A self-adjustable dual-speed rotary transformer shaft angle conversion device and method

Abstract

The application discloses a self-adjustable double-speed rotary transformer shaft angle conversion device and method, which directly connects the double-speed rotary transformer output signal line into a shaft angle calculation module without considering the wiring relationship; the shaft angle calculation module calculates the fine code and coarse code data of the double-speed rotary transformer; in the configuration mode, the double-speed rotary transformer is rotated according to the positive direction specified by a user, a correction logic unit corrects the direction and phase of the fine code and coarse code data, and stores the correction parameters in a storage module; in the working mode, the correction logic unit directly calls the correction parameters to correct the original data; and an error correction logic unit is responsible for fine and coarse error correction and combination of the corrected fine code and coarse code data. The application only needs to be simply configured once to automatically adjust the correction parameters, without considering the wiring relationship and reconfiguring each time, and can realize automatic error correction, thereby improving the working efficiency and reducing the development cost.

Description

Technical Field

[0001] This invention belongs to the field of electrical technology, and is mainly a self-tuning dual-speed rotary transformer shaft angle conversion device and method. Background Technology

[0002] A dual-speed rotary transformer is a device that uses the principle of electromagnetic induction to measure angles. It consists of a stator and a rotor. The stator contains one set of coils as the primary winding, while the rotor contains two sets of coils with different numbers of pole pairs as the secondary winding. When an excitation signal is input to the primary winding, sine and cosine signals related to the angle are induced in the secondary winding. Because of its two sets of secondary windings with different numbers of pole pairs, the dual-speed rotary transformer can simultaneously output two sets of induced signals, one fine and one coarse. By processing and correcting these two sets of signals, a higher-precision angle data can be obtained. Due to its high precision and reliability, the dual-speed rotary transformer is commonly used in industrial control and military applications.

[0003] Two problems are often encountered in the use of dual-speed rotary transformers: First, dual-speed rotary transformers have multiple pairs of output wires, and incorrect wiring between them and the shaft angle conversion device during assembly often leads to the inability to calculate the correct data; second, since dual-speed rotary transformers directly calculate two sets of data, coarse and fine, they need to be combined through error correction to obtain high-precision results.

[0004] Existing technology 1 (CN106707892A) provides an automatic detection device and method for the wiring of a dual-speed rotary transformer. The basic idea is to add a signal switching module between the dual-speed rotary transformer and the shaft angle conversion device. It uses an enumeration method to list all possible wiring combinations, and the main control module judges the result of each combination to detect the correct wiring sequence. This method can automatically detect the wiring sequence of the rotary transformer, but it has the following limitations: it does not solve the problems of coarse code direction phase correction, coarse code recognition, and combination error correction; it requires adding a signal switching module hardware, increasing cost; the enumeration method results in a long detection time; and the wiring relationship needs to be re-detected each time it is used.

[0005] Existing technology two (CN102879017B) provides a method for coarse and fine combination of a dual-speed shaft angle digital converter. The basic idea is to use hardware circuitry to build an error correction circuit to perform error correction combination on the coarse and fine data calculated by the dual-speed rotary transformer, and then output it through a tri-state latch. This method has error correction combination function, but it has the following limitations: this method requires the wiring relationship of the dual-speed rotary transformer to be correct; it can only be used for specific equipment; and the circuit must be redesigned after the coarse and fine speed ratio changes. Summary of the Invention

[0006] The purpose of this invention is to provide a self-tuning dual-speed rotary transformer shaft angle conversion device.

[0007] The technical solution for achieving the object of the present invention is: a self-tunable dual-speed resolver shaft-angle conversion device, comprising a shaft-angle calculation module, a control module, a storage module, a status indication module, and a configuration module. The shaft-angle calculation module is configured to calculate the raw fine code and coarse code data of the dual-speed resolver; the configuration module is configured to set the shaft-angle conversion device to a configuration mode or an operation mode, and provide the control module with the current fine-coarse speed ratio of the resolver; in the configuration mode, a user rotates the dual-speed resolver in a positive direction specified by the user until configuration is completed, the control module calculates configuration parameters, corrects the raw fine code and coarse code data according to the configuration parameters, performs error correction and combination on the corrected data to obtain combined angle data, and stores the configuration parameters in the storage module at the same time; in the operation mode, the control module directly calls the configuration parameters in the storage module to correct the raw fine code and coarse code data, and performs error correction and combination on the corrected data to obtain combined angle data; the status indication module is configured to feed back whether the shaft-angle conversion device completes configuration.

[0008] Preferably, the control module comprises a correction logic unit and an error correction logic unit, the correction logic unit calculates configuration parameters in the configuration mode and corrects the raw fine code and coarse code data according to the configuration parameters, and in the operation mode, the control module directly calls the configuration parameters in the storage module to correct the raw fine code and coarse code data; the error correction logic unit is configured to perform error correction and combination on the corrected data to obtain combined angle data.

[0009] Preferably, when the shaft-angle conversion device is set to the configuration mode, the specific process for the control module to calculate the configuration parameters is:

[0010] Step 1.1: collect 4 groups of raw coarse code data DataH1, DataH2, DataH3, DataH4 and 4 groups of raw fine code data DataL1, DataL2, DataL3, DataL4 from the shaft-angle calculation module in sequence, determine whether the collected coarse code data satisfies: DataH1>DataH2>DataH3>DataH4 or DataH1<DataH2<DataH3<DataH4; and whether the fine code data satisfies DataL1>DataL2>DataL3>DataL4 or DataL1<DataL2<DataL3<DataL4, if yes, proceed to the next step, if not, automatically recollect data;

[0011] Step 1.2: if DataH1>DataH2>DataH3>DataH4, correct the coarse code direction, the corrected coarse code DataH1'=(2 k -1)-DataH1, DataH2'=(2 k-1)-DataH2,DataH3'=(2 k -1)-DataH3,DataH4'=(2 k -1)-DataH4; Using the same method, we obtain the corrected refined codes DataL1', DataL2', DataL3', DataL4'; k is the number of bits in the refined and coarse code binary data;

[0012] Step 1.3: If (DataH2'-DataH1')>(DataL2'-DataL1'), then the refined code and the coarse code are swapped, resulting in new coarse code data DataH1”=DataL1', DataH2”=DataL2', DataH3”=DataL3', DataH4”=DataL4'; using the same method, the corrected refined code DataL1”, DataL2”, DataL3”, DataL4” is obtained;

[0013] Step 1.4, based on the relationship between the ratio of the number of pole pairs n of the roughing and finishing machines and the roughing speed ratio X. n =X gives the ratio n of the pole logarithms of the coarse and fine machines;

[0014] Represent "DataH1" in binary as H1H2H3H4H5H6H7…H k DataL1 is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the highest bits, based on H in the coarse code. n+1 H n+2 The difference between the phases of the coarse and fine codes is obtained by combining L1 and L2 in the fine code, specifically:

[0015] According to H n+1 H n+2 = (L1L2+f), determine the value of f;

[0016] When f = 0, the phase difference between the fine code and the coarse code is 0°.

[0017] When f = 1, the fine code and the coarse code are 90° out of phase;

[0018] When f=2, the fine code and the coarse code are 180° out of phase;

[0019] When f=3, the fine code and the coarse code are 270° out of phase;

[0020] Step 1.5: Use the f-value from Step 1.4 to check DataH2” and DataL2”, DataH3” and DataL3”, DataH4” and DataL4” to determine whether they satisfy the condition that H' n+1 H' n+2=(L'1L'2+f), H' n+1 H' n+2 The (n+1)th and (n+2)th bits of "DataH2" and "DataH3" are represented in binary, and L'1 and L'2 are represented in binary as the 1st and 2nd bits of "DataH3" and "DataL3"; if the conditions are not met, return to step 1.1; if the conditions are met, proceed to the next step.

[0021] Step 1.6: Store the configuration parameters obtained in steps 1.2 to 1.5 into the storage module.

[0022] Preferably, the configuration parameters include: whether the coarse and fine code direction is corrected; whether the coarse and fine code are swapped; the coarse and fine code speed ratio; and the coarse and fine code phase difference.

[0023] Preferably, the error correction logic unit performs error correction combination on the data corrected by the correction logic unit to obtain the combined angle number as follows:

[0024] Step 2.1: The error correction logic unit receives the corrected data DataH and DataL from the correction logic unit;

[0025] Step 2.2: The error correction logic unit receives the coarse-to-fine speed ratio X from the configuration module, and determines the ratio based on the relationship between the ratio of pole pairs n of the coarse-to-fine machine and X. n =X to get n; Represent DataH in binary as H1H2H3H4H5H6H7…H k DataL is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the most significant bits, and k is the number of bits in the coarse / fine binary code.

[0026] Based on the H in the coarse code n+1 H n+2 Error correction is performed using the L1 and L2 states in the refined code. The specific error correction judgment process is as follows:

[0027] If H n+1 H n+2 =11, L1L2=00, then the high-order part of the error-corrected combined code is (H1H2H3…H n +1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ;

[0028] If H n+1 H n+2 =00, L1L 27 =11, then the high-order part of the error-corrected combination code is (H1H2H3…Hn -1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ;

[0029] If H n+1 H n+2 =00, L1L 27 If = 00, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k ;

[0030] If H n+1 H n+2 =11, L1L 27 If the value is 11, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k .

[0031] Preferably, when the control module obtains all the configuration parameters and stores them in the storage module, the status indicator module provides feedback on the configuration completion by illuminating an indicator light.

[0032] The present invention also proposes to include:

[0033] Users can set the shaft angle conversion device to configuration mode or working mode through the configuration module, and at the same time set the fine and coarse speed ratio of the rotary transformer;

[0034] The shaft angle calculation module calculates the fine and coarse original data of the dual-speed rotary transformer;

[0035] The correction logic unit makes a judgment based on the configuration enable signal sent by the configuration module. If it is in configuration mode, it performs fine and coarse code recognition, corrects the direction and phase of the original data of fine and coarse codes, and stores the configuration parameters obtained in the correction process in the storage module. If it is in working mode, it directly calls the configuration parameters in the storage module for correction.

[0036] When the shaft angle conversion device is set to configuration mode, the specific process by which the control module calculates the configuration parameters is as follows:

[0037] Step 1.1: collect 4 groups of coarse code raw data DataH1, DataH2, DataH3, DataH4 and 4 groups of fine code raw data DataL1, DataL2, DataL3, DataL4 from the shaft angle resolution module in sequence, determine whether the collected coarse code data satisfies: DataH1>DataH2>DataH3>DataH4 or DataH1<DataH2<DataH3<DataH4; and whether the fine code data satisfies DataL1>DataL2>DataL3>DataL4 or DataL1<DataL2<DataL3<DataL4. If the conditions are satisfied, perform the next step; if not, automatically re-collect data;

[0038] Step 1.2: if DataH1>DataH2>DataH3>DataH4, correct the coarse code direction, the corrected coarse code DataH1’=(2 k -1)-DataH1, DataH2’=(2 k -1)-DataH2, DataH3’=(2 k -1)-DataH3, DataH4’=(2 k -1)-DataH4; corrected fine code DataL1’, DataL2’, DataL3’, DataL4’ are obtained by the same method, wherein k is the number of binary bits of the coarse and fine codes;

[0039] Step 1.3: if (DataH2’-DataH1’)>(DataL2’-DataL1’), exchange the fine code and the coarse code to obtain new coarse code data DataH1”=DataL1’, DataH2”=DataL2’, DataH3”=DataL3’, DataH4”=DataL4’; corrected fine code DataL1”, DataL2”, DataL3”, DataL4” are obtained by the same method;

[0040] Step 1.4: obtain the pole对数 ratio n of the coarse and fine machines according to the relationship 2 n =X between the pole对数 ratio n of the coarse and fine machines and the coarse-fine speed ratio X;

[0041] Express DataH1” in binary as H1H2H3H4H5H6H7…H k and express DataL1” in binary as L1L2L3L4L5L6L7…L k , wherein H1 and L1 are the most significant bits, according to H in the coarse code n+1 H n+2The difference between the phases of the coarse and fine codes is obtained by combining L1 and L2 in the fine code, specifically:

[0042] According to H n+1 H n+2 = (L1L2+f), determine the value of f;

[0043] When f = 0, the phase difference between the fine code and the coarse code is 0°.

[0044] When f = 1, the fine code and the coarse code are 90° out of phase;

[0045] When f=2, the fine code and the coarse code are 180° out of phase;

[0046] When f=3, the fine code and the coarse code are 270° out of phase;

[0047] Step 1.5: Use the f-value from Step 1.4 to check DataH2” and DataL2”, DataH3” and DataL3”, DataH4” and DataL4” to determine whether they satisfy the condition that H' n+1 H' n+2 =(L'1L'2+f), H' n+1 H' n+2 The (n+1)th and (n+2)th bits of "DataH2" and "DataH3" are represented in binary, and L'1 and L'2 are represented in binary as the 1st and 2nd bits of "DataH3" and "DataL3"; if the conditions are not met, return to step 1.1; if the conditions are met, proceed to the next step.

[0048] Step 1.6: Store the configuration parameters obtained in steps 1.2 to 1.5 into the storage module;

[0049] The error correction logic unit combines the corrected fine and coarse code data according to the set speed ratio for fine and coarse combination and error correction, and combines the angle data. The specific method is as follows:

[0050] Step 2.1: The error correction logic unit receives the corrected data DataH and DataL from the correction logic unit;

[0051] Step 2.2: The error correction logic unit receives the coarse-to-fine speed ratio X from the configuration module, and determines the ratio based on the relationship between the ratio of pole pairs n of the coarse-to-fine machine and X. n =X to get n; Represent DataH in binary as H1H2H3H4H5H6H7…H k DataL is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the most significant bits, and k is the number of bits in the coarse / fine binary code.

[0052] Based on the H in the coarse code n+1 Hn+2 Error correction is performed using the L1 and L2 states in the refined code. The specific error correction judgment process is as follows:

[0053] If H n+1 H n+2 =11, L1L2=00, then the high-order part of the error-corrected combined code is (H1H2H3…H n +1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ;

[0054] If H n+1 H n+2 =00, L1L 27 =11, then the high-order part of the error-corrected combination code is (H1H2H3…H n -1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ;

[0055] If H n+1 H n+2 =00, L1L 27 If = 00, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k ;

[0056] If H n+1 H n+2 =11, L1L 27 If the value is 11, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k .

[0057] Compared with the prior art, the significant advantages of this invention are:

[0058] 1. This invention features a self-tuning function, allowing connection of the dual-speed rotary transformer output signal line and shaft angle calculation module without considering wiring relationships. This avoids the common problem of incorrect data calculation due to wiring errors during assembly, thus improving work efficiency and versatility.

[0059] 2. This invention can automatically correct and combine the fine and coarse code data output by the dual-speed rotary transformer, and can directly output the combined high-precision data.

[0060] 3. This invention only requires configuration once after wiring is completed, and no further configuration is needed for subsequent use, thus improving work efficiency.

[0061] 4. This invention can arbitrarily specify either clockwise or counterclockwise direction as the positive direction, making it highly versatile.

[0062] 4. High expandability: It can easily increase the number of interfaces of the dual-speed rotary transformer, and has good expandability. Attached Figure Description

[0063] Figure 1 This is a block diagram of the shaft angle conversion device of the present invention;

[0064] Figure 2 This is a schematic block diagram of the shaft angle conversion device of the present invention;

[0065] Figure 3 This is the electrical schematic diagram of a dual-speed rotary transformer;

[0066] Figure 4 This is a flowchart of the correction logic unit in the control module of this invention;

[0067] Figure 5 This is a flowchart of the error correction logic unit in the control module of this invention; Detailed Implementation

[0068] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0069] like Figure 1 As shown, a self-tuning dual-speed rotary transformer shaft angle conversion device is used to convert the angle signal output by the dual-speed rotary transformer (1), including:

[0070] Shaft angle calculation module (2) is used to calculate the original data of fine code and coarse code of dual-speed rotary transformer;

[0071] The configuration module (6) is used to set the current configuration mode or working mode of the dual-speed rotary transformer shaft angle calculation module, and to provide the current coarse and fine speed ratio of the rotary transformer to the control module.

[0072] In configuration mode, the user rotates the dual-speed rotary transformer in the positive direction as specified by the user until the configuration is completed. The control module calculates the configuration parameters and corrects the original data of the fine code and coarse code according to the configuration parameters. The corrected data is then combined to obtain the combined angle data. At the same time, the configuration parameters are stored in the storage module. In working mode, the control module directly calls the configuration parameters in the storage module to correct the original data of the fine code and coarse code. The corrected data is then combined to obtain the combined angle. The storage unit (4) stores the correction parameters corresponding to the wiring relationship of the current dual-speed rotary transformer shaft angle calculation module. After each configuration is completed, the control module (3) writes the new configuration parameters into the storage unit.

[0073] The status display module (5) is used to provide feedback on whether the shaft angle conversion device has completed configuration. When the control module obtains all configuration parameters and stores them in the storage module, the status indicator module provides feedback on the completion of configuration by illuminating the indicator light.

[0074] Without considering wiring relationships, connect the output signal line of the dual-speed rotary transformer to the shaft angle calculation module. If the control module is set to configuration mode, simply rotate the dual-speed rotary transformer in the user-specified positive direction. The correction logic unit in the control module will complete the fine and coarse code recognition and correct the direction and phase of the fine and coarse code data. At the same time, it will store the correction parameters corresponding to the current wiring relationship in the storage module for direct retrieval in normal mode to correct the data. The error correction logic unit in the control module will combine the corrected fine and coarse code data according to the set speed ratio and perform fine and coarse combination and error correction, and output the combined high-precision angle data.

[0075] The dual-speed rotary transformer (1) consists of two parts: a coarse machine and a fine machine. After the excitation power is turned on, it can output two sets of angle-related induction signals, coarse and fine, at the same time. After the present invention performs calculation and error correction on the two sets of signals, a higher precision angle data can be obtained.

[0076] A dual-speed rotary transformer (1) is a device that uses the principle of electromagnetic induction to measure angles. It consists of a stator and a rotor. The stator contains a set of coils as the primary side, and the rotor contains two sets of coils with different numbers of pole pairs as the secondary side. When an excitation signal is input to the primary side, sine and cosine signals related to the angle are induced on the secondary side. Figure 3 The diagram shows the electrical schematic of a dual-speed rotary transformer. RH and RL represent the excitation power supply terminals. S1S3 are the sine output terminals for the roughing mill, S2S4 are the cosine output terminals for the roughing mill, S5S7 are the sine output terminals for the finishing mill, and S6S8 are the cosine output terminals for the finishing mill. Taking the roughing mill as an example, the relationship between the rotor output sine and cosine voltages and the rotor angle is as follows:

[0077]

[0078] Among them, V S1-S3 V is the output voltage of the sinusoidal winding. S4-S2 V is the output voltage of the cosine winding, K is the proportional coefficient, and V is the output voltage of the cosine winding. RL-RH θ is the excitation voltage, f is the excitation frequency, and θ is the rotor angle relative to the initial position.

[0079] Under normal circumstances, the shaft angle conversion module (2) can only output correct coarse and fine code data if all five pairs of wires—the sine and cosine windings of the coarse and fine windings of the dual-speed rotary transformer and the excitation signal—are connected correctly. Analysis of formula (1) shows that wiring errors will have three types of impact on the data calculated by the shaft angle conversion module (2):

[0080] 1) The output phase of the coarse and fine codes changes, with the phase shifting in four cases: 0°, 90°, 180°, and 270°.

[0081] 2) When the rotary transformer is rotated in the forward direction, the data will either increase or decrease;

[0082] 3) If the fine and coarse codes are connected incorrectly, the fine and coarse codes will be swapped.

[0083] This invention proposes a self-tuning dual-speed rotary transformer shaft angle conversion method. This method avoids the common problem in previous assembly processes where incorrect wiring between the shaft angle conversion device and the transformer resulted in the inability to calculate correct data. The specific steps are as follows:

[0084] Users can configure the shaft angle conversion device to either configuration mode or working mode via the configuration module, and simultaneously set the fine and coarse speed ratio of the rotary transformer.

[0085] The shaft angle calculation module calculates the fine and coarse original data of the dual-speed rotary transformer.

[0086] The correction logic unit determines the configuration based on the configuration enable signal from the configuration module. If in configuration mode, it performs fine and coarse code identification, corrects the direction and phase of the fine and coarse code data, and stores the configuration parameters obtained during the correction process in the storage module. If in working mode, it directly calls the configuration parameters in the storage module for correction. The error correction logic unit combines the corrected fine and coarse code data according to the set speed ratio for fine and coarse combination and error correction, and outputs the combined high-precision angle data.

[0087] Furthermore, Figure 2 The control module is implemented using a programmable field of view (FPGA), where the correction logic unit is responsible for correcting the original coarse and fine code data, combined with... Figure 4 The flowchart illustrates the data correction process. In configuration mode, the correction logic unit corrects the direction and phase of the refined and coarse code data, and stores the configuration parameters obtained during the correction process in the storage module. The specific process is as follows:

[0088] Step 1.1, in the configuration mode, an operator shall rotate the two-speed resolver in the specified positive direction; collect 4 sets of coarse raw data DataH1, DataH2, DataH3, DataH4 and 4 sets of fine raw data DataL1, DataL2, DataL3, DataL4 from the shaft angle resolution module in sequence, determine whether the collected coarse data satisfies: DataH1>DataH2>DataH3>DataH4 or DataH1<DataH2<DataH3<DataH4, and whether the fine data satisfies DataL1>DataL2>DataL3>DataL4 or DataL1<DataL2<DataL3<DataL4. If the conditions are satisfied, proceed to the next step; if not, automatically recollect the data;

[0089] Step 1.2, if DataH1>DataH2>DataH3>DataH4, correct the coarse code direction, after correction, coarse code DataH1' = (2 k -1)-DataH1, DataH2' = (2 k -1)-DataH2, DataH3' = (2 k -1)-DataH3, DataH4' = (2 k -1)-DataH4; by the same method, obtain corrected fine code DataL1', DataL2', DataL3', DataL4'; k is the number of binary bits of coarse and fine codes;

[0090] Step 1.3, if (DataH2'-DataH1')>(DataL2'-DataL1'), swap the fine code and the coarse code to obtain new coarse data DataH1"=DataL1', DataH2"=DataL2', DataH3"=DataL3', DataH4"=DataL4'; by the same method, obtain corrected fine data DataL1", DataL2", DataL3", DataL4";

[0091] Step 1.4, obtain the pole pair ratio n of the coarse and fine resolvers according to the relationship 2 n =X between the pole pair ratio n of the coarse and fine resolvers and the speed ratio X of the coarse and fine resolvers;

[0092] Represent DataH1" in binary as H1H2H3H4H5H6H7…H k , represent DataL1" in binary as L1L2L3L4L5L6L7…L kH1 and L1 are the highest bits, based on H in the coarse code. n+1 H n+2 The difference between the phases of the coarse and fine codes is obtained by combining L1 and L2 in the fine code, specifically:

[0093] According to H n+1 H n+2 = (L1L2+f), determine the value of f;

[0094] When f = 0, the phase difference between the fine code and the coarse code is 0°.

[0095] When f = 1, the fine code and the coarse code are 90° out of phase;

[0096] When f=2, the fine code and the coarse code are 180° out of phase;

[0097] When f=3, the fine code and the coarse code are 270° out of phase;

[0098] Step 1.5: Use the f-value from Step 1.4 to check DataH2” and DataL2”, DataH3” and DataL3”, DataH4” and DataL4” to determine whether they satisfy the condition that H' n+1 H' n+2 =(L'1L'2+f), H' n+1 H' n+2 The (n+1)th and (n+2)th bits of "DataH2" and "DataH3" are represented in binary, and L'1 and L'2 are represented in binary as the 1st and 2nd bits of "DataH3" and "DataL3"; if the conditions are not met, return to step 1.1; if the conditions are met, proceed to the next step; step 1.6, store the configuration parameters obtained in steps 1.2 to 1.5 into the storage module.

[0099] Configuration parameters include:

[0100] 1) Has the direction of the coarse and fine codes been corrected?

[0101] 2) Whether the coarse and fine codes are swapped;

[0102] 3) Coarse / fine code speed ratio;

[0103] 4) Coarse and fine code phase difference.

[0104] The storage module is composed of FLASH chips and has the function of not losing data when power is off. At this point, the axis-angle conversion device has completed its configuration. The status indicator module illuminates the status indicator, indicating that the configuration is complete, and the user can stop rotating the dual-speed rotary transformer.

[0105] If the correction logic unit determines that the shaft angle conversion device is in normal working mode based on the configuration enable signal sent by the configuration module, it directly calls the correction parameters in the storage module to correct the original coarse and fine code data and outputs the corrected coarse and fine data.

[0106] The advantage of a dual-speed rotary transformer over a conventional rotary transformer lies in its use of two sets of rotors with different numbers of pole pairs. This allows for the generation of two sets of data: coarse and fine codes. Further error correction and combination of these data yields higher-precision data. The following section will combine... Figure 5 The workflow of the error correction logic unit in the analysis control module is as follows: The error correction logic unit combines the corrected fine code and coarse code data according to the set speed ratio, performs fine and coarse combination and error correction, and outputs the combined high-precision angle data.

[0107] Step 2.1: The error correction logic unit receives the corrected data DataH and DataL from the correction logic unit;

[0108] Step 2.2: The error correction logic unit receives the coarse-to-fine speed ratio X from the configuration module, and determines the ratio based on the relationship between the ratio of pole pairs n of the coarse-to-fine machine and X. n =X to get n; Represent DataH in binary as H1H2H3H4H5H6H7…H k DataL is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the most significant bits, and k is the number of bits in the coarse / fine binary code.

[0109] Based on the H in the coarse code n+1 H n+2 Error correction is performed using the L1 and L2 states in the refined code. The specific error correction judgment process is as follows:

[0110] If H n+1 H n+2 =11, L1L2=00, then the high-order part of the error-corrected combined code is (H1H2H3…H n +1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ;

[0111] If H n+1 H n+2 =00, L1L 27 =11, then the high-order part of the error-corrected combination code is (H1H2H3…H n -1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H'n L1L2L3L4L5L6L7…L k ;

[0112] If H n+1 H n+2 =00, L1L 27 If = 00, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k ;

[0113] If H n+1 H n+2 =11, L1L 27 If the value is 11, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k .

[0114] Output the combined angle data.

Claims

1. A self-tuning dual-speed rotary transformer shaft angle conversion device, characterized in that, comprises an axial angle resolving module, a control module, a storage module, a status indication module and a configuration module, wherein the axial angle resolving module is configured to resolve fine code and coarse code original data of a dual-speed resolver; the configuration module is configured to set the axial angle conversion device into a configuration mode or an operation mode, and provide a fine-coarse ratio of a current resolver to the control module; in the configuration mode, the control module performs fine-coarse code identification, corrects the data direction and phase of fine code and coarse code, performs error correction combination on the corrected data to obtain combined angle data, and stores configuration parameters obtained in a correction process in the storage module; in the operation mode, the control module directly calls the configuration parameters in the storage module to correct the fine code and coarse code original data, and performs error correction combination on the corrected data to obtain combined angle data; the status indication module is configured to feed back whether the axial angle conversion device completes configuration; when the axial angle conversion device is set to the configuration mode, the specific process of the control module calculating configuration parameters is: step 1.1, collecting 4 groups of coarse code original data DataH1, DataH2, DataH3, DataH4 and 4 groups of fine code original data DataL1, DataL2, DataL3, DataL4 from the axial angle resolving module in sequence, determining whether the collected coarse code data satisfies: DataH1>DataH2>DataH3>DataH4 or DataH1<DataH2<DataH3<DataH4; and whether the fine code data satisfies DataL1>DataL2>DataL3>DataL4 or DataL1<DataL2<DataL3<DataL4, if yes, executing the next step, if no, automatically re-collecting data; Step 1.2, if DataH1>DataH2>DataH3>DataH4, then correct the direction of the coarse code. After correction, the coarse code DataH1'=(2 k - 1)-DataH1, DataH2'=(2 k - 1) - DataH2, DataH3'=(2 k - 1)- DataH3, DataH4'=(2 k - 1)- DataH4; Using the same method, we obtain the corrected refined codes DataL1', DataL2', DataL3', DataL4'; k is the number of bits of the refined and coarse code binary data; step 1.3, if (DataH2'-DataH1')> (DataL2'-DataL1'), exchanging the fine code and the coarse code to obtain new coarse code data DataH1''= DataL1', DataH2''= DataL2', DataH3''= DataL3', DataH4''= DataL4'; and obtaining corrected fine code DataL1'', DataL2'', DataL3'', DataL4'' by using the same method; Step 1.4, based on the relationship between the ratio of the number of pole pairs n of the roughing and finishing machines and the roughing speed ratio X. n =X gives the ratio n of the pole pairs of the coarse and fine machines; Represent DataH1'' in binary as H1H2H3H4H5H6H7…H k DataL1'' is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the highest bits, based on H in the coarse code. n+1 H n+2 The difference between the phases of the coarse and fine codes is obtained by combining L1 and L2 in the fine code, specifically: According to H n+1 H n+2 = (L1L2 + f), determine the value of f; when f=0, the phase difference between the fine code and the coarse code is 0°; when f=1, the phase difference between the fine code and the coarse code is 90°; when f=2, the phase difference between the fine code and the coarse code is 180°; when f=3, the phase difference between the fine code and the coarse code is 270°; Step 1.5: Use the f-values ​​from Step 1.4 to check DataH2'' and DataL2'', DataH3'' and DataL3'', and DataH4'' and DataL4'' to determine whether they satisfy the condition that H... ， n+1 H ， n+2 =(L ， 1L ， 2 + f), H ， n+1 H ， n+2 For the (n+1)th and (n+2)th bits of DataH2'', DataH3'', and DataH4'' represented in binary, L ， 1L ， 2 represents the first and second bits of DataL2'', DataL3'', and DataL4'' in binary; if the condition is not met, return to step 1.1; if the condition is met, proceed to the next step. step 1.6, storing the configuration parameters obtained in steps 1.2 to 1.5 into the storage module.

2. The self-tuning dual-speed rotary transformer shaft angle conversion device according to claim 1, characterized in that, the control module comprises a correction logic unit and an error correction logic unit, wherein the correction logic unit performs fine-coarse code identification in the configuration mode and corrects the data direction and phase of the fine code and the coarse code; in the operation mode, the control module directly calls the configuration parameters in the storage module to correct the fine code and coarse code original data; the error correction logic unit is configured to perform error correction combination on the corrected data to obtain combined angle data.

3. The self-tuning dual-speed rotary transformer shaft angle conversion device according to claim 1, characterized in that, The configuration parameters include: whether the fine and coarse code directions are corrected; whether fine codes and coarse codes are exchanged; the speed ratio between fine codes and coarse codes; and the phase difference between fine codes and coarse codes.

4. The self-tuning dual-speed rotary transformer shaft angle conversion device according to claim 1, characterized in that, When the control module obtains all configuration parameters and stores the parameters in the storage module, the status indication module feeds back that configuration is completed by lighting up the indicator light.

5. The self-tuning dual-speed rotary transformer shaft angle conversion device according to claim 1, characterized in that, In the configuration mode, a user rotates the two-speed resolver in a positive direction specified by the user until configuration is completed.

6. The self-tuning dual-speed rotary transformer shaft angle conversion device according to claim 1, characterized in that, The specific method for obtaining combined angle data by performing error correction combination on corrected data is as follows: Step 2.1, an error correction logic unit receives corrected data DataH’’ and DataL’’ sent by a correction logic unit; Step 2.2: The error correction logic unit receives the coarse-to-fine speed ratio X from the configuration module, and determines the ratio based on the relationship between the ratio of pole pairs n of the coarse-to-fine machine and X. n =X to get n; Represent DataH'' in binary as H1H2H3H4H5H6H7…H k DataL'' is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the most significant bits, and k is the number of bits in the coarse / fine binary code. Based on the H in the coarse code n+1 H n+2 Error correction is performed using the L1 and L2 states in the refined code. The specific error correction judgment process is as follows: If H n+1 H n+2 =11, L1L2=00, then the high-order part of the error-corrected combination code is (H1H2H3…H n +1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 =00, L1L2=11, then the high-order part of the error-corrected combined code is (H1H2H3…H n -1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 If L1L2=00, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 =11, L1L2=11, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k .

7. A method based on the shaft angle conversion device according to any one of claims 1 to 6, characterized in that, Comprises: A user sets an axial angle conversion device to a configuration mode or an operation mode through a configuration module, and sets the fine-coarse speed ratio of the resolver at the same time; An axial angle calculation module calculates and obtains original fine code data and original coarse code data of the two-speed resolver; A correction logic unit makes a judgment according to a configuration enable signal sent by the configuration module: if the device is in the configuration mode, it performs fine and coarse code identification, corrects the direction and phase of the original fine code data and original coarse code data, and stores the configuration parameters obtained in the correction process in the storage module; If the device is in the operation mode, it directly invokes the configuration parameters in the storage module for correction; When the axial angle conversion device is set to the configuration mode, the specific process for the control module to calculate the configuration parameters is as follows: Step 1.1, collect 4 groups of original coarse code data DataH1, DataH2, DataH3, DataH4 and 4 groups of original fine code data DataL1, DataL2, DataL3, DataL4 from the axial angle calculation module in sequence, judge whether the collected coarse code data satisfies: DataH1>DataH2>DataH3>DataH4 or DataH1<DataH2<DataH3<DataH4; and whether the fine code data satisfies DataL1>DataL2>DataL3>DataL4 or DataL1<DataL2<DataL3<DataL4. If yes, execute the next step; if not, automatically recollect data; Step 1.2, if DataH1>DataH2>DataH3>DataH4, then correct the direction of the coarse code. After correction, the coarse code DataH1'=(2 k - 1)-DataH1, DataH2'=(2 k - 1) - DataH2, DataH3'=(2 k - 1)- DataH3, DataH4'=(2 k - 1)- DataH4; Using the same method, we obtain the corrected refined codes DataL1', DataL2', DataL3', DataL4'; k is the number of bits of the refined and coarse code binary data; Step 1.3, if (DataH2'-DataH1')> (DataL2'-DataL1'), exchange fine codes and coarse codes to obtain new coarse code data DataH1''= DataL1', DataH2''= DataL2', DataH3''= DataL3', DataH4''= DataL4'; by the same method, obtain corrected fine codes DataL1'', DataL2'', DataL3'', DataL4''; Step 1.4, based on the relationship between the ratio of the number of pole pairs n of the roughing and finishing machines and the roughing speed ratio X. n =X gives the ratio n of the pole pairs of the coarse and fine machines; Represent DataH1'' in binary as H1H2H3H4H5H6H7…H k DataL1'' is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the highest bits, based on H in the coarse code. n+1 H n+2 The difference between the phases of the coarse and fine codes is obtained by combining L1 and L2 in the fine code, specifically: According to H n+1 H n+2 = (L1L2 + f), determine the value of f; When f=0, the phase difference between the fine code and the coarse code is 0°; When f=1, the phase difference between the fine code and the coarse code is 90°; When f=2, the phase difference between the fine code and the coarse code is 180°; When f=3, the phase difference between the fine code and the coarse code is 270°; Step 1.5: Use the f-values ​​from Step 1.4 to check DataH2'' and DataL2'', DataH3'' and DataL3'', and DataH4'' and DataL4'' to determine whether they satisfy the condition that H... ， n+1 H ， n+2 =(L ， 1L ， 2 + f), H ， n+1 H ， n+2 For the (n+1)th and (n+2)th bits of DataH2'', DataH3'', and DataH4'' represented in binary, L ， 1L ， 2 represents the first and second bits of DataL2'', DataL3'', and DataL4'' in binary; if the condition is not met, return to step 1.1; if the condition is met, proceed to the next step. Step 1.6, store the configuration parameters obtained in steps 1.2 to 1.5 in the storage module; The error correction logic unit combines the corrected fine and coarse code data according to the set speed ratio for fine and coarse combination and error correction, and combines the angle data. The specific method is as follows: Step 2.1: The error correction logic unit receives the corrected data DataH'' and DataL'' from the correction logic unit; Step 2.2: The error correction logic unit receives the coarse-to-fine speed ratio X from the configuration module, and determines the ratio based on the relationship between the ratio of pole pairs n of the coarse-to-fine machine and X. n =X to get n; Represent DataH'' in binary as H1H2H3H4H5H6H7…H k DataL'' is represented in binary as L1L2L3L4L5L6L7…L k H1 and L1 are the most significant bits, and k is the number of bits in the coarse / fine binary code. Based on the H in the coarse code n+1 H n+2 Error correction is performed using the L1 and L2 states in the refined code. The specific error correction judgment process is as follows: If H n+1 H n+2 =11, L1L2=00, then the high-order part of the error-corrected combination code is (H1H2H3…H n +1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 =00, L1L2=11, then the high-order part of the error-corrected combined code is (H1H2H3…H n -1), assuming the calculation result is H'1H'2H'3…H' n The combined data is H'1H'2H'3…H' n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 If L1L2=00, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k ; If H n+1 H n+2 =11, L1L2=11, then the high-order bits of the coarse code H1H2H3H4H5 do not need to be changed after error correction, and the combined data is H1H2H3…H n L1L2L3L4L5L6L7…L k .

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