A motor rotation speed estimation system and method

Abstract

The application discloses a motor rotating speed estimation system and method, the system comprises a resolver arranged on a motor, the resolver is used for synchronous rotation with the motor and outputs at least one detection signal; a control unit connected with the resolver, the control unit is used for shaping processing the at least one detection signal to form a pulse signal, and estimating the current rotating speed of the motor according to the number of the pulse signal. The embodiment of the application shapes the output detection signal by the control unit to form a pulse signal, so that the rotating speed information can be extracted directly from the pulse signal without complex phase-locked loop calculation, and the processing process of the detection signal is simplified. Then the current rotating speed of the motor is estimated according to the number of the pulse signal, and the motor rotating speed estimation system is simplified, which is beneficial to simplifying the control process of the motor and improving the safety of the estimation system. In addition, the torque monitoring process of the motor can be simplified.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of motor control, in particular to a motor rotating speed estimation system and method. BACKGROUND

[0002] With the development of modern science and technology, the motor is applied to more and more products in daily life, and higher and higher requirements are put forward for the performance of the motor. In order to ensure the performance requirements of the motor, the rotating speed of the motor needs to be redundantly checked.

[0003] In the prior art, when the rotating speed of the motor is redundantly checked, the current signal is usually collected through the rotary transformer, and the rotating speed of one motor is calculated according to the current signal; the rotating speed of another motor is calculated through the current frequency method; then the two rotating speeds obtained above are compared, and when the deviation of the two rotating speeds is greater than a set threshold, it is indicated that the motor works in an abnormal state, and there is a motor or rotary transformer fault, and the fault is reported. In the above process, the current signal will change greatly with the output torque amplitude of the motor, which is not conducive to collection. Based on this, the rotary transformer output rotary signal can be output, and the rotary signal from the rotary transformer can be phase-locked through the phase-locked loop to determine the current electric angular velocity of the motor, and the current rotating speed of the motor can be determined according to the electric angular velocity. In the above process, since the carrier amplitude of the rotary transformer is stable, it is conducive to capture, thereby being conducive to the rotating speed redundancy checking of the motor. However, when the rotary signal is processed through the phase-locked loop, the calculation is very complex, which increases the complexity of the rotating speed redundancy checking of the motor. SUMMARY

[0004] The present application provides a motor rotating speed estimation system and method to simplify the estimation process of the motor rotating speed and simplify the rotating speed redundancy checking process of the motor.

[0005] In a first aspect, the present application provides a motor rotating speed estimation system, comprising:

[0006] A rotary transformer is arranged on the motor, and the rotary transformer is used to rotate synchronously with the motor and output at least one detection signal;

[0007] A control unit is connected with the rotary transformer, and the control unit is used to shape at least one detection signal to form a pulse signal, and estimate the current rotating speed of the motor according to the number of pulse signals.

[0008] Optionally, the control unit comprises at least one group of controllers, and the controller comprises a signal shaping module and a calculation module;

[0009] The signal shaping module is connected with the rotary transformer, and the signal shaping module is used to process at least one detection signal to form a pulse signal.

[0010] The calculation module is connected with the signal shaping module, and is configured to count the pulse signals and estimate the current rotating speed of the motor according to the number of the pulse signals.

[0011] Optionally, the signal shaping module comprises an envelope detector and a sine shaper.

[0012] The envelope detector is connected with the resolver, and is configured to detect at least one of the detection signals to obtain envelope signals.

[0013] The sine shaper is connected with the envelope detector, and is configured to shape the envelope signals to convert the envelope signals into the pulse signals.

[0014] Optionally, the controller further comprises a filter, which is connected in series between the envelope detector and the sine shaper.

[0015] Optionally, the calculation module comprises a single-chip microcomputer, which is connected with the signal shaping module, and is configured to count the pulse signals and calculate the electrical angular velocity of the resolver according to the number of the pulse signals; wherein the electrical angular velocity of the resolver is in a multiple relationship with the current rotating speed of the motor.

[0016] Alternatively, the calculation module comprises a logic device, which is connected with the signal shaping module, and is configured to count the pulse signals and calculate the current rotating speed of the motor according to the number of the pulse signals in a unit time.

[0017] In a second aspect, the application further provides a method for estimating the rotating speed of a motor, comprising:

[0018] obtaining at least one detection signal provided by a resolver on the motor; wherein the resolver rotates synchronously with the motor;

[0019] shaping at least one of the detection signals to form pulse signals, and estimating the current rotating speed of the motor according to the number of the pulse signals.

[0020] Optionally, shaping at least one of the detection signals to form pulse signals, and estimating the current rotating speed of the motor according to the number of the pulse signals, comprises:

[0021] processing at least one of the detection signals to form pulse signals;

[0022] counting the pulse signals, and estimating the current rotating speed of the motor according to the number of the pulse signals.

[0023] Optionally, the at least one detection signal is processed to form a pulse signal, comprising:

[0024] The at least one detection signal is detected to obtain an envelope signal;

[0025] The envelope signal is shaped to convert the envelope signal into the pulse signal.

[0026] Optionally, before the envelope signal is shaped, further comprising:

[0027] The envelope signal is filtered.

[0028] Optionally, the pulse signal is counted, and the current rotating speed of the motor is estimated according to the number of the pulse signals, comprising:

[0029] The pulse signal is counted, and the electrical angular velocity of the resolver is calculated according to the number of the pulses; wherein the electrical angular velocity of the resolver is in a multiplicative relationship with the current rotating speed of the motor;

[0030] Alternatively,

[0031] The pulse signal is counted, and the current rotating speed of the motor is calculated according to the number of the pulse signals in a unit time.

[0032] The technical scheme of the embodiment of the application, by the resolver outputting at least one detection signal, and then by the control unit shaping and processing the at least one detection signal to form a pulse signal, can realize extracting the rotating speed information directly from the pulse signal without complex phase-locked loop calculation, simplifies the processing process of the detection signal, and simplifies the motor rotating speed redundancy checking process. Then, the current rotating speed of the motor is estimated according to the number of the pulse signals, and the motor rotating speed estimation system is further simplified, which is beneficial to simplifying the motor control process. Meanwhile, the detection signal is used to realize the motor redundancy detection, which can improve the safety of the motor system. In addition, the current rotating speed of the motor can be used as a redundancy signal for the motor torque monitoring, which simplifies the motor torque monitoring process.

[0033] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative effort based on these drawings should belong to the protection scope of the present application.

[0035] Figure 1 is a structural schematic diagram of a motor speed estimation system provided by an embodiment of the present application;

[0036] Figure 2 is a winding structure and signal adjustment schematic diagram of a resolver provided by an embodiment of the present application;

[0037] Figure 3 is a structural schematic diagram of a motor speed estimation system provided by an embodiment of the present application;

[0038] Figure 4 is a structural schematic diagram of a motor speed estimation system provided by an embodiment of the present application;

[0039] Figure 5 is a circuit schematic diagram of an envelope detector provided by an embodiment of the present application;

[0040] Figure 6 is a circuit schematic diagram of a sine shaper provided by an embodiment of the present application;

[0041] Figure 7 is a structural schematic diagram of a motor speed estimation system provided by an embodiment of the present application;

[0042] Figure 8 is a flowchart of a motor speed estimation method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative effort based on these drawings should belong to the protection scope of the present application.

[0044] Figure 1 is a structural schematic diagram of a motor speed estimation system provided by an embodiment of the present application, referring to Figure 1 The system comprises:

[0045] The resolver 1 is arranged on the motor, and rotates synchronously with the motor and outputs at least one detection signal.

[0046] The control unit 2 is connected with the resolver 1, and performs shaping processing on the at least one detection signal to form a pulse signal, and estimates the current rotating speed of the motor according to the number of the pulse signal.

[0047] Specifically, the resolver 1 is arranged on the motor, so that the resolver 1 can rotate synchronously with the motor, and the relationship between the electrical angular velocity of the resolver 1 and the rotating speed of the motor is established. The product of the electrical angular velocity of the resolver 1 and the pole pair number is the rotating speed of the pole. After the resolver 1 rotates synchronously with the motor, at least one detection signal can be output according to the excitation signal. For example, the resolver 1 includes an excitation winding and at least one set of output winding. The carrier signal of the excitation winding side inputs the magnetic force. After modulation by the excitation winding and the output winding, the detection signal is output by the output winding. Figure 2 A winding structure and signal adjustment schematic diagram of the resolver provided by the embodiment of the present application is provided. As shown in the figure, Figure 2 For example, the resolver 1 includes two output windings, which are a sine output winding and a cosine output winding, respectively. At this time, the resolver 1 can output two detection signals, and each detection signal can include the electrical angular velocity information of the resolver 1, so that the electrical angular velocity of the resolver 1 can be determined according to the detection signal. Specifically, the first excitation end R1 and the second excitation end R2 of the resolver 1 input the carrier signal by the controller. For example, the expression of the carrier signal can be U a =Esin(ωt). After modulation by the winding and the rotor, the sine output signal with the expression U s =Eksin(ωt)sin(ω r t) is output at the first sine output winding end S1 and the second sine output winding end S3, as one detection signal of the resolver 1. The cosine output signal with the expression U c =Eksin(ωt)cos(ω r t) is output at the first cosine winding output end S2 and the second cosine winding output end S4, as another detection signal of the resolver 1. In the formula, U a represents the excitation carrier signal, E represents the amplitude of the excitation carrier, ω represents the angular velocity of the excitation carrier, U s represents the sine output signal of the resolver, k represents the transformation ratio of the resolver 1, which can be 0.286, for example, ω r represents the electrical angular velocity of the resolver 1, and U cThe cosine output signal of the resolver 1. As can be seen from the expressions of the sine and cosine output signals, the output signal of the resolver 1 includes the electrical angular velocity information of the resolver 1, so that the rotational speed information of the motor can be obtained through the sine or cosine signal processing calculation.

[0048] The control unit 2 can be a controller of the motor. The control unit 2 is electrically connected with the resolver 1. After the control unit 2 receives at least one detection signal, the control unit 2 performs shaping processing on the at least one detection signal to form a pulse signal. The number of the pulse signal is related to the electrical angular velocity of the detection signal, and the electrical angular velocity of the detection signal is related to the rotational speed of the motor. Therefore, the current rotational speed of the motor can be estimated according to the number of the pulse signal. The control unit 2 can directly perform shaping processing on the detection signal to form the pulse signal. Therefore, the rotational speed information can be directly extracted from the pulse signal without complex phase-locked loop calculation, which simplifies the processing process of the detection signal. Then, the current rotational speed of the motor is estimated according to the number of the pulse signal, which further simplifies the estimation system of the motor rotational speed and is beneficial to simplify the control process of the motor. At the same time, the detection signal is used to realize the redundant detection of the motor, which can improve the safety of the motor system. In addition, the current rotational speed of the motor can be used as a redundant signal for torque monitoring of the motor, which simplifies the torque monitoring process of the motor.

[0049] The technical scheme of the embodiment, at least one detection signal is output by the resolver, and then the control unit performs shaping processing on the at least one detection signal to form a pulse signal. Therefore, the rotational speed information can be directly extracted from the pulse signal without complex phase-locked loop calculation, which simplifies the processing process of the detection signal and the motor rotational speed redundant verification process. Then, the current rotational speed of the motor is estimated according to the number of the pulse signal, which further simplifies the estimation system of the motor rotational speed and is beneficial to simplify the control process of the motor. At the same time, the detection signal is used to realize the redundant detection of the motor, which can improve the safety of the motor system. In addition, the current rotational speed of the motor can be used as a redundant signal for torque monitoring of the motor, which simplifies the torque monitoring process of the motor.

[0050] Figure 3 Another motor rotational speed estimation system structure diagram provided by the embodiment of the application is shown in FIG. 2. Figure 3 The control unit 2 includes at least one group of controllers. The controller includes a signal shaping module 21 and a calculation module 22. The signal shaping module 21 is connected with the resolver 1. The signal shaping module 21 processes at least one detection signal to form a pulse signal. The calculation module 22 is connected with the signal shaping module 21. The calculation module 22 counts the pulse signal and estimates the current rotational speed of the motor according to the number of the pulse signal.

[0051] Specifically, Figure 3The control unit 2 is exemplarily shown to include a group of controllers. The number of the controllers can be equal to the number of the detection signals. When the detection signal is one, the control unit 2 can include one group of controllers, and when the detection signal is two, the control unit 2 can include two groups of controllers. The signal shaping module 21 in each group of controllers respectively receives one detection signal, and performs shaping processing on the received detection signal to form a pulse signal. Then the calculation module 22 receives the pulse signal and performs counting on the pulse signal to determine the number of the pulse signal in a unit time, and then estimates the current rotating speed of the motor according to the number of the pulse signal, so that the estimation system of the rotating speed of the motor can be simplified, and the control process of the motor is facilitated.

[0052] Figure 4 Another structure diagram of a motor rotating speed estimation system provided by the embodiment of the present application is shown in Figure 4 The signal shaping module 21 includes an envelope detector 211 and a sine shaper 212. The envelope detector 211 is connected with the resolver 1, and performs detection on at least one detection signal to obtain an envelope signal. The sine shaper 212 is connected with the envelope detector 211, and performs shaping on the envelope signal to convert the envelope signal into the pulse signal.

[0053] Specifically, Figure 4 The signal shaping module 21 is exemplarily shown to include the envelope detector 211 and the sine shaper 212. The envelope detector 211 is connected with the resolver 1, demodulates the detection signal, removes the carrier signal in the detection signal, and obtains the envelope signal after removing the carrier signal of the detection signal. The sine shaper 212 is connected with the envelope detector 211, and performs shaping on the envelope signal to convert the envelope signal into the pulse signal, so that the shaping process of the detection signal can be realized through the envelope detector 211 and the sine shaper 212, and the processing process of the detection signal is simplified. The envelope signal can include an upper envelope signal and a lower envelope signal.

[0054] Exemplarily, Figure 5 A circuit diagram of an envelope detector provided by the embodiment of the present application is shown in Figure 5, the envelope detector comprises an amplifier U1, a first capacitor C1, a first resistor R1, a diode D1, a second resistor R2 and a second capacitor C2. The input end of the amplifier U1 is connected with a pair of output winding ends of the rotary transformer 1, the output end of the amplifier U1 is connected with the first end of the first capacitor C1, the second end of the first capacitor C1 is respectively connected with the anode of the diode D1 and the first end of the first resistor R1, the cathode of the diode D1 is connected with the first end of the second resistor R2 and the first end of the second capacitor C2, and serves as the output end of the envelope detector, the second end of the first resistor R1, the second end of the second resistor R2 and the second end of the second capacitor C2 are grounded. Wherein, the amplifier U1 can be a differential amplifier, used for amplifying the detection signal output by the rotary transformer 1. Exemplarily, when the amplifier U1 is connected with the first sinusoidal output winding end S1 and the second sinusoidal output winding end S3 of the rotary transformer 1, the amplifier U1 can amplify the sinusoidal envelope signal output by the first sinusoidal output winding end S1 and the second sinusoidal output winding end S3. When the amplifier U1 is connected with the first cosine output winding end S2 and the second cosine output winding end S4 of the rotary transformer 1, the amplifier U1 can amplify the cosine envelope signal output by the first cosine output winding end S2 and the second cosine output winding end S4. The first capacitor C1 can be a direct-current isolation capacitor, and the first resistor R1 is a matching resistor, which can filter the direct current component in the amplified detection signal through the matching of the first capacitor C1 and the first resistor R1, remove the direct current component in the detection signal, and then the diode D1, the second resistor R2 and the second capacitor C2 constitute an envelope detection circuit, which detects the detection signal after the direct current filtering and extracts the envelope signal of the detection signal. Wherein, when the detection signal is a sinusoidal envelope signal, and the envelope signal is an upper envelope signal, the envelope signal can be an envelope signal of twice frequency Ek|sin(ω r t)|; when the detection signal is a sinusoidal envelope signal, and the envelope signal is a lower envelope signal, the envelope signal can be an envelope signal of twice frequency -Ek|sin(ω r t)|. When the detection signal is a cosine envelope signal, and the envelope signal is an upper envelope signal, the envelope signal can be an envelope signal of twice frequency Ek|cos(ω r t)|, and when the detection signal is a cosine envelope signal, and the envelope signal is a lower envelope signal, the envelope signal can be an envelope signal of twice frequency -Ek|cos(ω r t)|. Wherein, E represents the amplitude of the excitation carrier, k represents the transformation ratio of the rotary transformer 1, and ω r represents the electrical angular velocity of the rotary transformer 1.

[0055] Figure 6 The circuit schematic diagram of the sinusoidal shaper provided by the embodiment of the application, with reference to Figure 6The sine shaper includes a comparator U2, a third resistor R3 and a fourth resistor R4. The positive input terminal of the comparator U2 is connected with the output terminal of the envelope detector, the negative input terminal of the comparator U2 is connected with the threshold signal input terminal through the third resistor R3, and the threshold signal is input. The first end of the fourth resistor R4 is connected with the negative input terminal of the comparator U2, and the second end of the fourth resistor R4 is grounded. The third resistor R3 and the fourth resistor R4 can be used to configure the threshold voltage of the comparator U1. After the envelope detector outputs the envelope signal, the comparator U2 is used to compare the size of the envelope signal and the threshold signal. When the envelope signal is greater than the threshold signal, the comparator U2 outputs a high level, and when the envelope signal is less than the threshold signal, the comparator U2 outputs a low level, so as to form a pulse signal according to the comparison result of the envelope signal and the threshold signal. The current rotating speed of the motor can be estimated according to the number of pulse signals.

[0056] By setting the threshold signal, two pulse signals can be generated in each electrical period of the resolver, and then the number of pulses in a unit time is counted, so that the rotating speed of the motor can be calculated. When the rotating speed of the motor increases, the number of carriers existing in each period decreases, which may cause the envelope signal obtained to be not zero. At this time, the threshold signal can be reset to ensure that there are two pulses in each period.

[0057] Figure 7 Another structure schematic diagram of a motor rotating speed estimation system provided by the embodiment of the present application is provided with reference to Figure 7 The resolver 1 can also output two detection signals at the same time, which are sine signals and cosine signals. At this time, the control unit 2 includes two groups of controllers, each group of controllers includes a signal shaping module and a calculation module 22, and the signal shaping module includes an envelope detector 211 and a sine shaper 212. The envelope detector 211 and the sine shaper 212 in each group of controllers can shape the corresponding detection signals to form pulse signals, and estimate the current rotating speed of the motor according to the number of pulse signals, so that the rotating speed estimation of the motor can be completed even if one group of output lines of the resolver 1 is disconnected.

[0058] With reference to Figure 7 The controller in the control unit 2 further includes a filter 23, and the filter 23 is connected in series between the envelope detector 211 and the sine shaper 212.

[0059] Specifically, the envelope signal obtained by the envelope detector 211 can be filtered by the filter 23 first to obtain the envelope signal filtered by the noise, at this time, the envelope signal can be a half-cycle sine signal or a cosine signal, and then the half-cycle sine signal or the cosine signal can be converted into a pulse signal after being shaped by the sine shaper, then the calculation module 22 can count the pulse according to the pulse signal, and estimate the current speed of the motor according to the number of pulse signals. For example, the filter 23 can be a low-pass filter, such as Figure 6 As shown in the figure, the filter 23 can include a fifth resistor R5 and a third capacitor C3, the first end of the fifth resistor R5 is connected with the output end of the envelope detector 211, the second end of the fifth resistor R5 is connected with the first end of the third capacitor C3, and the third capacitor C3 is grounded.

[0060] On the basis of the above-mentioned embodiments, the calculation module includes a single-chip microcomputer, the single-chip microcomputer is connected with the signal shaping module, the single-chip microcomputer counts the pulse signal and calculates the electrical angular velocity of the resolver according to the number of pulses; wherein the electrical angular velocity of the resolver and the current speed of the motor are in a multiple relationship.

[0061] Specifically, the single-chip microcomputer is a typical embedded microcontroller, which is composed of an arithmetic unit, a controller, a memory, an input / output terminal and the like. The single-chip microcomputer is connected with the signal shaping module, can count the pulse signal output by the signal shaping module, so as to determine the number of pulses, then calculate the electrical angular velocity of the resolver according to the number of pulses in the period of the resolver, and estimate the speed of the motor according to the relationship between the electrical angular velocity and the speed of the motor. Wherein the product of the electrical angular velocity of the resolver and the number of pole pairs is the current speed of the motor.

[0062] Alternatively, the calculation module can also include a logic device, the logic device is connected with the signal shaping module, the logic device counts the pulse signal and calculates the current speed of the motor according to the number of pulse signals in a unit time.

[0063] Specifically, in other embodiments, the calculation module can also be a logic device. The logic device is connected with the signal shaping module, used to count the pulse signal output by the signal shaping module, and calculate the number of pulse signals in a unit time, then calculate the current speed of the motor according to the number of pulses in a unit time. In the embodiment of the application, the logic device can also provide logic protection according to the current speed, the logic protection executes appropriate protection mode according to the speed signal, protects the power device, and completes the protection action of active short circuit or tube closing according to the speed. For example, the logic device can be a complex programmable logic device (CPLD) and a field programmable gate array (FPGA) and the like.

[0064] The embodiment of the present application also provides a motor rotating speed estimation method, which is used in the case that the motor performs rotating speed redundancy check. Figure 8 A flowchart of a motor rotating speed estimation method provided by the embodiment of the present application is shown in Figure 8 The method comprises the following steps.

[0065] S1: acquiring at least one detection signal provided by a rotating transformer on a motor; wherein the rotating transformer rotates synchronously with the motor.

[0066] S2: performing shaping processing on the at least one detection signal to form a pulse signal, and estimating the current rotating speed of the motor according to the number of the pulse signal.

[0067] The technical scheme of the embodiment comprises the following steps: acquiring at least one detection signal provided by a rotating transformer on a motor, and then performing shaping processing on the at least one detection signal to form a pulse signal, so that the rotating speed information can be extracted from the pulse signal directly without complex phase-locked loop calculation, the processing process of the detection signal is simplified, and the motor rotating speed redundancy check process is simplified. Then the current rotating speed of the motor is estimated according to the number of the pulse signal, and the motor rotating speed estimation system is simplified, which is beneficial to simplify the control process of the motor. On the basis of the above technical scheme, the at least one detection signal is processed to form a pulse signal, and the current rotating speed of the motor is estimated according to the number of the pulse signal, which comprises the following steps.

[0068] The at least one detection signal is processed to form a pulse signal.

[0069] The pulse signal is counted, and the current rotating speed of the motor is estimated according to the number of the pulse signal.

[0070] On the basis of the above technical scheme, the at least one detection signal is processed to form a pulse signal, which comprises the following steps.

[0071] The at least one detection signal is detected to acquire an envelope signal.

[0072] The envelope signal is shaped to convert the envelope signal into a pulse signal.

[0073] On the basis of the above technical scheme, before the envelope signal is shaped, the following step is further included.

[0074] The envelope signal is filtered.

[0075] On the basis of the above technical scheme, the pulse signal is counted, and the current rotating speed of the motor is estimated according to the number of the pulse signal, which comprises the following steps.

[0076] The pulse signals are counted, and the electrical angular velocity of the resolver is calculated according to the number of pulses; wherein the electrical angular velocity of the resolver is in a multiplicative relationship with the current rotating speed of the motor;

[0077] Or,

[0078] The pulse signals are counted, and the current rotating speed of the motor is calculated according to the number of pulse signals in a unit time.

[0079] The above detailed description does not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A motor rotation speed estimation system characterized by comprising: The application relates to a motor speed estimation method and device. The application comprises: a rotary transformer arranged on the motor, the rotary transformer being used for synchronous rotation with the motor and outputting at least one detection signal; a control unit connected with the rotary transformer, the control unit being used for shaping processing the at least one detection signal to form a pulse signal and estimating the current rotating speed of the motor according to the number of the pulse signals; the control unit comprises at least one set of controllers, the controllers comprising a signal shaping module and a calculation module; the signal shaping module is connected with the rotary transformer, and the signal shaping module is used for processing the at least one detection signal to form a pulse signal; the calculation module is connected with the signal shaping module, and the calculation module is used for counting the pulse signals and estimating the current rotating speed of the motor according to the number of the pulse signals; the signal shaping module comprises an envelope detector and a sine shaper; the envelope detector is connected with the rotary transformer, and the envelope detector is used for detecting the at least one detection signal to obtain an envelope signal; 2. The motor rotation speed estimation system according to claim 1, characterized by, the sine shaper is connected with the envelope detector, and the sine shaper is used for shaping the envelope signal to convert the envelope signal into the pulse signal.

3. The motor rotation speed estimation system according to claim 1, characterized by, The controller further comprises a filter; the filter is connected in series between the envelope detector and the sine shaper. The calculation module comprises a single-chip microcomputer, the single-chip microcomputer is connected with the signal shaping module, and the single-chip microcomputer is used for counting the pulse signals and calculating the electrical angular velocity of the rotary transformer according to the number of the pulse signals; wherein the electrical angular velocity of the rotary transformer is in a multiple relationship with the current rotating speed of the motor; 4. A method of estimating the rotational speed of an electric machine, characterized by alternatively, the calculation module comprises a logic device, the logic device is connected with the signal shaping module, and the logic device is used for counting the pulse signals and calculating the current rotating speed of the motor according to the number of the pulse signals in a unit time. The application relates to a motor speed estimation method and device. The application comprises: obtaining at least one detection signal provided by a rotary transformer on a motor; wherein the rotary transformer rotates synchronously with the motor; shaping processing the at least one detection signal to form a pulse signal and estimating the current rotating speed of the motor according to the number of the pulse signals; shaping processing the at least one detection signal to form a pulse signal and estimating the current rotating speed of the motor according to the number of the pulse signals, comprising: processing the at least one detection signal to form a pulse signal; counting the pulse signals and estimating the current rotating speed of the motor according to the number of the pulse signals; processing the at least one detection signal to form a pulse signal, comprising:

5. The method of claim 4, wherein detecting the at least one detection signal to obtain an envelope signal; shaping the envelope signal to convert the envelope signal into the pulse signal.

6. The motor rotational frequency estimating method according to claim 4, characterized by Before shaping the envelope signal, the method further comprises: filtering the envelope signal. counting the pulse signals and estimating the current rotating speed of the motor according to the number of the pulse signals, comprising: counting the pulse signals, and calculating the electrical angular velocity of the resolver according to the number of the pulse signals; wherein the electrical angular velocity of the resolver is in a multiplicative relationship with the current rotating speed of the motor; or, counting the pulse signals, and calculating the current rotating speed of the motor according to the number of the pulse signals in a unit time.

Images