Rotary transformer transmitter angle detection and correction method and system

Abstract

The invention provides a resolver transmitter angle detection and correction method and system, and the method comprises the steps: detecting and analyzing the magnetic field environment state change data of a resolver transmitter during the operation period, obtaining the attribute information of a magnetic field environment change abnormal event, analyzing the excitation voltage data of the resolver transmitter during the operation period, obtaining the excitation voltage change attribute information, and correcting the angle of the resolver transmitter according to the excitation voltage change attribute information. Comparing the magnetic field environment change abnormal time attribute information with the excitation voltage change attribute information, judging whether an angle detection abnormal event occurs or not, and accurately identifying the angle detection interference possibly suffered by the rotary transformer transmitter according to the abnormal change distribution condition of the external magnetic field environment in the time dimension. Whether an angle detection abnormal event occurs or not is judged; when an angle detection abnormal event occurs, the abnormal coded signal sequence section is screened and corrected based on the magnetic field environment change abnormal time attribute information, so that the drift error generated by the angle detection result on the time level is accurately calibrated and corrected, and the credibility of the angle detection result is ensured.

Description

Technical Field

[0001] The present invention relates to the field of resolver transmitters, and in particular to a resolver transmitter angle detection and correction method and system. Background Art

[0002] As an angle sensor, the main components of the resolver transmitter include an excitation coil, an induction coil, and an encoding circuit. The excitation coil generates an electromagnetic field under the action of an alternating current, and the induction coil generates an induced electromotive force under the action of the electromagnetic field from the excitation coil. At the same time, the induction coil and the excitation coil move relative to each other. The voltage signal generated by the excitation of the induction coil is detected, and the voltage signal is processed by the encoding circuit to output the corresponding encoding signal, thereby realizing angle detection. The resolver transmitter usually operates in an environment where an external magnetic field is applied. When the external magnetic field is in a strong interference state, the magnetic field applied to the induction coil will increase, thereby affecting the size of the voltage signal generated in the end; when the external magnetic field is in a weak interference state, its magnetic field effect on the induction coil can be ignored. It can be seen that the actual interference effect of the external magnetic field on the resolver transmitter is intermittent in time, which makes the error of the angle detection result of the resolver transmitter also intermittent. In order to improve the angle detection accuracy of the resolver transmitter, it is necessary to accurately identify the time interval in which the external magnetic field interferes with the resolver transmitter. In this way, the angle detected by the resolver transmitter can be corrected in time periods to ensure the credibility of the angle detection result. Summary of the invention

[0003] The object of the present invention is to provide a method and system for detecting and correcting the angle of a resolver transmitter, which detects and analyzes the magnetic field environment state change data of the resolver transmitter during operation to obtain the attribute information of the abnormal event of the magnetic field environment change, and analyzes the excitation voltage data of the resolver transmitter during operation to obtain the attribute information of the excitation voltage change, compares the abnormal time attribute information of the magnetic field environment change with the attribute information of the excitation voltage change, and determines whether an abnormal angle detection event occurs. According to the abnormal change distribution of the external magnetic field environment in the time dimension, the angle detection interference that the resolver transmitter may be subjected to is accurately identified, so as to determine whether an abnormal angle detection event occurs; when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, the abnormal coding signal sequence segment is screened and corrected, so as to realize accurate calibration and correction of the drift error generated by the angle detection result at the time level, and ensure the accuracy and credibility of the angle detection result.

[0004] The present invention is achieved through the following technical solutions:

[0005] The angle detection and correction method of the resolver transmitter includes:

[0006] Performing magnetic field detection on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation; analyzing the magnetic field environment state change data to obtain abnormal time attribute information of the magnetic field environment change;

[0007] Analyzing the excitation voltage data of the resolver transmitter during the operation to obtain excitation voltage change attribute information; judging whether an angle detection abnormal event occurs in the resolver transmitter during the operation based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information; and determining the angle detection result of the resolver transmitter based on the coded signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs;

[0008] When an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, an abnormal coding signal sequence segment is filtered from the coding signal sequence output by the coding circuit; the abnormal coding signal sequence segment is corrected to determine the angle detection result of the resolver transmitter.

[0009] Optionally, a magnetic field detection is performed on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation; and the magnetic field environment state change data is analyzed to obtain abnormal time attribute information of the magnetic field environment change, including:

[0010] Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of all position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter;

[0011] Based on the position coordinate information of all the position points, the magnetic field strength data of all the position points are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation;

[0012] A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time during the operation of the resolver transmitter; based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

[0013] Optionally, magnetic field detection is performed on several position points within the corresponding area of ​​the resolver transmitter, including:

[0014] According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition;

[0015] The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval.

[0016] The frequency adjustment coefficient is obtained by using the magnetic field strength data group corresponding to each magnetic field strength data collection; wherein the frequency adjustment coefficient is obtained by the following formula:

[0017]

[0018] Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula:

[0019]

[0020] Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point;

[0021] Comparing the frequency adjustment coefficient with a preset coefficient threshold;

[0022] When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency;

[0023] The adjusted magnetic field detection frequency is obtained by the following formula:

[0024]

[0025] Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

[0026] Optionally, analyzing the excitation voltage data of the resolver transmitter during the operation to obtain excitation voltage change attribute information; judging whether an angle detection abnormal event occurs in the resolver transmitter during the operation based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information; and determining the angle detection result of the resolver transmitter based on a coding signal sequence output by a coding circuit of the resolver transmitter when no angle detection abnormal event occurs, including:

[0027] Continuously detecting the excitation voltage of the coil of the resolver transmitter during the operation to obtain corresponding excitation voltage data; analyzing the excitation voltage data to obtain information on the variation rule of the interference signal component of the excitation voltage over time;

[0028] Perform a time domain comparison on the information on the variation rule of the interference signal component of the excitation voltage over time and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity corresponding to the abnormal time attribute information of the magnetic field environment change, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation;

[0029] When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

[0030] Optionally, when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, an abnormal coded signal sequence segment is filtered from the coded signal sequence output by the coding circuit; and the abnormal coded signal sequence segment is corrected to determine the angle detection result of the resolver transmitter, including:

[0031] When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments;

[0032] Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

[0033] The angle detection and correction system of the resolver transmitter includes:

[0034] A magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain data on changes in the magnetic field environment state of the resolver transmitter during operation;

[0035] A magnetic field environment change abnormality identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change abnormality time attribute information;

[0036] An angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation;

[0037] An angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs;

[0038] An abnormal coding signal identification module is used to filter abnormal coding signal sequence segments from the coding signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs;

[0039] The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter.

[0040] Optionally, the magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation, including:

[0041] Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of all position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter;

[0042] Based on the position coordinate information of all the position points, the magnetic field strength data of all the position points are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation;

[0043] The magnetic field environment change abnormality identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change abnormality time attribute information, including:

[0044] A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time during the operation of the resolver transmitter; based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

[0045] Optionally, magnetic field detection is performed on several position points within the corresponding area of ​​the resolver transmitter, including:

[0046] According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition;

[0047] The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval.

[0048] The frequency adjustment coefficient is obtained by using the magnetic field strength data group corresponding to each magnetic field strength data collection; wherein the frequency adjustment coefficient is obtained by the following formula:

[0049]

[0050] Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula:

[0051]

[0052] Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point;

[0053] Comparing the frequency adjustment coefficient with a preset coefficient threshold;

[0054] When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency;

[0055] The adjusted magnetic field detection frequency is obtained by the following formula:

[0056]

[0057] Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

[0058] Optionally, the angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation, including:

[0059] Continuously detecting the excitation voltage of the coil of the resolver transmitter during the operation to obtain corresponding excitation voltage data; analyzing the excitation voltage data to obtain information on the variation rule of the interference signal component of the excitation voltage over time;

[0060] Perform a time domain comparison on the information on the variation rule of the interference signal component of the excitation voltage over time and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity corresponding to the abnormal time attribute information of the magnetic field environment change, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation;

[0061] The angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs, including:

[0062] When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

[0063] Optionally, the abnormal coding signal identification module is used to filter abnormal coding signal sequence segments from the coding signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs, including:

[0064] When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments;

[0065] The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter, including:

[0066] Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] The angle detection and correction method and system for a resolver transmitter provided in the present application detect and analyze the magnetic field environment state change data of the resolver transmitter during operation, obtain the attribute information of the abnormal event of the magnetic field environment change, and analyze the excitation voltage data of the resolver transmitter during operation to obtain the attribute information of the excitation voltage change, compare the abnormal time attribute information of the magnetic field environment change and the attribute information of the excitation voltage change, judge whether an abnormal angle detection event occurs, accurately identify the angle detection interference that the resolver transmitter may be subjected to according to the abnormal change distribution of the external magnetic field environment in the time dimension, so as to judge whether an abnormal angle detection event occurs; when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, screen and correct the abnormal coding signal sequence segment, realize accurate calibration and correction of the drift error generated by the angle detection result at the time level, and ensure the accuracy and credibility of the angle detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0070] Figure 1 A schematic flow chart of the angle detection and correction method for a resolver transmitter provided by the present invention.

[0071] Figure 2 This is a structural schematic diagram of the resolver transmitter angle detection and correction system provided by the present invention. DETAILED DESCRIPTION

[0072] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0073] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0074] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] See also Figure 1 As shown, an embodiment of the present application provides a method for detecting and correcting the angle of a resolver transmitter. The method for detecting and correcting the angle of a resolver transmitter includes:

[0076] Performing magnetic field detection on the resolver transmitter to obtain data on changes in the magnetic field environment state of the resolver transmitter during operation; analyzing the data on changes in the magnetic field environment state to obtain time attribute information on abnormal changes in the magnetic field environment;

[0077] The excitation voltage data of the resolver transmitter during the operation is analyzed to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, it is determined whether the resolver transmitter has an angle detection abnormal event during the operation; when the angle detection abnormal event has not occurred, the angle detection result of the resolver transmitter is determined based on the coding signal sequence output by the coding circuit of the resolver transmitter;

[0078] When an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, an abnormal coding signal sequence segment is filtered from the coding signal sequence output by the coding circuit; the abnormal coding signal sequence segment is corrected to determine the angle detection result of the resolver transmitter.

[0079] The beneficial effects of the above embodiments are as follows: the angle detection and correction method for a resolver transmitter detects and analyzes the magnetic field environment state change data of the resolver transmitter during operation to obtain the attribute information of the abnormal magnetic field environment change event, and analyzes the excitation voltage data of the resolver transmitter during operation to obtain the attribute information of the excitation voltage change, and compares the abnormal time attribute information of the magnetic field environment change with the attribute information of the excitation voltage change to determine whether an abnormal angle detection event occurs, and accurately identifies the angle detection interference that the resolver transmitter may be subjected to according to the abnormal change distribution of the external magnetic field environment in the time dimension, so as to determine whether an abnormal angle detection event occurs; when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, the abnormal coding signal sequence segment is screened and corrected, so as to achieve accurate calibration and correction of the drift error generated by the angle detection result at the time level, thereby ensuring the accuracy and credibility of the angle detection result.

[0080] In another embodiment, a magnetic field detection is performed on a resolver transmitter to obtain data on a magnetic field environment state change of the resolver transmitter during operation; the magnetic field environment state change data is analyzed to obtain abnormal time attribute information of the magnetic field environment change, including:

[0081] Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of all the position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter;

[0082] Based on the position coordinate information of all the position points, the magnetic field strength data of all the position points are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation;

[0083] A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time of the resolver transmitter during operation; based on the distribution state information of the magnetic field environment intensity drift over time, the distribution information of the abnormal time interval of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

[0084] The beneficial effect of the above embodiment is that after the excitation coil inside the resolver transmitter is applied with an alternating current, an excitation electromagnetic field will be generated, and the excitation electromagnetic field will cover the area where the induction coil is located, so that the induction coil will generate an induced electromotive force under the action of the excitation electromagnetic field, and a corresponding voltage signal will be formed as the induction coil moves relative to the excitation coil. Since the resolver transmitter is usually in an environment affected by the external magnetic field, when the strength of the external magnetic field changes greatly, it will produce superimposed interference to the induction coil, that is, the induction coil will be affected by the magnetic field from the excitation coil and the outside world at the same time, so that the induced electromotive force generated by the induction coil itself is also related to the external magnetic field; when the strength of the external magnetic field changes slightly, the interference effect on the induction coil can be ignored, that is, the induction coil is only affected by the magnetic field from the excitation coil, and it can be considered that the external magnetic field will not interfere with the angle detection of the resolver transmitter. To this end, it is necessary to differentiate and identify the angle detection influence of the external magnetic field from the time-varying level, so that independent magnetic field strength detection is performed at several positions inside and outside the coil of the resolver transmitter, and the magnetic field strength data of all positions during the operation of the resolver transmitter are obtained. In this way, the strength of the excitation electromagnetic field and the external electromagnetic field corresponding to the resolver transmitter can be differentiated and detected, providing reliable data basis for the subsequent judgment of whether the external electromagnetic field has superimposed interference on the excitation electromagnetic field. And based on the position coordinate information of all positions, the magnetic field strength data of all positions are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation, so that the internal and external magnetic field strength distribution of the resolver transmitter during operation can be fully calibrated. In addition, a time evolution analysis is performed on the magnetic field environment intensity change data to obtain distribution state information of the magnetic field environment intensity drift over time of the resolver transmitter during operation. Ideally, if the resolver transmitter is not affected by the external magnetic field during operation, the magnetic field environment intensity of the resolver transmitter during operation will not drift; however, in actual situations, the resolver transmitter will inevitably be affected by the external magnetic field during operation, and the external magnetic field intensity will also fluctuate and change, so that the resolver transmitter will be truly disturbed by the external magnetic field in some periods during operation, but not in other periods. In this way, based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change, so that the continuous period when the resolver transmitter is truly disturbed by the external magnetic field during operation can be finely identified and screened.

[0085] In another embodiment, magnetic field detection is performed on several positions within the corresponding area of ​​the resolver transmitter, including:

[0086] According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition;

[0087] The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval.

[0088] The frequency adjustment coefficient is obtained by using the magnetic field strength data group corresponding to each magnetic field strength data collection; wherein the frequency adjustment coefficient is obtained by the following formula:

[0089]

[0090] Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula:

[0091]

[0092] Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point;

[0093] Comparing the frequency adjustment coefficient with a preset coefficient threshold;

[0094] When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency;

[0095] The adjusted magnetic field detection frequency is obtained by the following formula:

[0096]

[0097] Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

[0098] The beneficial effect of the above embodiment is that by collecting magnetic field strength data at several positions inside the corresponding area of ​​the resolver transmitter according to the preset magnetic field detection frequency and magnetic field strength acquisition strategy, it can ensure that multiple continuous magnetic field strength measurements are performed within a suitable time interval. This helps to capture small changes and fluctuations in magnetic field strength and improve the accuracy and reliability of data acquisition. The comprehensive data evaluation coefficient (R) is used to evaluate the quality of each set of magnetic field strength data. This coefficient takes into account the continuity, change trend and deviation from the theoretical magnetic field strength value of the magnetic field strength data, so that the accuracy and credibility of the data can be more comprehensively reflected. According to the comparison result between the frequency adjustment coefficient (G) and the preset coefficient threshold, the magnetic field detection frequency is dynamically adjusted. When the quality of the magnetic field strength data is high (that is, the frequency adjustment coefficient exceeds the preset threshold), the efficiency and accuracy of data acquisition are further improved by increasing the magnetic field detection frequency; otherwise, the detection frequency is maintained or reduced to avoid unnecessary resource consumption. By setting the number of continuous acquisitions (3-5 times) of a set of continuous magnetic field strength data acquisition and the sub-time interval between continuous acquisitions (0.03-0.08 times the data acquisition time interval), the accuracy and efficiency of data acquisition can be balanced. This strategy not only ensures data continuity, but also avoids resource consumption caused by over-intensive data collection. This technical solution enables the system to adapt to different working environments and conditions by dynamically adjusting the magnetic field detection frequency and optimizing the data collection strategy. This helps to enhance the flexibility and robustness of the system and improve its stability and reliability in complex environments.

[0099] In summary, this technical solution achieves effective monitoring and evaluation of the magnetic field strength inside the corresponding area of ​​the resolver transmitter by accurately collecting magnetic field strength data, improving data evaluation accuracy, adaptively adjusting the magnetic field detection frequency, and optimizing data collection strategies. This not only improves the efficiency and accuracy of data collection, but also provides strong support for subsequent fault diagnosis and performance optimization.

[0100] In another embodiment, the excitation voltage data of the resolver transmitter during the operation is analyzed to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, it is determined whether the resolver transmitter has an angle detection abnormal event during the operation; when the angle detection abnormal event does not occur, the angle detection result of the resolver transmitter is determined based on the coded signal sequence output by the coding circuit of the resolver transmitter, including:

[0101] The excitation voltage of the coil of the resolver transmitter is continuously detected during the operation to obtain corresponding excitation voltage data; the excitation voltage data is analyzed to obtain information on the variation rule of the interference signal component of the excitation voltage over time;

[0102] Perform a time domain comparison on the variation regularity information of the interference signal component of the excitation voltage over time and the abnormal time interval distribution information of the magnetic field environment intensity variation corresponding to the abnormal time attribute information of the magnetic field environment variation, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the abnormal time interval distribution of the magnetic field environment intensity variation; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation;

[0103] When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

[0104] The beneficial effect of the above embodiment is that if the resolver transmitter is really disturbed by the external magnetic field during operation, the excitation voltage generated by the duration period disturbed by the external magnetic field will have a larger voltage value fluctuation than the excitation voltage generated by the duration period not disturbed by the external magnetic field, and the coil of the resolver transmitter is continuously detected for the excitation voltage during the operation to obtain corresponding excitation voltage data; the excitation voltage data is analyzed to obtain information on the variation law of the interference signal component of the excitation voltage over time, and then the variation law information of the interference signal component of the excitation voltage over time is compared with the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change in the time domain, and it is determined whether there is a time consistency between the change of the interference signal component of the excitation voltage and the abnormal time interval distribution of the magnetic field environment intensity change, so that it is possible to accurately judge from the time level whether the external electromagnetic interference really affects the angle detection of the resolver transmitter. Also, when no abnormal angle detection event occurs, indicating that the angle detection results of the resolver transmitter during the entire operation period are not affected by the interference of the external magnetic field, the coded signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a number of angle detection results corresponding to a number of time points during the operation of the resolver transmitter, thereby obtaining the angle detection result corresponding to each time point during the operation of the resolver transmitter, thereby realizing time-refined detection of the angle.

[0105] In another embodiment, when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, an abnormal coded signal sequence segment is screened from the coded signal sequence output by the coding circuit; and the abnormal coded signal sequence segment is corrected to determine the angle detection result of the resolver transmitter, including:

[0106] When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments;

[0107] Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

[0108] The beneficial effect of the above embodiment is that when an abnormal angle detection event occurs, it indicates that the angle detection results of the rotary transmitter in certain time periods during the entire operation period will be affected by the interference of the external magnetic field. At this time, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence, thereby accurately calibrating all abnormal coding signal sequence segments, determining the duration interval corresponding to all abnormal coding signal sequence segments, and providing an accurate basis for the subsequent targeted and refined correction of each abnormal coding signal sequence segment. In addition, based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segment is corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the rotary transmitter is corrected, so that the drift error generated by the angle detection result at the time level can be accurately calibrated and corrected, ensuring the accuracy and credibility of the angle detection result.

[0109] See also Figure 2 As shown, an embodiment of the present application provides a resolver transmitter angle detection and correction system. The resolver transmitter angle detection and correction system includes:

[0110] A magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain data on changes in the magnetic field environment state of the resolver transmitter during operation;

[0111] The magnetic field environment change abnormality identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change abnormality time attribute information;

[0112] An angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation;

[0113] An angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs;

[0114] An abnormal coding signal identification module is used to filter abnormal coding signal sequence segments from the coding signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs;

[0115] The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter.

[0116] The beneficial effects of the above embodiments are as follows: the angle detection and correction system for the resolver transmitter detects and analyzes the magnetic field environment state change data of the resolver transmitter during operation to obtain the attribute information of the abnormal magnetic field environment change event, and analyzes the excitation voltage data of the resolver transmitter during operation to obtain the attribute information of the excitation voltage change, and compares the abnormal time attribute information of the magnetic field environment change with the attribute information of the excitation voltage change to determine whether an abnormal angle detection event occurs, and accurately identifies the angle detection interference that the resolver transmitter may be subjected to according to the abnormal change distribution of the external magnetic field environment in the time dimension, so as to determine whether an abnormal angle detection event occurs; when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, the abnormal coding signal sequence segment is screened and corrected, so as to achieve accurate calibration and correction of the drift error generated by the angle detection result at the time level, thereby ensuring the accuracy and credibility of the angle detection result.

[0117] In another embodiment, the magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation, including:

[0118] Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of all the position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter;

[0119] Based on the position coordinate information of all the position points, the magnetic field strength data of all the position points are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation;

[0120] The magnetic field environment change anomaly identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change anomaly time attribute information, including:

[0121] A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time of the resolver transmitter during operation; based on the distribution state information of the magnetic field environment intensity drift over time, the distribution information of the abnormal time interval of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

[0122] The beneficial effect of the above embodiment is that after the excitation coil inside the resolver transmitter is applied with an alternating current, an excitation electromagnetic field will be generated, and the excitation electromagnetic field will cover the area where the induction coil is located, so that the induction coil will generate an induced electromotive force under the action of the excitation electromagnetic field, and a corresponding voltage signal will be formed as the induction coil moves relative to the excitation coil. Since the resolver transmitter is usually in an environment affected by the external magnetic field, when the strength of the external magnetic field changes greatly, it will produce superimposed interference to the induction coil, that is, the induction coil will be affected by the magnetic field from the excitation coil and the outside world at the same time, so that the induced electromotive force generated by the induction coil itself is also related to the external magnetic field; when the strength of the external magnetic field changes slightly, the interference effect on the induction coil can be ignored, that is, the induction coil is only affected by the magnetic field from the excitation coil, and it can be considered that the external magnetic field will not interfere with the angle detection of the resolver transmitter. To this end, it is necessary to differentiate and identify the angle detection influence of the external magnetic field from the time-varying level, so that independent magnetic field strength detection is performed at several positions inside and outside the coil of the resolver transmitter, and the magnetic field strength data of all positions during the operation of the resolver transmitter are obtained. In this way, the strength of the excitation electromagnetic field and the external electromagnetic field corresponding to the resolver transmitter can be differentiated and detected, providing reliable data basis for the subsequent judgment of whether the external electromagnetic field has superimposed interference on the excitation electromagnetic field. And based on the position coordinate information of all positions, the magnetic field strength data of all positions are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation, so that the internal and external magnetic field strength distribution of the resolver transmitter during operation can be fully calibrated. In addition, a time evolution analysis is performed on the magnetic field environment intensity change data to obtain distribution state information of the magnetic field environment intensity drift over time of the resolver transmitter during operation. Ideally, if the resolver transmitter is not affected by the external magnetic field during operation, the magnetic field environment intensity of the resolver transmitter during operation will not drift; however, in actual situations, the resolver transmitter will inevitably be affected by the external magnetic field during operation, and the external magnetic field intensity will also fluctuate and change, so that the resolver transmitter will be truly disturbed by the external magnetic field in some periods during operation, but not in other periods. In this way, based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change, so that the continuous period when the resolver transmitter is truly disturbed by the external magnetic field during operation can be finely identified and screened.

[0123] In another embodiment, magnetic field detection is performed on several positions within the corresponding area of ​​the resolver transmitter, including:

[0124] According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition;

[0125] The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval.

[0126] The frequency adjustment coefficient is obtained by using the magnetic field strength data group corresponding to each magnetic field strength data collection; wherein the frequency adjustment coefficient is obtained by the following formula:

[0127]

[0128] Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula:

[0129]

[0130] Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point;

[0131] Comparing the frequency adjustment coefficient with a preset coefficient threshold;

[0132] When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency;

[0133] The adjusted magnetic field detection frequency is obtained by the following formula:

[0134]

[0135] Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

[0136] The beneficial effect of the above embodiment is that by collecting magnetic field strength data at several positions inside the corresponding area of ​​the resolver transmitter according to the preset magnetic field detection frequency and magnetic field strength acquisition strategy, it can ensure that multiple continuous magnetic field strength measurements are performed within a suitable time interval. This helps to capture small changes and fluctuations in magnetic field strength and improve the accuracy and reliability of data acquisition. The comprehensive data evaluation coefficient (R) is used to evaluate the quality of each set of magnetic field strength data. This coefficient takes into account the continuity, change trend and deviation from the theoretical magnetic field strength value of the magnetic field strength data, so that the accuracy and credibility of the data can be more comprehensively reflected. According to the comparison result between the frequency adjustment coefficient (G) and the preset coefficient threshold, the magnetic field detection frequency is dynamically adjusted. When the quality of the magnetic field strength data is high (that is, the frequency adjustment coefficient exceeds the preset threshold), the efficiency and accuracy of data acquisition are further improved by increasing the magnetic field detection frequency; otherwise, the detection frequency is maintained or reduced to avoid unnecessary resource consumption. By setting the number of continuous acquisitions (3-5 times) of a set of continuous magnetic field strength data acquisition and the sub-time interval between continuous acquisitions (0.03-0.08 times the data acquisition time interval), the accuracy and efficiency of data acquisition can be balanced. This strategy not only ensures data continuity, but also avoids resource consumption caused by over-intensive data collection. This technical solution enables the system to adapt to different working environments and conditions by dynamically adjusting the magnetic field detection frequency and optimizing the data collection strategy. This helps to enhance the flexibility and robustness of the system and improve its stability and reliability in complex environments.

[0137] In summary, this technical solution achieves effective monitoring and evaluation of the magnetic field strength inside the corresponding area of ​​the resolver transmitter by accurately collecting magnetic field strength data, improving data evaluation accuracy, adaptively adjusting the magnetic field detection frequency, and optimizing data collection strategies. This not only improves the efficiency and accuracy of data collection, but also provides strong support for subsequent fault diagnosis and performance optimization.

[0138] In another embodiment, the angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation, including:

[0139] The excitation voltage of the coil of the resolver transmitter is continuously detected during the operation to obtain corresponding excitation voltage data; the excitation voltage data is analyzed to obtain information on the variation rule of the interference signal component of the excitation voltage over time;

[0140] Perform a time domain comparison on the variation regularity information of the interference signal component of the excitation voltage over time and the abnormal time interval distribution information of the magnetic field environment intensity variation corresponding to the abnormal time attribute information of the magnetic field environment variation, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the abnormal time interval distribution of the magnetic field environment intensity variation; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation;

[0141] The angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs, including:

[0142] When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

[0143] The beneficial effect of the above embodiment is that if the resolver transmitter is really disturbed by the external magnetic field during operation, the excitation voltage generated by the duration period disturbed by the external magnetic field will have a larger voltage value fluctuation than the excitation voltage generated by the duration period not disturbed by the external magnetic field, and the coil of the resolver transmitter is continuously detected for the excitation voltage during the operation to obtain corresponding excitation voltage data; the excitation voltage data is analyzed to obtain information on the variation law of the interference signal component of the excitation voltage over time, and then the variation law information of the interference signal component of the excitation voltage over time is compared with the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change in the time domain, and it is determined whether there is a time consistency between the change of the interference signal component of the excitation voltage and the abnormal time interval distribution of the magnetic field environment intensity change, so that it is possible to accurately judge from the time level whether the external electromagnetic interference really affects the angle detection of the resolver transmitter. Also, when no abnormal angle detection event occurs, indicating that the angle detection results of the resolver transmitter during the entire operation period are not affected by the interference of the external magnetic field, the coded signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a number of angle detection results corresponding to a number of time points during the operation of the resolver transmitter, thereby obtaining the angle detection result corresponding to each time point during the operation of the resolver transmitter, thereby realizing time-refined detection of the angle.

[0144] In another embodiment, the abnormal coded signal identification module is used to filter abnormal coded signal sequence segments from the coded signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs, including:

[0145] When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments;

[0146] The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter, including:

[0147] Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

[0148] The beneficial effect of the above embodiment is that when an abnormal angle detection event occurs, it indicates that the angle detection results of the rotary transmitter in certain time periods during the entire operation period will be affected by the interference of the external magnetic field. At this time, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence, thereby accurately calibrating all abnormal coding signal sequence segments, determining the duration interval corresponding to all abnormal coding signal sequence segments, and providing an accurate basis for the subsequent targeted and refined correction of each abnormal coding signal sequence segment. In addition, based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segment is corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the rotary transmitter is corrected, so that the drift error generated by the angle detection result at the time level can be accurately calibrated and corrected, ensuring the accuracy and credibility of the angle detection result.

[0149] In general, the angle detection and correction method and system of the resolver transmitter detects and analyzes the magnetic field environment state change data of the resolver transmitter during operation, obtains the attribute information of the abnormal magnetic field environment change event, and analyzes the excitation voltage data of the resolver transmitter during operation to obtain the attribute information of the excitation voltage change, compares the abnormal time attribute information of the magnetic field environment change and the attribute information of the excitation voltage change, and determines whether an abnormal angle detection event occurs. According to the abnormal change distribution of the external magnetic field environment in the time dimension, the angle detection interference that the resolver transmitter may be subjected to is accurately identified, so as to determine whether an abnormal angle detection event occurs; when an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, the abnormal coding signal sequence segment is screened and corrected, so as to achieve accurate calibration and correction of the drift error generated by the angle detection result at the time level, and ensure the accuracy and credibility of the angle detection result.

[0150] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A method for detecting and correcting the angle of a resolver transmitter, characterized in that: include: Performing magnetic field detection on the resolver transmitter to obtain data on changes in the magnetic field environment state of the resolver transmitter during operation; Analyze the magnetic field environment state change data to obtain abnormal time attribute information of the magnetic field environment change; The excitation voltage data of the resolver transmitter during the operation is analyzed to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, it is determined whether the resolver transmitter has an angle detection abnormal event during the operation; when the angle detection abnormal event does not occur, the angle detection result of the resolver transmitter is determined based on the coded signal sequence output by the coding circuit of the resolver transmitter; when the angle detection abnormal event occurs, the abnormal coded signal sequence segment is screened from the coded signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change; The abnormal coded signal sequence segment is corrected to determine the angle detection result of the resolver transmitter.

2. The method for detecting and correcting the angle of a resolver transmitter according to claim 1, wherein: Performing magnetic field detection on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation; analyzing the magnetic field environment state change data to obtain abnormal time attribute information of the magnetic field environment change, including: Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of all position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter; Based on the position coordinate information of all the position points, the magnetic field strength data of all the position points are integrated to obtain the magnetic field environment strength change data of the resolver transmitter during operation; A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time during the operation of the resolver transmitter; based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

3. The method for detecting and correcting the angle of a resolver transmitter according to claim 2, wherein: Magnetic field detection is performed at several locations within the corresponding area of ​​the resolver transmitter, including: According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition; The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval. Using the magnetic field strength data group corresponding to each magnetic field strength data acquisition, a frequency adjustment coefficient is obtained; The frequency adjustment coefficient is obtained by the following formula: Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula: Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point; Comparing the frequency adjustment coefficient with a preset coefficient threshold; When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency; The adjusted magnetic field detection frequency is obtained by the following formula: Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

4. The method for detecting and correcting the angle of a resolver transmitter according to claim 1, wherein: The excitation voltage data of the resolver transmitter during the operation is analyzed to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, it is determined whether the resolver transmitter has an angle detection abnormal event during the operation; when the angle detection abnormal event does not occur, the angle detection result of the resolver transmitter is determined based on the coding signal sequence output by the coding circuit of the resolver transmitter, including: Continuously detecting the excitation voltage of the coil of the resolver transmitter during the operation to obtain corresponding excitation voltage data; analyzing the excitation voltage data to obtain information on the variation rule of the interference signal component of the excitation voltage over time; Perform a time domain comparison on the information on the variation rule of the interference signal component of the excitation voltage over time and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity corresponding to the abnormal time attribute information of the magnetic field environment change, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation; When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

5. The method for detecting and correcting the angle of a resolver transmitter according to claim 1, wherein: When an abnormal angle detection event occurs, based on the abnormal time attribute information of the magnetic field environment change, an abnormal coding signal sequence segment is filtered from the coding signal sequence output by the coding circuit; The abnormal coding signal sequence segment is corrected to determine the angle detection result of the resolver transmitter, including: When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments; Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

6. The angle detection and correction system of the resolver transmitter is characterized by: include: A magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain data on changes in the magnetic field environment state of the resolver transmitter during operation; A magnetic field environment change abnormality identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change abnormality time attribute information; An angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation; An angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs; An abnormal coding signal identification module is used to filter abnormal coding signal sequence segments from the coding signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs; The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter.

7. The resolver transmitter angle detection and correction system according to claim 6, characterized in that: The magnetic field detection module is used to perform magnetic field detection on the resolver transmitter to obtain magnetic field environment state change data of the resolver transmitter during operation, including: Performing magnetic field detection on a plurality of position points within a corresponding area of ​​the resolver transmitter to obtain magnetic field strength data of each of the position points during the operation of the resolver transmitter; wherein the plurality of position points include a plurality of position points located inside and outside the coil of the resolver transmitter; integrating the magnetic field strength data of all position points based on position coordinate information of all position points to obtain magnetic field environment strength change data of the resolver transmitter during the operation; The magnetic field environment change abnormality identification module is used to analyze the magnetic field environment state change data to obtain the magnetic field environment change abnormality time attribute information, including: A time evolution analysis is performed on the magnetic field environment intensity change data to obtain the distribution state information of the magnetic field environment intensity drift over time during the operation of the resolver transmitter; based on the distribution state information of the magnetic field environment intensity drift over time, the abnormal time interval distribution information of the magnetic field environment intensity change is obtained, which is used as the abnormal time attribute information of the magnetic field environment change.

8. The resolver transmitter angle detection and correction system according to claim 7, characterized in that: Magnetic field detection is performed at several locations within the corresponding area of ​​the resolver transmitter, including: According to the preset magnetic field detection frequency and the magnetic field strength acquisition strategy, magnetic field strength data are collected at several positions inside the corresponding area of ​​the resolver transmitter to obtain a magnetic field strength data group corresponding to each magnetic field strength data acquisition; The magnetic field strength acquisition strategy includes acquiring magnetic field strength data according to a data acquisition time interval corresponding to a magnetic field detection frequency setting. When a data acquisition moment corresponding to the data acquisition time interval is reached, a group of continuous magnetic field strength data is acquired for a plurality of position points inside a corresponding area of ​​the resolver transmitter, and a group of magnetic field strength data corresponding to each magnetic field strength data acquisition is acquired. Meanwhile, the number of continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 3-5 times, and the sub-time interval between continuous acquisitions of a group of continuous magnetic field strength data acquisitions is in the range of 0.03-0.08 times the data acquisition time interval. Using the magnetic field strength data group corresponding to each magnetic field strength data acquisition, a frequency adjustment coefficient is obtained; The frequency adjustment coefficient is obtained by the following formula: Wherein, G represents the frequency adjustment coefficient; m represents the number of magnetic field intensity data groups obtained; B m Indicates the theoretical magnetic field strength value corresponding to the position point; B rm Indicates the average value of the magnetic field data corresponding to the magnetic field strength data group where the maximum value of the comprehensive data evaluation coefficient is located; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient; R i represents the comprehensive data evaluation coefficient corresponding to the i-th group of magnetic field intensity data, and the comprehensive data evaluation coefficient is obtained by the following formula: Wherein, R represents the comprehensive data evaluation coefficient corresponding to each magnetic field strength data group; n represents the number of magnetic field strength data contained in each magnetic field strength data group; B i represents the data value corresponding to the i-th magnetic field intensity data in each group of magnetic field intensity data; B i-1 represents the data value corresponding to the i-1th magnetic field intensity data in each group of magnetic field intensity data; B m Indicates the theoretical magnetic field strength value corresponding to the position point; Comparing the frequency adjustment coefficient with a preset coefficient threshold; When the frequency adjustment coefficient exceeds a preset coefficient threshold, the magnetic field detection frequency is adjusted using the frequency adjustment coefficient, and magnetic field intensity data is collected according to the adjusted magnetic field detection frequency; The adjusted magnetic field detection frequency is obtained by the following formula: Among them, f t represents the magnetic field detection frequency after adjustment; f0 represents the magnetic field detection frequency before adjustment; G represents the frequency adjustment coefficient; G0 represents the preset coefficient threshold; R max Indicates the maximum value of the comprehensive data evaluation coefficient in the m group of magnetic field intensity data; R c Indicates the preset reference value of the evaluation coefficient.

9. The resolver transmitter angle detection and correction system according to claim 6, characterized in that: The angle detection abnormality identification module is used to analyze the excitation voltage data of the resolver transmitter during the operation to obtain the excitation voltage change attribute information; based on the abnormal time attribute information of the magnetic field environment change and the excitation voltage change attribute information, determine whether the resolver transmitter has an angle detection abnormality event during the operation, including: Continuously detecting the excitation voltage of the coil of the resolver transmitter during the operation to obtain corresponding excitation voltage data; analyzing the excitation voltage data to obtain information on the variation rule of the interference signal component of the excitation voltage over time; Perform a time domain comparison on the information on the variation rule of the interference signal component of the excitation voltage over time and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity corresponding to the abnormal time attribute information of the magnetic field environment change, and determine whether there is a time consistency between the variation of the interference signal component of the excitation voltage and the distribution information on the abnormal time interval of the change of the magnetic field environment intensity; if so, determine that the resolver transmitter has an abnormal angle detection event during the operation; if not, determine that the resolver transmitter has not an abnormal angle detection event during the operation; The angle detection result determination module is used to determine the angle detection result of the resolver transmitter based on the coding signal sequence output by the coding circuit of the resolver transmitter when no angle detection abnormal event occurs, including: When no abnormal angle detection event occurs, the coding signal sequence output by the coding circuit of the resolver transmitter is converted and processed to obtain a plurality of angle detection results corresponding to a plurality of time points during the operation of the resolver transmitter.

10. The resolver transmitter angle detection and correction system according to claim 6, characterized in that: The abnormal coding signal identification module is used to filter abnormal coding signal sequence segments from the coding signal sequence output by the coding circuit based on the abnormal time attribute information of the magnetic field environment change when an abnormal angle detection event occurs, including: When an abnormal angle detection event occurs, based on the abnormal time interval distribution information of the magnetic field environment intensity change corresponding to the abnormal time attribute information of the magnetic field environment change, the coding signal sequence output by the coding circuit is screened in the time domain to obtain all abnormal coding signal sequence segments contained in the coding signal sequence; all abnormal coding signal sequence segments are time-calibrated to determine the duration intervals corresponding to all abnormal coding signal sequence segments; The angle detection result correction module is used to correct the abnormal coding signal sequence segment to determine the angle detection result of the resolver transmitter, including: Based on the duration intervals corresponding to all abnormal coding signal sequence segments, the excitation magnetic field intensity change data corresponding to all the duration intervals are extracted from the magnetic field environment state change data; based on the excitation magnetic field intensity change data, the corresponding abnormal coding signal sequence segments are corrected; and based on all the abnormal coding signal sequence segments that have been corrected, the angle detection result of the resolver transmitter is corrected.

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