Rotating information measurement method and device, rotary transformer system and computer equipment

Abstract

The application relates to a rotation information measurement method and device, a resolver system and a computer device. One resolver output signal in a resolver output signal at an output end of a resolver is acquired; the one resolver output signal comprises a single-channel output signal; the single-channel output signal is decoded to obtain rotation information of the resolver; the rotation information comprises a rotor rotation angle of the resolver; the decoding of the single-channel output signal comprises: acquiring a mapping relationship between the single-channel output signal and the rotor rotation angle of the resolver at multiple different moments within a preset sampling period; and the rotor rotation angle of the resolver is obtained according to the single-channel output signal at the multiple different moments and the mapping relationship. The rotation information of the resolver is measured by using the single-channel resolver output signal, the rotation information is measured at a low cost, noise sources are introduced less, and the reliability of the rotation information measurement is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measurement, in particular to a rotation information measurement method and device, resolver system and computer equipment. BACKGROUND

[0002] Resolver / transformer is a small AC motor for measuring angle, which is used to measure the shaft angle displacement and angular velocity of rotating objects, and is composed of stator winding and rotor winding. The stator winding serves as the primary side of the transformer and receives the excitation voltage. The excitation frequency is much higher than the mechanical rotation frequency to be measured, which serves as the carrier frequency of the rotation angle signal. In actual use, the resolver stator is usually assembled with the motor stator, and the resolver rotor is usually assembled with the motor rotor, so as to measure the motor rotation information and monitor the motor rotation process.

[0003] However, the existing resolver transformer rotation information measurement method needs to use both sine and cosine resolver signals or use excitation signals and sine or cosine signals to jointly transmit information. SUMMARY

[0004] Therefore, it is necessary to provide a rotation information measurement method, device, resolver system and computer equipment, which only uses one of the sine or cosine signals, saves the sampling cost by sampling and decoding multiple time points, and improves the safety and stability in the case of independent decoding of multiple channels.

[0005] A rotation information measurement method is applied to a resolver system, and the resolver system includes a resolver, which includes:

[0006] A resolver output signal of the resolver output end is obtained, and the resolver output signal includes a single output signal.

[0007] The single output signal is decoded to obtain the rotation information of the resolver, and the rotation information includes the rotor angle of the resolver.

[0008] The decoding of the single output signal includes obtaining the mapping relationship between the single output signal and the rotor angle of the resolver at multiple different times within a preset sampling period, and obtaining the rotor angle of the resolver according to the single output signal at multiple different times and the mapping relationship.

[0009] In one embodiment, the method further includes:

[0010] At least two resolver output signals of the resolver output end are obtained.

[0011] Each of the at least two resolver output signals is decoded to obtain the rotation information of the resolver.

[0012] In one embodiment, determining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship includes:

[0013] Obtain the phase difference values ​​of the single-channel output signal at at least two different times;

[0014] The rotor angle of the rotary transformer is obtained based on the phase difference value, the mapping relationship between the single-channel output signal at at least two different times and the rotor angle of the rotary transformer.

[0015] In one embodiment, the step of determining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship further includes:

[0016] A first preset transformation process is performed on the mapping relationship between the single-channel output signal and the rotor angle of the rotary transformer at at least three different times to obtain intermediate transformation values;

[0017] The rotor angle of the rotary transformer is obtained based on the single-channel output signal at at least three different times and the intermediate transformation quantity.

[0018] In one embodiment, the decoding process of the resolver output signal also includes:

[0019] Obtain the mapping relationship between the output signal corresponding to the first preset rotation cycle and the rotor angle of the rotary transformer;

[0020] The mapping relationship is subjected to a second preset transformation process to obtain the spectral relationship corresponding to the output signal;

[0021] The rotor angle of the rotary transformer is determined based on the aforementioned spectral relationship.

[0022] In one embodiment, the decoding process of the resolver output signal further includes:

[0023] Obtain the mapping relationship between the output signal corresponding to the second preset rotation cycle and the rotor angle of the rotary transformer;

[0024] The mapping relationship is subjected to a third preset transformation process to obtain the envelope relationship corresponding to the output signal;

[0025] The rotor angle of the rotary transformer is obtained based on the envelope relationship.

[0026] A rotation information measuring device applied to a resolver system, the resolver system comprising a resolver, comprising:

[0027] An acquisition module is configured to acquire one resolver output signal from resolver output signals of the resolver; the one resolver output signal comprises a single-channel output signal;

[0028] A decoding module is connected to the acquisition module and configured to decode the single-channel output signal to obtain rotation information of the resolver; the rotation information comprises a rotor angle of the resolver; the decoding of the single-channel resolver output signal comprises: acquiring a mapping relationship between the single-channel output signal and the rotor angle of the resolver at multiple different time instants within a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at the multiple different time instants and the mapping relationship.

[0029] A resolver system, comprising:

[0030] A resolver;

[0031] A decoding circuit is configured to decode a single-channel output signal to obtain rotation information of the resolver; the rotation information comprises a rotor angle of the resolver; the decoding of the single-channel output signal comprises: acquiring a mapping relationship between the single-channel output signal and the rotor angle of the resolver at multiple different time instants within a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at the multiple different time instants and the mapping relationship.

[0032] A computer device, comprising a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the method.

[0033] A computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method.

[0034] The aforementioned rotation information measurement method, apparatus, resolver system, and computer equipment acquire one resolver output signal from the resolver output signal at the output terminal of the resolver; the one resolver output signal includes a single output signal; the single output signal is decoded to obtain the rotation information of the resolver; the rotation information includes the rotor angle of the resolver; the decoding of the single output signal includes: acquiring the mapping relationship between the single output signal and the rotor angle of the resolver at multiple different times within a preset sampling period; and obtaining the rotor angle of the resolver based on the single output signal at multiple different times and the mapping relationship; thereby achieving the measurement of the rotation information of the resolver using a single resolver output signal, thus measuring the rotation information at a lower cost, introducing fewer noise sources, and effectively improving the reliability of the rotation information measurement. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of a resolver system structure using single-channel independent decoding in one embodiment;

[0037] Figure 2 This is a schematic diagram of a resolver system structure using dual-channel independent decoding in one embodiment;

[0038] Figure 3 This is a flowchart illustrating a rotation information measurement method in one embodiment;

[0039] Figure 4 This is a schematic diagram of the specific process of step 304 in one embodiment;

[0040] Figure 5 This is a schematic diagram of the specific process of step 304 in one embodiment;

[0041] Figure 6 This is a schematic diagram of the specific process of step 302 in one embodiment;

[0042] Figure 7 This is a schematic block diagram of the rotation information measuring device in one embodiment. Detailed Implementation

[0043] For the purpose of promoting an understanding of the principles of the application, reference will now be made to the embodiments illustrated in the drawings. There can, of course, be many different forms of the application and the focus of the disclosure is directed to the best modes contemplated for the application. It is therefore submitted that the present application will be better understood if the following

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0045] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It is to be understood that the terms "first", "second", and the like, used in the description and / or in the claims, are used to differentiate between similar elements and do not necessarily indicate an execution sequence among the elements. For example, a first client can be termed a second client, and, similarly, a second client can be termed a first client, without departing from the scope of the present application. Both the first client and the second client are clients, but they are not the same client. It is also to be understood that the terms "comprises", "comprising", "includes", "including", or "has", "having" and the like, specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

[0046] The rotation information measurement method provided by the application is applied to a rotary transformer system. The rotary transformer system comprises a rotary transformer, and the rotary transformer comprises a stator and a rotor. The stator winding is the primary side of the transformer, and the rotor winding is the secondary side of the transformer.

[0047] As shown in Figure 1 and Figure 2 , it is a structure schematic diagram of a rotary transformer system in an embodiment. The rotary transformer system comprises a rotary transformer, a conditioning circuit, a data acquisition circuit (ADC) and an operation unit. In the rotary transformer system, Figure 1 , it is a structure schematic diagram of a rotary transformer system adopting single-path independent decoding, Figure 1 , wherein 101 is an amplification circuit, 102 is a rotary transformer, 103 is a conditioning circuit, 104 is a data acquisition circuit, and 105 is an operation unit; Figure 2 , it is a structure schematic diagram of a rotary transformer system adopting double-path independent decoding, Figure 2The middle 201 is an amplification circuit, 202 is a resolver, 203 is a conditioning circuit, 204 is a data acquisition circuit, 205 is an operation unit. The resolver is installed on a rotating machine (rotating motor, etc.), and the excitation signal is connected. When the rotating machine rotates, it outputs any one of the resolver output signals. The resolver output signal includes an output signal, and the output signal is a single modulated signal. The conditioning circuit converts the resolver signal into a digital signal, and then outputs it to the operation unit.

[0048] Specifically, the resolver outputs any one of the resolver output signals, the data acquisition circuit receives the resolver signal and converts it into a digital quantity corresponding to the resolver signal, and the operation unit receives the digital quantity and independently calculates the collected digital quantity to obtain the rotating speed. In the case of single resolver signal, the rotating speed is directly obtained; in the case of multiple resolver signals, the rotating information contained in each resolver signal is comprehensively judged, and then the rotating information of the resolver is obtained; the rotating information of the resolver is measured by using single resolver output signal, so that the rotating information is measured at low cost, the noise source is introduced less, and the reliability of the rotating information measurement is effectively improved.

[0049] Referring to Figure 3 , it is a flowchart of the rotating information measurement method in an embodiment.

[0050] In this embodiment, the rotating information measurement method is applied to a resolver system, and the resolver system includes a resolver, as shown in Figure 3 The rotating information measurement method includes steps 302 to 304.

[0051] Step 302, obtaining one of the resolver output signals of the resolver output terminal; the one of the resolver output signals includes a single output signal.

[0052] Optionally, the resolver output terminal can be the secondary winding of the resolver when the resolver rotates with the rotating machine; the resolver output signal can be the resolver signal output by the secondary winding of the resolver when the resolver rotates with the rotating machine; one of the resolver output signals can be any one of the multiple resolver output signals; the resolver output signal includes an output signal, that is, the one of the resolver output signals includes a single output signal, and the output signal is a modulated signal; the method for obtaining one of the resolver output signals of the resolver output terminal can be obtained by connecting the signal measurement device with the secondary winding of the resolver when the resolver rotates with the rotating machine.

[0053] In step 304, the single-channel output signal is decoded to obtain the rotation information of the resolver, wherein the rotation information includes the rotor angle of the resolver, and the decoding of the single-channel output signal includes: obtaining the mapping relationship between the single-channel output signal and the rotor angle of the resolver at different time points in a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at different time points and the mapping relationship.

[0054] Optionally, the decoding process can be a process of restoring the resolver output signal (i.e., the resolver signal in the form of a digital signal) to the rotation information of the resolver represented by the resolver output signal. The rotation information of the resolver can be the angular displacement of the rotation axis of the resolver when the resolver rotates with the rotating machine, or the angular velocity of the resolver when the resolver rotates with the rotating machine, or the rotor angle of the resolver.

[0055] In one embodiment, at least two resolver output signals of the resolver output signal are obtained, and each of the at least two resolver output signals is decoded to obtain the rotation information of the resolver.

[0056] Optionally, the at least two resolver output signals can be more than two single-channel resolver output signals, and the decoding of each of the at least two resolver output signals can be the decoding of each of the more than two single-channel resolver output signals independently.

[0057] The rotation information measurement method provided in the embodiment includes: obtaining a single-channel resolver output signal of a resolver output signal of a resolver; the single-channel resolver output signal includes a single-channel output signal; decoding the single-channel resolver output signal to obtain the rotation information of the resolver; the rotation information includes the rotor angle of the resolver; the decoding of the single-channel output signal includes: obtaining the mapping relationship between the single-channel output signal and the rotor angle of the resolver at different time points in a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at different time points and the mapping relationship. The rotation information of the resolver is measured by using a single-channel resolver output signal, so that the rotation information is measured at a lower cost, the noise source is introduced less, and the reliability of the rotation information measurement is effectively improved.

[0058] Optionally, the case that the rotor angle of the resolver is obtained according to the single-channel output signals at multiple different times and the mapping relationship also includes: obtaining a phase difference value of the single-channel output signals at at least two different times; and obtaining the rotor angle of the resolver according to the phase difference value and a mapping relationship between the single-channel output signals at the at least two different times and the rotor angle of the resolver.

[0059] Specifically, taking a sinusoidal resolver signal as an example, under the condition that the influence of the number of pole pairs is not considered for the moment, the sinusoidal resolver signal is as follows:

[0060] y sin = kE sin (ω e t + θ e ) sin (ωt + θ0)

[0061] E is an amplitude of an excitation signal, k is a transformation multiple of the resolver, ω e is a frequency of the excitation signal, and both are known quantities or can be calibrated; θ0 is a rotation angle at a starting time. In addition, considering that the frequency of the resolver rotating with the rotating machinery is much smaller than the frequency of the excitation signal, sin(θ) can be regarded as a constant in a short time, so that more than two points in the range of 150 degrees are taken, and the optimal solution is obtained by using the least square method, so as to derive the rotation angle θ at any time; the following formula is taken to obtain two points i and i+1:

[0062]

[0063] The above two formulas are divided, the phase difference of the excitation signal between adjacent two points is determined, and is recorded as δ, and then the following formula can be obtained:

[0064]

[0065] δ = Ts·ω e

[0066] Let

[0067] α = ω e t(i) + θ e

[0068] Let α change in 0 to 360 degrees, and the change curve can be obtained as follows:

[0069]

[0070] At any time, the change curve intersects with the following horizontal line:

[0071]

[0072] Thus, sin a, a are determined, then kE sin (θ) is determined, and finally the rotor angle θ of the resolver is determined by inverse sine.

[0073] Optionally, the case of obtaining the rotor angle of the resolver according to the single-channel output signals at multiple different times and the mapping relationship also includes: performing first preset transformation processing on the mapping relationship between the single-channel output signals at at least three different times and the rotor angle of the resolver, to obtain an intermediate transformation quantity; obtaining the rotor angle of the resolver according to the single-channel output signals at the at least three different times and the intermediate transformation quantity. The first preset transformation processing can be Teager energy operator (TEO) transformation; the intermediate transformation quantity can be a mathematical transformation quantity based on Teager energy operator (TEO); the energy operator is a nonlinear operator proposed by scientist Teager, and the main feature is that it can track and analyze the instantaneous energy of a signal, and this mathematical transformation is denoted as J.

[0074] Specifically, taking the sinusoidal resolver signal as an example, under the condition of not considering the influence of the number of pole pairs for the moment, the sinusoidal resolver signal is as follows:

[0075] y sin = kE sin (ω e t+θ e ) sin (ωt+θ0)

[0076] First, for an error-free linear oscillation:

[0077] x(t) = A cos (kt+θ)

[0078] J transformation can obtain:

[0079] J[x(t)] = J[A cos (kt+θ)] = A 2 k 2

[0080] And the energy operator of the discrete signal x(n) is defined as:

[0081] J[x(n)] = x 2 (n) - x(n-1) x(n+1)

[0082] Teager energy operator is obtained by taking the sinusoidal resolver signal:

[0083] J[y sin ] = J[kE sin (ωt+θ0) sin (ω e t+θ e)]=k 2 E 2 sin 2 (ωt+θ0)

[0084] Then use the following formula:

[0085]

[0086] We can obtain:

[0087]

[0088] Therefore, after calibrating kE, we can calculate the inverse cosine to obtain the rotor angle θ of the rotary transformer at any given time.

[0089] In one embodiment, the mapping relationship between multiple single-channel output signals within a preset sampling period and the rotor angle of the resolver is obtained; the rotor angle of the resolver is obtained based on the single-channel output signals at multiple different times and the mapping relationship; the rotation information of the resolver can be measured using the single-channel resolver output signal, thereby enabling the monitoring of the motor rotation process at a lower cost, introducing fewer noise sources, and effectively improving the reliability of rotation information measurement.

[0090] The rotation information measurement method provided in this embodiment acquires one resolver output signal from the resolver output signal at the output terminal of the resolver; the resolver output signal includes a single output signal; the single output signal is decoded to obtain the rotation information of the resolver; the rotation information includes the rotor angle of the resolver; the decoding of the single output signal includes: acquiring the mapping relationship between the single output signal and the rotor angle of the resolver at multiple different times within a preset sampling period; and obtaining the rotor angle of the resolver based on the single output signal at multiple different times and the mapping relationship; thus, the rotation information of the resolver is measured using a single resolver output signal, thereby measuring the rotation information at a lower cost, introducing fewer noise sources, and effectively improving the reliability of the rotation information measurement.

[0091] See Figure 4 This is a schematic diagram of the specific process of step 304 in one embodiment.

[0092] In this embodiment, the resolver output signal includes an output signal, such as... Figure 4 As shown, step 304 includes sub-steps 402 to 406.

[0093] Step 402: Obtain the mapping relationship between the output signal and the rotor angle of the rotary transformer within the first preset rotation cycle.

[0094] In step 404, a second preset transformation processing is performed on the mapping relationship to obtain a spectrum relationship corresponding to the output signal.

[0095] In step 406, the rotor angle of the resolver is obtained according to the spectrum relationship.

[0096] Optionally, the first preset rotation period can be greater than or equal to a time period corresponding to one rotation period of the resolver; the second preset transformation processing can be a Fourier Transform; and the spectrum relationship can be a transformation result obtained after the Fourier Transform.

[0097] Specifically, taking the sinusoidal resolver signal as an example, under the condition of not considering the influence of the number of pole pairs, the sinusoidal resolver signal is as follows:

[0098] y sin = kE sin (ω e t + θ e ) sin (ωt + θ0)

[0099] The following formula is used:

[0100] cos (α + β) = cos α cos β - sin α sin β

[0101] cos (α - β) = cos α cos β + sin α sin β

[0102] The above two formulas are subtracted to obtain:

[0103]

[0104] Combined with the sinusoidal resolver signal relationship, the following formula is obtained:

[0105]

[0106] Then, the short-time Fourier Transform is performed on the above formula to obtain two similar spectrums, and the difference between the two spectrums is obtained to further obtain the rotor angle θ of the resolver at any time.

[0107] The rotation information measurement method provided in the embodiment, by acquiring a mapping relationship between the output signal and the rotor angle of the resolver within a first preset rotation period, performing second preset transformation processing on the mapping relationship to acquire a frequency spectrum relationship corresponding to the output signal, and obtaining the rotor angle of the resolver according to the frequency spectrum relationship, the rotation information of the resolver is measured by using a single-channel resolver output signal, so that the rotation information is measured at a lower cost, the noise source is introduced less, and the reliability of the rotation information measurement is effectively improved.

[0108] Referring to Figure 5 , a specific flowchart of step 304 in an embodiment is shown.

[0109] In the embodiment, the resolver output signal includes an output signal, such as Figure 5 As shown, the step 304 includes sub-step 502 to sub-step 506.

[0110] In sub-step 502, a mapping relationship between the output signal and the rotor angle of the resolver within a second preset rotation period is acquired.

[0111] In sub-step 504, third preset transformation processing is performed on the mapping relationship to acquire an envelope relationship corresponding to the output signal.

[0112] In sub-step 506, the rotor angle of the resolver is obtained according to the envelope relationship.

[0113] Optionally, the second preset rotation period can be more than at least one excitation signal period; the third preset transformation processing can be Hilbert transform; and the envelope relationship can be a transformation result corresponding to the Hilbert transform.

[0114] Specifically, taking a sinusoidal resolver signal as an example, without considering the influence of the number of pole pairs, the sinusoidal resolver signal is as follows:

[0115] y sin = kE sin(ω e t+θ e ) sin(ωt+θ0)

[0116] Considering that the frequency of the resolver rotating with the rotating machine is much smaller than the excitation signal frequency, the Hilbert transform is performed on the above formula, and the envelope is as follows:

[0117]

[0118] The kE is combined as a constant, and the rotor rotation angle θ of the resolver can be obtained by calculating the inverse sine in the range of 150 degrees:

[0119]

[0120] The rotation information measurement method provided in the embodiment obtains the mapping relationship between the output signal and the rotor rotation angle of the resolver in the second preset rotation period, performs third preset transformation processing on the mapping relationship to obtain the envelope relationship corresponding to the output signal, and obtains the rotor rotation angle of the resolver according to the envelope relationship. The rotation information measurement method realizes the measurement of the rotation information of the resolver by using a single-channel resolver output signal, thereby measuring the rotation information at a lower cost, introducing fewer noise sources, and effectively improving the reliability of the rotation information measurement.

[0121] Referring to Figure 6 , a specific flowchart of step 302 in an embodiment is shown.

[0122] In the embodiment, as Figure 6 shown, the step 302 includes sub-step 602 to sub-step 606.

[0123] In the sub-step 602, the winding information of the resolver is obtained.

[0124] In the sub-step 604, the conversion coefficient of the resolver is obtained according to the winding information.

[0125] In the sub-step 606, the resolver output signal at the output end of the resolver is obtained by performing conversion processing on the input signal according to the conversion coefficient.

[0126] Optionally, the winding information of the resolver can be the primary winding and secondary winding ratio of the resolver. The conversion coefficient can be the voltage conversion proportional relationship of the resolver, that is, the multiple of voltage amplitude amplification or reduction. The conversion processing is voltage conversion on the input signal input via the primary winding of the resolver.

[0127] The rotation information measurement method provided in the embodiment obtains the winding information of the resolver, obtains the conversion coefficient of the resolver according to the winding information, performs conversion processing on the input signal according to the conversion coefficient to obtain the resolver output signal at the output end of the resolver, and decodes the resolver output signal to obtain the rotation information of the resolver. The rotation information measurement method realizes the measurement of the rotation information of the resolver by using a single-channel resolver output signal, thereby measuring the rotation information at a lower cost, introducing fewer noise sources, and effectively improving the reliability of the rotation information measurement.

[0128] It should be understood that although Figures 3-6 The steps in the flowcharts are shown in sequence according to the arrows, but the steps are not necessarily executed in the order shown by the arrows. Unless otherwise specified herein, the steps are not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, Figures 3-6 At least some of the steps in the flowcharts can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution sequence of the sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least some of the other steps or sub-steps or stages of other steps. It should be noted that the above different embodiments can be combined with each other.

[0129] Referring to Figure 7 , a schematic block diagram of the structure of a rotation information measurement device in an embodiment.

[0130] In this embodiment, the rotation information measurement method is applied to a resolver system, which includes a resolver, such as Figure 7 As shown, the rotation information measurement device includes an acquisition module 710 and a decoding module 720.

[0131] In this embodiment, each module is used to execute each step in the corresponding embodiment in Figure 3 , and the specific implementation process can refer to the corresponding embodiment and the related description in the Figure 3 embodiment, which will not be described here in detail. Figure 3

[0132] The acquisition module 710 is configured to acquire one of resolver output signals at an output end of the resolver; the one of the resolver output signals includes a single-channel output signal.

[0133] The decoding module 720 is connected with the acquisition module 710 and is configured to decode the single-channel output signal to obtain rotation information of the resolver; the rotation information includes a rotor angle of the resolver; the decoding of the single-channel output signal includes: acquiring a mapping relationship between the single-channel output signal and the rotor angle of the resolver at multiple different times within a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at the multiple different times and the mapping relationship.

[0134] ​The rotation information measuring device provided in the embodiment comprises: an acquisition module 710 configured to acquire one of resolver output signals at a resolver output end; the one of resolver output signals comprises a single-channel output signal; and a decoding module 720 connected to the acquisition module 710 and configured to decode the single-channel output signal to obtain rotation information of the resolver; the rotation information comprises a rotor angle of the resolver; the decoding of the single-channel resolver output signal comprises: acquiring a mapping relationship between the single-channel output signal and the rotor angle of the resolver at multiple different time points in a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at the multiple different time points and the mapping relationship; the rotation information of the resolver is measured by using the single-channel resolver output signal, so that the rotation information is measured at a lower cost, noise sources are introduced less, and the reliability of the rotation information measurement is effectively improved.

[0135] The application further provides a resolver system, comprising: a resolver; and a decoding circuit configured to decode a single-channel output signal to obtain rotation information of the resolver; the rotation information comprises a rotor angle of the resolver; the decoding of the single-channel output signal comprises: acquiring a mapping relationship between the single-channel output signal and the rotor angle of the resolver at multiple different time points in a preset sampling period; and obtaining the rotor angle of the resolver according to the single-channel output signal at the multiple different time points and the mapping relationship; the rotation information of the resolver is measured by using the single-channel resolver output signal, so that the rotation process of the motor is monitored at a lower cost, and the reliability of the rotation information measurement is effectively improved.

[0136] In the embodiments, each module is configured to perform the steps in the corresponding embodiments, and details are described in the corresponding embodiments and the related description in the embodiments, which will not be repeated here. Figure 3 In the embodiments, each module is configured to perform the steps in the corresponding embodiments, and details are described in the corresponding embodiments and the related description in the embodiments, which will not be repeated here. Figure 3 In the embodiments, each module is configured to perform the steps in the corresponding embodiments, and details are described in the corresponding embodiments and the related description in the embodiments, which will not be repeated here. Figure 3 In the embodiments, each module is configured to perform the steps in the corresponding embodiments, and details are described in the corresponding embodiments and the related description in the embodiments, which will not be repeated here.

[0137] The division of each module in the rotation information measuring device is only for example, and in other embodiments, the rotation information measuring device can be divided into different modules as needed to complete all or part of the functions of the rotation information measuring device.

[0138] The specific limitations of the rotation information measurement device can be referred to the limitations of the rotation information measurement method, which will not be repeated here. Each module in the rotation information measurement device can be realized by software, hardware and their combination. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so that the processor calls and executes the operations corresponding to the above modules.

[0139] The embodiment of the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the method in the above embodiment.

[0140] The embodiment of the present application further provides a computer readable storage medium. One or more non-volatile computer readable storage media containing computer executable instructions, when the computer executable instructions are executed by one or more processors, make the processor execute the steps of the method in the above embodiment.

[0141] The rotation information measurement method, device, rotary variable system and computer device provided by the above embodiment realize the measurement of the rotation information of the rotary transformer by using a single rotary variable output signal, thereby measuring the rotation information at a lower cost, introducing fewer noise sources, effectively improving the reliability of the rotation information measurement, and having important economic value and practical value.

[0142] Any reference to memory, storage, databases, or other media used to hold data in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), which acts as external cache. As an illustration and not a limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM).

[0143] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.

[0144] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A method for measuring rotational information, applied to a resolver system, the resolver system comprising a resolver and a decoding circuit, characterized in that, include: Obtain one of the sine or cosine signals output by the rotary transformer; The single-channel output signal is decoded to obtain the rotation information of the rotary transformer; The rotation information includes the rotor angle of the rotary transformer; The rotation information is obtained through the decoding circuit; The decoding process for the single-channel output signal includes: determining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship; The mapping relationship is as follows: y sin =kE sin(ω e t+θ e )sin(ωt+θ0) Where E is the amplitude of the excitation signal, k is the transformer ratio of the rotary transformer, and ω e θ is the excitation signal frequency, and θ0 is the rotation angle at the initial moment.

2. The measurement method according to claim 1, characterized in that, The step of determining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship includes: Obtain the excitation signal phase difference value of the single-channel output signal at at least two different times; The rotor angle of the rotary transformer is obtained by solving the two-line intersection equation based on the phase difference value, the mapping relationship between the single-channel output signal at at least two different times and the rotor angle of the rotary transformer.

3. The measurement method according to claim 1, characterized in that, The step of determining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship further includes: The discrete Teager energy operator is calculated for the single-channel output signal at at least three different times, and the discrete Teager energy operator is defined as follows: J[x(n)]=x 2 (n)-x(n-1)x(n+1) The Teager energy operator is calculated for the mapping relationship, and the calculated Teager energy operator is defined as follows: By setting the definition of the discrete Teager energy operator to be equal to the definition of the calculated Teager energy operator, and then taking the inverse cosine, the rotation angle θ at any time can be obtained.

4. The measurement method according to claim 1, characterized in that, The decoding process for the resolver output signal also includes: The mapping relationship is transformed as follows: Then, a short-time Fourier transform is performed on the transformed mapping relationship to obtain two similar spectra. The difference between the two is 2ω, from which the rotational speed can be obtained.

5. The measurement method according to claim 1, characterized in that, The decoding process for the resolver output signal further includes: Applying a Hilbert transform to the mapping relationship yields the following envelope: The rotor angle of the rotary transformer is then obtained based on the envelope.

6. A rotation information measuring device, applied to a resolver system, the resolver system comprising a resolver and a decoding circuit, characterized in that, include: The acquisition module is used to acquire one of the sine or cosine signals output by the rotary transformer; A decoding module, connected to the acquisition module, is used to decode the single-channel output signal to obtain the rotation information of the rotary transformer; the rotation information is obtained through the decoding circuit; the rotation information includes the rotor angle of the rotary transformer; the decoding of the single-channel rotary transformer output signal includes: obtaining the rotor angle of the rotary transformer based on the single-channel output signal at multiple different times and the mapping relationship; The mapping relationship is as follows: y sin =kEsin(ω e t+θe)sin(ωt+θ0) Where E is the amplitude of the excitation signal, k is the transformer ratio of the rotary transformer, and ω e θ is the excitation signal frequency, and θ0 is the rotation angle at the initial moment.

7. A resolver system, characterized in that, include: Rotary transformer; The decoding circuit decodes the single-channel output signal to obtain the rotation information of the rotary transformer. The rotation information includes the rotor angle of the rotary transformer; the decoding process of the single-channel output signal includes: obtaining the rotor angle of the rotary transformer based on the single-channel output signals at multiple different times and the mapping relationship; The mapping relationship is as follows: y sin =kEsin(ω e t+θ e )sin(ωt+θ0) Where E is the amplitude of the excitation signal, k is the transformer ratio of the rotary transformer, and ω e θ is the excitation signal frequency, and θ0 is the rotation angle at the initial moment.

8. A computer device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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