rotation angle error after compensation, which is significantly reduced compared to the rotation angle error 226 before compensation and is within the error threshold 229.

[0058] Those skilled in the art will understand that the method of compensating for rotation angle using an error compensation curve is applicable to all embodiments of this disclosure, wherein the error compensation curve can be... Figure 2c The broken line form shown can also be other curve forms, such as a sine wave, other curve forms that fit better with the rotation angle error 226 before compensation, or function values ​​with multiple variables, as long as the curve meets the required detection accuracy requirements. This disclosure does not limit this.

[0059] Figure 3a An exemplary structural block diagram of a rotation angle compensation device according to another embodiment of the present disclosure is shown.

[0060] Those skilled in the art will understand that Figure 3a An exemplary structural block diagram of a rotation angle compensation device is shown, but it does not constitute a limitation of this disclosure.

[0061] Figure 3a The rotation angle compensation device shown can detect and compensate for the case where the differential signal of at least one of the output signals of the SIN phase and COS phase has large and small waves.

[0062] Figure 3a Including and Figure 2a The same rotary transformer 201, rotation angle detection module 202, and compensation module 205.

[0063] The differential acquisition module 301 includes, in addition to, and Figure 2aIn addition to the identical COS phase difference module 2033, a SIN phase difference module 2031 is also included. The COS phase difference module 2033 performs differential processing on the COS phase output signal 2013 to obtain the COS phase differential signal 2034. The compensation angle calculation module 302 calculates the compensation angle from the SIN phase differential signal 2032 and the COS phase differential signal 2034.

[0064] Those skilled in the art will understand that a rotary transformer can also employ output signals with more phases than the SIN and COS phases, and process at least one phase with large and small wave sizes; this disclosure does not limit this.

[0065] Figure 3b An exemplary flowchart illustrating an implementation scenario of a rotation angle compensation method according to an embodiment of the present disclosure is shown.

[0066] Those skilled in the art will understand that Figure 3b The illustration shows an exemplary scenario of implementing the rotation angle compensation method, but does not constitute a limitation of this disclosure.

[0067] Specifically, Figure 3b This illustrates the process of calculating and compensating for the rotation angle of a rotary transformer.

[0068] In step S3101, the rotational speed of the rotary transformer is obtained.

[0069] In step S3102, the rotation angle of the rotary transformer is obtained.

[0070] In step S3103, the maximum voltage values ​​of the large and small waves of the SIN and COS phases are obtained.

[0071] In step S3104, the amplitude difference between the large and small waves of the SIN phase and the COS phase is calculated.

[0072] In step S3105, it is determined whether the difference in amplitude of the large and small waves of the COS phase, ΔVcos < COS threshold, holds true.

[0073] If ΔVcos < COS threshold is true, proceed to step S3107; if ΔVcos < COS threshold is false, proceed to step S3106.

[0074] In step S3106, the COS phase compensation angle is calculated based on the difference in amplitude between the large and small waves of the COS phase.

[0075] In step S3107, it is determined whether the amplitude difference ΔVsin of the SIN phase wave size is less than the SIN threshold.

[0076] If △Vsin < SIN threshold holds, proceed to step S3109; if △Vsin < SIN threshold does not hold, proceed to step S3108.

[0077] In step S3108, the SIN phase compensation angle is calculated based on the amplitude difference between the large and small waves of the SIN phase.

[0078] In step S3109, the rotation angle of the rotary transformer is obtained.

[0079] In step S3110, the compensated rotation angle is output.

[0080] In step S3110, under the condition that both the SIN phase and the COS phase have large and small waves, the compensation angle finally used for compensation can be the sum of the COS phase compensation angle and the SIN phase compensation angle.

[0081] In addition, depending on the actual situation, such as when a higher detection accuracy of the rotation angle is required, feedback step S3111 can be executed.

[0082] In embodiments of this disclosure, the voltage of both large and small wavelets is measured over time. Figure 2b As shown, the measurement begins at the starting angle corresponding to X microseconds (µs) before the mechanical angle 90°, and ends at the ending angle corresponding to X microseconds (µs) after the mechanical angle 90°. Ideally, the actual measured mechanical angle 90° should fall exactly within the measurement range. However, in cases of severe amplitude fluctuations, the starting angle may deviate significantly, and the actual measured mechanical angle 90° may not fall within the measurement range. In this situation, executing feedback step S3111 can correct the deviation caused by severe amplitude fluctuations, thereby improving measurement accuracy and ultimately enhancing the detection precision of the rotation angle.

[0083] It will be understood by those skilled in the art that feedback step S3111 may also be performed due to other actual circumstances, and this disclosure does not limit this.

[0084] Figure 3c An exemplary schematic diagram shows an implementation scenario of the rotation angle compensation method according to an embodiment of the present disclosure.

[0085] Those skilled in the art will understand that Figure 3c The illustration shows an exemplary scenario of implementing the rotation angle compensation method, but does not constitute a limitation of this disclosure.

[0086] Specifically, Figure 3c The image shows the angle error before and after compensation.

[0087] like Figure 3cAs shown, for the COS phase, 321 is the angle error before compensation, 322 is the compensated angle, and 323 is the angle error after compensation. For the SIN phase, 324 is the angle error before compensation, 325 is the compensated angle, and 326 is the angle error after compensation.

[0088] For the COS phase, the formula for calculating the compensation angle 322 is: 0 < θ < 22.5°, Compensation angle = -K * θ / 22.5 Since 22.5° < θ < 67.5°, the compensation angle = K * (θ - 45) / 22.5 Since 67.5° < θ < 90°, the compensation angle is -K * (θ - 90) / 22.5. For the SIN phase, the formula for calculating the compensation angle 325° is: 0 < θ < 45°, Compensation angle = K * θ / 45 45° < θ < 90°, Compensation angle = -K * (θ - 90) / 45 Where θ is the rotation angle, and K is determined by the voltage amplitude difference between the large and small waves.

[0089] Those skilled in the art will understand that the method of calculating the compensation angle based on the above-described formula for the compensation angle of the SIN phase and / or COS phase can be applied to all embodiments of this disclosure. Here, K can be a constant value preset as needed, or a function value with multiple variables. Furthermore, the compensation angles 322° and 325° can be... Figure 3c The broken line form shown can also be other curve forms, such as a sine wave waveform, or other curve forms that fit better with the angle errors 321 and 324 before compensation, as long as the curve meets the required error accuracy requirements. This disclosure does not limit this.

[0090] Figure 4 A flowchart illustrating a rotation angle compensation method according to an embodiment of the present disclosure is shown.

[0091] like Figure 4 As shown, the rotation angle compensation method includes steps S401, S402, S403, S404, and S405.

[0092] In step S401, the output signal of the rotary transformer is acquired.

[0093] In step S402, the differential signal of the output signal is obtained.

[0094] In step S403, the compensation angle is calculated based on the differential signal of the output signal.

[0095] In step S404, the rotation angle is calculated based on the output signal.

[0096] In step S405, the rotation angle is compensated using a compensation angle.

[0097] In the embodiments of this disclosure, the output amplitude of the rotary transformer may exhibit large and small fluctuations due to at least one of the following: the distribution of conductors in the windings of the rotary transformer, variations in product quality during manufacturing, and noise in the operating environment. This can lead to errors in the detected rotation angle. After acquiring the output signal of the rotary transformer, the differential signal of the output signal is detected, and a compensation angle is calculated using the differential signal. The rotation angle of the rotary transformer is calculated based on the output signal. By compensating for the rotation angle with the compensation angle, the influence of large and small fluctuations is reduced, the detection error of the rotation angle is reduced, and the accuracy is improved.

[0098] The output signal of a rotary transformer may include at least one of a sine and a cosine two-phase signal, or may include a multi-phase signal, which is not limited in this disclosure.

[0099] The output signal of a rotary transformer can be either a voltage signal or a current signal; this disclosure does not limit this.

[0100] According to the technical solution provided in the embodiments of this disclosure, the output signal of the rotary transformer is acquired through the output signal acquisition step; the differential signal of the output signal is acquired through the differential step; the compensation angle calculation step is used to calculate the compensation angle based on the differential signal of the output signal; the rotation angle calculation step is used to calculate the rotation angle based on the output signal; and the compensation step is used to compensate the rotation angle, thereby reducing the interference of large and small waves, reducing the detection error of the rotation angle, and improving the accuracy.

[0101] In the embodiments of this disclosure, a differential signal for obtaining the output signal can be achieved using a differential circuit. The differential circuit can be implemented using discrete components, integrated circuits, or other methods; this disclosure does not limit the implementation in this regard.

[0102] According to the technical solution provided in the embodiments of this disclosure, the differential step is implemented through a differential circuit, thereby avoiding interference in the output signal and accurately detecting the difference in the output signal.

[0103] In the embodiments of this disclosure, the compensation angle can be calculated from the differential signal of the output signal by a microcontroller, or the calculation can be performed by a microprocessor, digital signal processor (DSP), field programmable gate array (FPGA), or other means. This disclosure does not limit the calculation in this way.

[0104] According to the technical solution provided in the embodiments of this disclosure, the step of calculating the compensation angle is implemented by a microcontroller, thereby flexibly and conveniently calculating the compensation angle and reducing the influence of large and small waves.

[0105] In embodiments of this disclosure, the amplitude of the differential signal of the sinusoidal output signal of the rotary transformer has a sinusoidal envelope, and the amplitude of the differential signal of the cosine output signal has a cosineal envelope. Using a single-phase sinusoidal output signal or a cosine output signal simplifies the design; while using both sinusoidal and cosine output signals simultaneously allows for better detection of large and small waves, improving the accuracy of the rotation angle.

[0106] According to the technical solution provided in the embodiments of this disclosure, by outputting a signal including a first output signal and / or a second output signal, wherein the amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal and / or the amplitude of the cosine envelope of the differential signal of the second output signal, the interference of large and small waves is reduced and the accuracy of the rotation angle is improved.

[0107] In the embodiments of this disclosure, due to the influence of at least one of the following factors, such as the distribution of wires in the windings of the rotary transformer, variations in product quality during manufacturing, and noise in the operating environment, the amplitude of the differential signal of the rotary transformer's output signal may exhibit large and small waves, leading to errors in the detected rotation angle. By detecting these large and small waves and compensating for them in the rotation angle, the interference from these waves can be reduced, and the accuracy of the rotation angle can be improved.

[0108] According to the technical solution provided in the embodiments of this disclosure, the amplitude of the differential signal of the output signal has large and small waves, thereby reducing the interference of large and small waves and improving the accuracy of the rotation angle.

[0109] Figure 5 Showing according to Figure 4 The flowchart of step S403 in the illustrated embodiment is shown.

[0110] like Figure 5 As shown, Figure 4 Step S403 includes sub-steps S501 and S502.

[0111] In sub-step S501, the amplitude of the wave is detected.

[0112] In sub-step S502, if the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold, the compensation angle is calculated based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal.

[0113] In the embodiments of this disclosure, the maximum values ​​V1 and V2 can be calculated by measuring the amplitude of the sinusoidal envelope of the differential signal of the output signal. The presence of amplitude differences in the SIN phase is determined by whether the absolute value of V1-V2 is greater than or equal to the SIN threshold. The SIN phase compensation angle is then calculated based on the amplitude difference between the amplitude differences in the differential signals of the SIN phase output signal. Similarly, the presence of amplitude differences in the COS phase is determined by whether the amplitude difference between the amplitude differences in the differential signals of the COS phase output signal is greater than or equal to the COS threshold. The COS phase compensation angle is then calculated based on this amplitude difference. When both the SIN and COS phases exhibit amplitude differences, the final compensation angle used for compensation can be the sum of the SIN phase compensation angle and the COS phase compensation angle, or either one of these compensation angles.

[0114] According to the technical solution provided in this disclosure, the step of calculating the compensation angle includes: detecting the amplitude of the wavelets; and calculating the compensation angle based on the amplitude difference between the wavelets of the differential signals of the first and / or the second output signals when the amplitude difference exceeds a preset threshold. This accurately calculates the compensation angle, reduces interference from the wavelets, and improves the accuracy of the rotation angle. Alternatively, the amplitude values ​​of the wavelets can be compared with a preset threshold during the wavelet detection step.

[0115] Figure 6 A structural block diagram of a rotation angle compensation device according to an embodiment of the present disclosure is shown.

[0116] like Figure 6 As shown, the rotation angle compensation device 600 includes: a rotary transformer 601, a differential detection module 602, a compensation angle calculation module 603, a rotation angle detection module 604, and a compensation module 605.

[0117] The rotary transformer 601 is configured to generate an output signal; The differential detection module 602 is configured to acquire the differential signal of the output signal; The compensation angle calculation module 603 is configured to calculate the compensation angle based on the differential signal of the output signal; The rotation angle detection module 604 is configured to calculate the rotation angle based on the output signal; The compensation module 605 is configured to compensate the rotation angle with the compensation angle.

[0118] According to the technical solution provided in the embodiments of this disclosure, a rotary transformer is configured to generate an output signal; a differential detection module is configured to acquire the differential signal of the output signal; a compensation angle calculation module is configured to calculate a compensation angle based on the differential signal of the output signal; a rotation angle detection module is configured to calculate a rotation angle based on the output signal; and a compensation module is configured to compensate the rotation angle with the compensation angle, thereby reducing interference from large and small waves, reducing the detection error of the rotation angle, and improving accuracy.

[0119] In the embodiments of this disclosure, the differential detection of the output signal can be achieved using a differential circuit. The differential circuit can be implemented using discrete components, integrated circuits, or other methods; this disclosure does not limit the implementation in this regard.

[0120] According to the technical solution provided in the embodiments of this disclosure, the differential acquisition module is a differential circuit, thereby avoiding interference in the output signal and accurately detecting the difference in the output signal.

[0121] In the embodiments of this disclosure, the compensation angle can be calculated from the differential signal of the output signal by a microcontroller, or the calculation can be performed by a microprocessor, digital signal processor (DSP), field programmable gate array (FPGA), or other means. This disclosure does not limit the calculation in this way.

[0122] According to the technical solution provided in the embodiments of this disclosure, the compensation angle calculation module is a microcontroller, which can flexibly and conveniently calculate the compensation angle and reduce the influence of large and small waves.

[0123] In embodiments of this disclosure, the amplitude of the differential signal of the sinusoidal output signal of the rotary transformer has a sinusoidal envelope, and the amplitude of the differential signal of the cosine output signal has a cosineal envelope. Using a single-phase sinusoidal output signal or a cosine output signal simplifies the design; while using both sinusoidal and cosine output signals simultaneously allows for better detection of large and small waves, improving the accuracy of the rotation angle.

[0124] According to the technical solution provided in the embodiments of this disclosure, by outputting a signal including a first output signal and / or a second output signal, the amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal; and / or the amplitude of the cosine envelope of the differential signal of the output signal, the interference of large and small waves is reduced and the accuracy of the rotation angle is improved.

[0125] In the embodiments of this disclosure, due to the influence of at least one of the following factors, such as the distribution of wires in the windings of the rotary transformer, variations in product quality during manufacturing, and noise in the operating environment, the amplitude of the differential signal of the rotary transformer's output signal may exhibit large and small waves, leading to errors in the detected rotation angle. By detecting these large and small waves and compensating for them in the rotation angle, the interference from these waves can be reduced, and the accuracy of the rotation angle can be improved.

[0126] According to the technical solution provided in the embodiments of this disclosure, the amplitude of the differential signal of the output signal has large and small waves, thereby reducing the interference of large and small waves and improving the accuracy of the rotation angle.

[0127] Figure 7 Showing according to Figure 6 The structural block diagram of the compensation angle calculation module 603 in the embodiment shown.

[0128] like Figure 7 As shown, Figure 6 The compensation angle calculation module 603 includes: wavelet detection submodule 701 and compensation angle calculation submodule 702.

[0129] Wavelet detection submodule 701 is configured to detect wavelet size through the amplitude. The compensation angle calculation submodule 702 is configured to calculate the compensation angle based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal when the wavelet detection submodule detects that the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold.

[0130] In the embodiments of this disclosure, the maximum values ​​V1 and V2 can be calculated by measuring the amplitude of the sinusoidal envelope of the differential output signal. The presence of wavelet-mass interference requiring processing in the SIN phase can be determined by checking if the absolute value of V1-V2 is greater than or equal to the SIN threshold. The SIN phase compensation angle is then calculated using the amplitude difference between the differential signals of the SIN phase output signal and the wavelet-mass interference. Similarly, the presence of wavelet-mass interference requiring processing in the COS phase can be determined by checking if the amplitude difference between the differential signals of the COS phase output signal and the COS threshold is greater than or equal to the COS threshold. The COS phase compensation angle is then calculated using the amplitude difference between the differential signals of the COS phase output signal and the wavelet-mass interference. When both the SIN and COS phases exhibit wavelet-mass interference, the final compensation angle used for compensation can be the sum of the SIN phase compensation angle and the COS phase compensation angle, or either of these compensation angles.

[0131] According to the technical solution provided in this embodiment, the compensation angle calculation module includes: a wavelet detection submodule, configured to detect wavelet magnitude by amplitude; and a compensation angle calculation submodule configured to calculate a compensation angle based on the wavelet magnitude difference between the differential signals of the first and / or second output signals when the wavelet detection submodule detects that the amplitude difference between the wavelet magnitudes of the differential signals of the first and / or second output signals exceeds a preset threshold, thereby reducing interference from wavelet magnitudes and improving the accuracy of the rotation angle. Alternatively, the wavelet detection submodule can also compare the wavelet magnitude amplitude values ​​with the preset threshold.

[0132] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this respect, flow Each block in a diagram or flowchart may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those shown in the figures. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0133] The units or modules described in the embodiments of this disclosure can be implemented in software or hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0134] In another aspect, this disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the nodes described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs that are used by one or more processors to perform the methods described in this disclosure.

[0135] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A rotation angle compensation method, comprising: The output signal acquisition step includes acquiring the output signal of the rotary transformer; The differential step involves acquiring the differential signal of the output signal; The compensation angle calculation step includes detecting the amplitude difference between the large and small waves based on the amplitude of the differential signal of the output signal, and calculating the compensation angle based on the amplitude difference between the large and small waves when the amplitude difference exceeds a preset threshold. The rotation angle calculation step includes calculating the rotation angle based on the output signal; and The compensation step involves compensating the rotation angle with the compensation angle.

2. The method according to claim 1, characterized in that, The differential step is implemented using a differential circuit.

3. The method as described in claim 1 or 2, characterized in that, The compensation angle calculation step is implemented using a microcontroller.

4. The method according to claim 1, characterized in that, The output signal includes: a first output signal and / or a second output signal. The amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal; and / or the amplitude of the cosine envelope of the differential signal of the second output signal.

5. The method according to claim 4, characterized in that, The steps for calculating the compensation angle include: If the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold, the compensation angle is calculated based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal.

6. A rotation angle compensation device, comprising: A rotary transformer is configured to generate an output signal; The differential acquisition module is configured to acquire the differential signal of the output signal; The compensation angle calculation module is configured to detect the amplitude difference between the large and small waves based on the amplitude of the differential signal of the output signal, and calculate the compensation angle based on the amplitude difference between the large and small waves when the amplitude difference exceeds a preset threshold. The rotation angle detection module is configured to calculate the rotation angle based on the output signal; The compensation module is configured to compensate the rotation angle with the compensation angle.

7. The apparatus according to claim 6, characterized in that, The differential acquisition module is a differential circuit.

8. The apparatus as claimed in claim 6 or 7, characterized in that... The compensation angle calculation module is a microcontroller.

9. The apparatus according to claim 6, characterized in that: The output signal includes: a first output signal and / or a second output signal. The amplitude of the differential signal of the output signal includes the amplitude of the sine envelope of the differential signal of the first output signal; and / or the amplitude of the cosine envelope of the differential signal of the second output signal.

10. The apparatus according to claim 9, characterized in that: The compensation angle calculation module includes: A wavelet detection submodule is configured to detect wavelet size based on the amplitude; and The compensation angle calculation submodule is configured to calculate the compensation angle based on the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal when the amplitude difference between the differential signals of the first output signal and / or the differential signals of the second output signal exceeds a preset threshold.

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