Demodulation calibration device, rotation digital converter and medium

Abstract

The present application discloses a demodulation calibration device, a rotational digital converter and a medium, and relates to the technical field of rotational digital converters. The present application discloses a demodulation calibration device, a rotational digital converter and a medium, and comprises: by integrating a rotational phase extraction module for a demodulation operation and a group delay calibration module for a group delay calibration operation into one device, and at the same time the two operations use a common frequency synthesis module to obtain an excitation signal, thereby avoiding the problem of increased hardware cost caused by the need to respectively set up relatively independent devices for the two operations, and avoiding the problem of increased circuit area cost caused by the need to respectively set up relatively independent devices for the two operations.

Description

Technical Field

[0001] The present application relates to the technical field of rotational digitizers, and in particular to a demodulation calibration device, a rotational digitizer and a medium. Background Art

[0002] The rotation-to-digital converter provides the interface between the resolver and the system microprocessor, decoding the angular position of the motor shaft using a modulated signal generated by trigonometric functions.

[0003] In the demodulation process of the rotary digitizer, the modulation signals of the two inputs are synchronously sampled to provide digital data for the tracking loop, so as to obtain the angular position through demodulation of the tracking loop. However, due to the group delay of the channel transmitting the modulation signal, the group delay is caused by the excitation signal generated by the clock module inside the rotary digitizer. The excitation signal generated by the clock module will act on the rotary digitizer as a transmission signal, as the excitation signal of the rotary digitizer, also called the carrier excitation signal. From the generation of the excitation signal to the process of serving as the carrier excitation signal of the rotary digitizer, the modulation signal will have group delay.

[0004] In view of the above problems, it is currently proposed to add a hardware architecture for calibrating the group delay in the rotary digital converter, and then perform demodulation after eliminating the group delay through the architecture, so as to ensure the accuracy of demodulation. However, the additional hardware architecture will not only increase the additional hardware overhead, but also require the rotary digital converter to reserve a certain space for the addition of the hardware architecture, which will increase the circuit area and hardware cost. Summary of the invention

[0005] The main purpose of the present application is to provide a demodulation calibration device, a rotational digital converter and a medium, aiming to solve the technical problems of increased circuit area and increased hardware cost in the current solution of adding a hardware architecture for calibrating group delay in order to ensure the accuracy of demodulation.

[0006] To achieve the above-mentioned purpose, the present application proposes a demodulation calibration device, which includes a frequency synthesis module, a rotation phase extraction module and a group delay calibration module;

[0007] The input end of the rotation phase extraction module and the input end of the group delay calibration module are respectively connected to the output end of the frequency synthesis module;

[0008] The frequency synthesis module is used to synthesize the phase of the excitation signal according to the phase information received, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal;

[0009] The rotation phase extraction module is used to multiply the received modulation signal with the first excitation signal to obtain a demodulated signal, demodulate the demodulated signal, and output demodulated data;

[0010] The group delay calibration module is used to multiply the received modulation signal by the second excitation signal to obtain a calibration signal, extract the calibration sinusoidal signal from the calibration signal, and determine the target lag phase amount in the calibration sinusoidal signal as calibration data.

[0011] In one embodiment, the input end of the frequency synthesis module is respectively connected to the output end of the rotation phase extraction module, the output end of the group delay calibration module and the clock module, and is used to access the initial angular position in the demodulated data output by the rotation phase extraction module, the initial lag phase amount output by the group delay calibration module and the clock phase output by the clock module, wherein the initial angular position, the initial lag phase amount and the clock phase are the phase information;

[0012] The frequency synthesis module includes a first adder, a second adder and a third adder;

[0013] The input end of the first adder is connected to the clock module and the group delay calibration module respectively, and is used to compensate the clock phase according to the connected initial lag phase amount and output the initial input signal;

[0014] The output end of the first adder is connected to the input end of the second adder and the input end of the third adder respectively, and the input end of the second adder and the input end of the third adder are also connected to the rotation phase extraction module respectively. The second adder is used to add the connected initial input signal and the initial angular position to output the first excitation signal phase, and the third adder is used to subtract the connected initial input signal and the initial angular position to output the second excitation signal phase.

[0015] In one embodiment, the frequency synthesis module further includes a trigonometric function generation unit, a first addition processing unit and a second addition processing unit;

[0016] The input end of the trigonometric function generating unit is connected to the output end of the second adder and the output end of the third adder, and is used to find the corresponding sine value and cosine value according to the phase of the first excitation signal and the phase of the second excitation signal, and respectively combine with the sine value and the cosine value to output a sine signal and a cosine signal;

[0017] The input end of the first addition processing unit is connected to the first sine and cosine output end of the trigonometric function generation unit, and is used to add and subtract the sine signal and the cosine signal output from the first sine and cosine output end, respectively, and then output the first excitation signal;

[0018] The input end of the second addition processing unit is connected to the second sine and cosine output end of the trigonometric function generation unit, and is used to add and subtract the sine signal and cosine signal output from the second sine and cosine output end respectively, and then output the second excitation signal.

[0019] In one embodiment, the first adder is connected to the first preset value through a first switch.

[0020] In one embodiment, a first switch path and a second switch path connected in parallel are connected between the input end of the frequency synthesis module and the output end of the group delay calibration module;

[0021] The first switch path is used to transmit the initial lag phase amount at the output end of the group delay calibration module to the first adder in a closed state;

[0022] A memory is provided on the second switch path, and is used to transfer the second preset value in the memory to the first adder in a closed state.

[0023] In one embodiment, the rotation phase extraction module includes a first multiplier, a second multiplier, a fourth adder and a first tracking loop;

[0024] The input end of the first multiplier is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first sinusoidal excitation signal in the first excitation signal and the first modulation signal in the modulation signal output by the modulator, and output a first output signal;

[0025] The input end of the second multiplier is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first cosine excitation signal in the first excitation signal and the second modulation signal in the modulation signal to output a second output signal;

[0026] The input end of the fourth adder is connected to the output end of the first multiplier and the output end of the second multiplier respectively, and is used to subtract the first output signal and the second output signal connected thereto, and output the demodulated signal;

[0027] The input end of the first tracking loop is connected to the output end of the fourth adder, and is used to track and demodulate the received demodulation signal and output the target angular position.

[0028] In one embodiment, the first tracking loop comprises a first type integrator and a first low pass filter connected in series;

[0029] The input end of the first type integrator is connected to the output end of the fourth adder, and the output end of the first low-pass filter outputs the target angular position; or,

[0030] The first tracking loop device comprises a first type II integrator and a first compensator connected in series;

[0031] The input end of the first second type integrator is connected to the output end of the fourth adder, and the output end of the first compensator outputs the target angular position.

[0032] In one embodiment, the group delay calibration module includes a third multiplier, a fourth multiplier, a fifth adder, and a second tracking loop;

[0033] The input end of the third multiplier is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second cosine excitation signal in the second excitation signal and the second modulation signal in the modulation signal output by the modulator, and output a third output signal;

[0034] The input end of the fourth multiplier is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second sinusoidal excitation signal in the second excitation signal and the first modulation signal in the modulation signal to output a fourth output signal;

[0035] The input end of the fifth adder is connected to the output end of the third multiplier and the output end of the fourth multiplier respectively, and is used to subtract the connected third output signal and the fourth output signal, and output the calibration signal;

[0036] The input end of the second tracking loop is connected to the output end of the fifth adder, and is used to track the calibration signal and extract the calibration sinusoidal signal. After obtaining the target lagging phase amount in the calibration sinusoidal signal, the target lagging phase amount is output as the calibration data.

[0037] In one embodiment, the second tracking loop comprises a filter unit and a second type of integrator connected in series;

[0038] The input end of the filtering unit is connected to the output end of the fifth adder, and the output end of the second type integrator outputs the calibration data; or,

[0039] The second tracking loop comprises a second low-pass filter, a second type II integrator and a second compensator connected in series;

[0040] An input terminal of the second low-pass filter is connected to an output terminal of the fifth adder, and an output terminal of the second compensator outputs the calibration data.

[0041] The present application also proposes a rotational digital converter, including a demodulation calibration device, the demodulation calibration device including a frequency synthesis module, a rotational phase extraction module and a group delay calibration module;

[0042] The input end of the rotation phase extraction module and the input end of the group delay calibration module are respectively connected to the output end of the frequency synthesis module;

[0043] The frequency synthesis module is used to synthesize the phase of the excitation signal according to the phase information received, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal;

[0044] The rotation phase extraction module is used to multiply the received modulation signal with the first excitation signal to obtain a demodulated signal, demodulate the demodulated signal, and output demodulated data;

[0045] The group delay calibration module is used to multiply the received modulation signal by the second excitation signal to obtain a calibration signal, extract the calibration sinusoidal signal from the calibration signal, and determine the target lag phase amount in the calibration sinusoidal signal as calibration data.

[0046] One or more technical solutions proposed in this application have at least the following technical effects:

[0047] A demodulation calibration device is proposed, which includes a frequency synthesis module, a rotation phase extraction module and a group delay calibration module, wherein the input end of the rotation phase extraction module and the input end of the group delay calibration module are respectively connected to the output end of the frequency synthesis module. The frequency synthesis module is used to synthesize the phase of the excitation signal according to the phase information connected, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal; the rotation phase extraction module is used to multiply the received modulation signal according to the first excitation signal connected, and then demodulate the demodulation signal after obtaining the demodulation signal, and output the demodulation data; the group delay calibration module is used to multiply the received modulation signal according to the second excitation signal connected, and then extract the calibration sinusoidal signal in the calibration signal after obtaining the calibration signal, and determine the target lag phase amount in the calibration sinusoidal signal as the calibration data. It can be seen from the above device structure that the present application integrates the rotation phase extraction module for demodulation operation and the group delay calibration module for group delay calibration operation into one device, and the two operations share a frequency synthesis module to obtain the excitation signal. This not only avoids the problem of increased hardware cost caused by the need to set up relatively independent devices for the two operations, but also avoids the problem of increased circuit area cost caused by the need to occupy corresponding circuit area due to the need to set up relatively independent devices for the two operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 This is a schematic diagram of the modules of the demodulation and calibration device of this application;

[0051] Figure 2 This is a module schematic diagram of the group delay calibration module of the present application;

[0052] Figure 3 A schematic diagram of a feasible structure of the demodulation and calibration device of this application;

[0053] Figure 4 This is another feasible structural diagram of the demodulation and calibration device of this application;

[0054] Figure 5 A schematic diagram of a feasible structure of the first tracking looper of the present application;

[0055] Figure 6 This is another feasible structural diagram of the first tracking loop device of the present application;

[0056] Figure 7 A schematic diagram of a feasible structure of the second tracking loop device of the present application;

[0057] Figure 8 This is another feasible structural diagram of the second tracking loop device of the present application;

[0058] Fig. 9 It is a schematic diagram of the structure of a conventional group delay calibration device.

[0059] Description of Figure Numbers:

[0060] 10. Frequency synthesis module; a. First adder; b. Second adder; c. Third adder; U1. Trigonometric function generation unit; (d, f), First addition processing unit; (e, g), Second addition processing unit;

[0061] 20. Rotation phase extraction module; m1, first multiplier; m2, second multiplier; h, fourth adder; U1, first tracking loop;

[0062] 30, group delay calibration module; 301, demodulation module; 302, loop filter module; m3, third multiplier; m4, fourth multiplier; i, fifth adder; U2, second tracking loop.

[0063] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0065] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0066] The main solution of the embodiment of the present application is: after synthesizing the phase of the excitation signal according to the accessed phase information, generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal; based on the accessed first excitation signal, multiply the received modulation signal to obtain a demodulated signal, demodulate the demodulated signal and output demodulated data; and, based on the accessed second excitation signal, multiply the received modulation signal to obtain a calibration signal, extract the calibration sinusoidal signal in the calibration signal, determine the target lagging phase amount in the calibration sinusoidal signal as the calibration data, and then superimpose the calibration data on the modulation signal to eliminate the group delay between the sine signal part and the cosine signal part of the modulation signal.

[0067] Due to the group delay in the channel for transmitting the modulated signal, the group delay is caused by the excitation signal generated by the clock module inside the rotary digital converter. The excitation signal generated by the clock module will act on the rotary digital converter as a transmission signal, and the excitation signal of the rotary digital converter is also called a carrier excitation signal. From the generation of the excitation signal to the process of the carrier excitation signal of the rotary digital converter, there will be group delay in the modulated signal. To address this problem, it is currently proposed to add a hardware architecture for calibrating the group delay in the rotary digital converter. After eliminating the group delay through this architecture, demodulation is performed to ensure the accuracy of demodulation. However, the additional hardware architecture will not only increase the additional hardware overhead, but also require the rotary digital converter to reserve a certain amount of space for the addition of the hardware architecture, which will increase the circuit area and hardware cost.

[0068] The present application provides a solution by proposing a demodulation calibration device, which includes a frequency synthesis module, a rotation phase extraction module and a group delay calibration module, wherein the input end of the rotation phase extraction module and the input end of the group delay calibration module are respectively connected to the output end of the frequency synthesis module. The frequency synthesis module is used to synthesize the phase of the excitation signal according to the phase information received, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal; the rotation phase extraction module is used to multiply the received modulation signal according to the first excitation signal received, and after obtaining the demodulation signal, demodulate the demodulation signal and output the demodulation data; the group delay calibration module is used to multiply the received modulation signal according to the second excitation signal received, and after obtaining the calibration signal, extract the calibration sinusoidal signal in the calibration signal, and determine the target lag phase amount in the calibration sinusoidal signal as the calibration data. It can be seen from the above device structure that the present application integrates the rotation phase extraction module for demodulation operation and the group delay calibration module for group delay calibration operation into one device, and the two operations share a frequency synthesis module to obtain the excitation signal. This not only avoids the problem of increased hardware cost caused by the need to set up relatively independent devices for the two operations, but also avoids the problem of increased circuit area cost caused by the need to occupy corresponding circuit area due to the need to set up relatively independent devices for the two operations.

[0069] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the rotation digitizer as an example to illustrate this embodiment and the following embodiments.

[0070] Based on this, the embodiment of the present application provides a demodulation calibration device, referring to Figure 1 , Figure 1 This is a module schematic diagram of the demodulation and calibration device of this application.

[0071] In this embodiment, the demodulation calibration device includes a frequency synthesis module 10, a rotation phase extraction module 20 and a group delay calibration module 30;

[0072] The input end of the rotation phase extraction module 20 and the input end of the group delay calibration module 30 are respectively connected to the output end of the frequency synthesis module 10;

[0073] The frequency synthesis module 10 is used to synthesize the phase of the excitation signal according to the phase information received, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal; the rotation phase extraction module 20 is used to multiply the received modulation signal according to the first excitation signal received, and after obtaining the demodulation signal, demodulate the demodulation signal and output demodulation data; the group delay calibration module 30 is used to multiply the received modulation signal according to the second excitation signal received, and after obtaining the calibration signal, extract the calibration sinusoidal signal in the calibration signal, and determine the target lag phase amount in the calibration sinusoidal signal as the calibration data.

[0074] In this embodiment, based on the similarities between the deformation formula of the current demodulation signal and the deformation formula of the calibration signal, a frequency synthesis module 10 is provided which can simultaneously generate a first excitation signal for demodulation and a second excitation signal for group delay calibration, so that the rotational phase extraction module 20 for the demodulation operation and the group delay calibration module 30 for the group delay calibration operation are arranged in the same device circuit board, thereby avoiding the increase in hardware cost and the increase in required circuit area caused by the need to separately set up the rotational phase extraction module 20 and the group delay calibration module 30.

[0075] Further, refer to Figure 2 It can be seen that the group delay calibration module in this embodiment can be divided into a demodulation module 301 and a loop filter module 302 .

[0076] In one possible implementation, refer to Figure 3-Figure 4 As shown, the input end of the frequency synthesis module 10 is respectively connected to the output end of the rotation phase extraction module 20, the output end of the group delay calibration module 30 and the clock module, and is used to access the initial angular position in the demodulated data output by the rotation phase extraction module 20, the initial lag phase amount output by the group delay calibration module 30 and the clock phase output by the clock module, wherein the initial angular position, the initial lag phase amount and the clock phase are the phase information;

[0077] The frequency synthesis module 10 includes a first adder a, a second adder b and a third adder c; the input end of the first adder a is respectively connected to the clock module and the group delay calibration module 30, and is used to compensate the clock phase according to the connected initial lag phase amount and output the initial input signal; the output end of the first adder a is respectively connected to the input end of the second adder b and the input end of the third adder c, and the input end of the second adder b and the input end of the third adder c are also respectively connected to the rotation phase extraction module 20, the second adder b is used to add the connected initial input signal and the initial angular position, and output the first excitation signal phase, and the third adder c is used to subtract the connected initial input signal and the initial angular position, and output the second excitation signal phase; the frequency synthesis module 10 also includes a trigonometric function generation unit U1, a first addition processing unit (i.e. Figure 3-Figure 4 Adder d and adder f in the second addition processing unit (i.e. Figure 3-Figure 4 adder e and adder g in the trigonometric function generating unit U1); the input end of the trigonometric function generating unit U1 is connected to the output end of the second adder b and the output end of the third adder c, and is used to search for the corresponding sine value and cosine value according to the phase of the first excitation signal and the second excitation signal connected, and respectively combine with the sine value and the cosine value to output the sine signal and the cosine signal; the input end of the first addition processing unit is connected to the first sine and cosine output end of the trigonometric function generating unit U1, and is used to add and subtract the sine signal and the cosine signal output from the first sine and cosine output end, and output the first excitation signal; the input end of the second addition processing unit is connected to the second sine and cosine output end of the trigonometric function generating unit U1, and is used to add and subtract the sine signal and the cosine signal output from the second sine and cosine output end, and output the second excitation signal.

[0078] Specific, combined Figure 3-Figure 4 The first adder a is connected to the clock phase output by the clock module in the rotary digital converter. At the same time, the lag phase amount generated after the last group delay calibration operation is determined as the initial lag phase amount, and the initial lag phase amount is connected to compensate the clock phase to improve the accuracy of the calibration. At this time, the first adder a will output the initial input signal , and send the initial input signal to the second adder b and the third adder c respectively.

[0079] In the second adder b, the second adder b receives the initial input signal In addition, the angular position generated after the last demodulation operation is also connected, that is, the initial angular position , and the initial input signal With the initial angular position Add and output the first excitation signal phase .

[0080] In the third adder c, the third adder c receives the initial input signal In addition, the angular position generated after the last demodulation operation is also connected, that is, the initial angular position , and the initial input signal With the initial angular position Subtract and output the second excitation signal phase .

[0081] The first excitation signal phase is obtained by the second adder b and the third adder c. and the second excitation signal phase , the first excitation signal phase and the second excitation signal phase Input to the trigonometric function generation unit U1, according to Figure 3-Figure 4 It can be seen that the trigonometric function generating unit U1 in this embodiment is provided with two sine values and two cosine values , according to the second adder b and the third adder c respectively with the sine value and cosine The search relationship between and cosine Combined output cosine signal and , output sinusoidal signal and .

[0082] The cosine signal and The input is sent to the adder d in the first addition processing unit for subtraction, and the output is the first excitation signal , and the sinusoidal signal and The signal is input to the adder f in the first addition processing unit for addition, and the first excitation signal is output. .

[0083] The cosine signal and The signal is input to the adder e in the second addition processing unit for addition, and the second excitation signal is output. , and the sinusoidal signal and The input is sent to the adder g in the second addition processing unit for subtraction, and the output is the second excitation signal .

[0084] The trigonometric function generating unit U1 in this embodiment may use a LUT (Look-Up-Table) or a CORDIC (Coordinate Rotation Digital Computer) algorithm.

[0085] In one possible implementation, refer to Figure 3-Figure 4 As shown, the rotation phase extraction module 20 includes a first multiplier m1, a second multiplier m2, a fourth adder h and a first tracking loop U1;

[0086] The input end of the first multiplier m1 is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first sine excitation signal in the first excitation signal and the first modulation signal in the modulation signal output by the modulator, and output a first output signal; the input end of the second multiplier m2 is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first cosine excitation signal in the first excitation signal and the second modulation signal in the modulation signal, and output a second output signal; the input end of the fourth adder h is connected to the output end of the first multiplier m1 and the output end of the second multiplier m2 respectively, and is used to subtract the first output signal and the second output signal connected, and output the demodulated signal; the input end of the first tracking loop U1 is connected to the output end of the fourth adder h, and is used to track and demodulate the connected demodulated signal, and output the target angular position.

[0087] Specific, combined Figure 3-Figure 4 Provide explanation.

[0088] In the first multiplier m1, according to the first excitation signal The first modulated signal output by the modulator Do multiplication and output the first output signal .

[0089] In the second multiplier m2, according to the first excitation signal and the second modulation signal output by the modulator Do multiplication and output the second output signal .

[0090] At this time, the first output signal and the second output signal are sent to the fourth adder h, where subtraction is performed to output a demodulated signal After that, the demodulated signal is sent to the first tracking loop U1, and the data is tracked and demodulated by the first tracking loop U1, and the target angular position is output. .

[0091] It should be noted that the calibration module in this embodiment only involves two Multiplier, greatly reducing the calibration hardware cost.

[0092] Among them, according to Figure 5-Figure 6 It can be seen that the first tracking loop in this embodiment can be composed of a first type of integrator (i.e. Figure 5 Type-Ⅰ integrator in the Figure 5 LPF1 in the figure) or a series of first and second type integrators (i.e. Figure 6 Type-Ⅱ integrator in the Figure 6 PI1) in it.

[0093] In one possible implementation, refer to Figure 3-Figure 4 As shown, the group delay calibration module 30 includes a third multiplier m3, a fourth multiplier m4, a fifth adder i and a second tracking loop U2, wherein the third multiplier and the fourth multiplier form Figure 2 The demodulation module 301 in the second tracking loop is composed of Figure 2 The loop filter module 302 in;

[0094] The input end of the third multiplier m3 is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second cosine excitation signal in the second excitation signal and the second modulation signal in the modulation signal output by the modulator, and output a third output signal; the input end of the fourth multiplier m4 is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second sinusoidal excitation signal in the second excitation signal and the first modulation signal in the modulation signal, and output a fourth output signal; the input end of the fifth adder i is connected to the output end of the third multiplier m3 and the output end of the fourth multiplier m4 respectively, and is used to subtract the connected third output signal and the fourth output signal, and output the calibration signal; the input end of the second tracking loop U2 is connected to the output end of the fifth adder i, and is used to track the calibration signal and extract the calibration sinusoidal signal, and after obtaining the target lagging phase amount in the calibration sinusoidal signal, the target lagging phase amount is output as the calibration data.

[0095] Specific, combined Figure 3-Figure 4 Provide explanation.

[0096] In the third multiplier m3, according to the second excitation signal and the second modulation signal output by the modulator Do multiplication and output the third output signal .

[0097] In the fourth multiplier m4, according to the second excitation signal The first modulated signal output by the modulator Do multiplication and output the second output signal .

[0098] At this time, the third output signal and the fourth output signal are sent to the fifth adder i, and the addition is performed in the fifth adder i to output the calibration signal After that, the calibration signal is sent to the second tracking loop U2 to track the calibration signal and extract the calibration sinusoidal signal, because when the output angular position and input shaft angle When equal, , so the calibration signal input to the second tracking loop can be , for DC component After being extracted as a calibration sinusoidal signal, the lag phase amount in the calibration sinusoidal signal is obtained , thereby obtaining the target lag phase amount that causes the delay mismatch between the first modulation signal and the second modulation signal , the target lag phase The calibration data is output to the detection module, and the target lag phase quantity is connected through the detection module. It is superimposed on the modulation signal so that the sine signal part and the cosine signal part of the modulation signal have the same delay to achieve matching and eliminate group delay. In addition, the target angular position output by the first tracking loop U1 It is also transmitted to the detection module.

[0099] It should be noted that according to Fig. 9 It can be seen from the conventional group delay calibration device shown in FIG. 1 that by and the sinusoidal output angle Enter into a multiplier, and the second modulated signal and cosine output angle Passed into the b multiplier, outputting the a output signal respectively and b output signal Add and get a stimulus signal , the a excitation signal and the b excitation signal Input to the last stage multiplier, output calibration signal It can be seen that in a conventional group delay calibration device, two Multiplier and Multiplier, and The multiplier is equivalent to m The group delay calibration module 30 in this embodiment not only avoids the situation that the circuit area required is too large when two device circuits are separately provided, but also the group delay calibration module 30 in this embodiment only needs two Multiplier, greatly reducing the hardware implementation cost.

[0100] Among them, according to Figure 7-Figure 8 It can be seen that the second tracking loop in this embodiment can be composed of a filter unit connected in series with a second type of integrator (i.e. Figure 7 Type-Ⅰ integrator in the above diagram) or a second low-pass filter in series (i.e. Figure 8 LPF2 in), the second type of integrator (i.e. Figure 8 Type-Ⅱ integrator in the circuit) and the second compensator (i.e. Figure 8 The filter unit includes a comb filter (i.e. Figure 7 CIC in ) and notch filter (i.e. Figure 7 Notch in the calibration signal is firstly used to implement low-pass filtering by using a comb filter using a phase-shift addition or phase-shift subtraction method, and then a notch point is created at twice the excitation frequency by using a notch filter to eliminate the harmonic component at twice the excitation frequency in the calibration signal.

[0101] It should be noted that according to Figure 3-Figure 4 It can be seen that Figure 3 The structure of the demodulation calibration device shown in Figure 4 The structures of the demodulation calibration devices shown are basically the same, and the only difference is at the input end of the first adder. Figure 3 The input terminal of the first adder in the embodiment is connected to the first switch (i.e. Figure 3 K1 in the first preset value ,because Figure 3 The loop range in is ±90°, so when there is a need to calibrate the initial input signal output by the first adder a to within the loop range, the first switch can be closed to access the first preset value. The group delay calibration module performs coarse adjustment and the group delay calibration module performs fine adjustment.

[0102] Figure 4 A first switch path and a second switch path in parallel are connected between the input end of the first adder and the output end of the group delay calibration module, wherein the first switch path is connected to a second switch K2, and when the second switch K2 is in a closed state, the initial lag phase amount at the output end of the group delay calibration module is directly transmitted to the first adder. The second switch path is provided with a third switch K3 and a memory (i.e. Figure 4When the third switch K3 is controlled to be closed, when the third switch K3 is in the closed state, the second preset value stored in the memory It will be transmitted to the first adder through the closed third switch K3, and then the first switch path will be closed to reduce the noise and power consumption introduced by the group delay loop.

[0103] Here, the principle that the rotation phase extraction module and the group delay calibration module can be connected to the frequency synthesis module to perform corresponding operations is explained.

[0104] Trigonometric signal exist At the DC point, since the two harmonic components (i.e. at 1 / 2) are equal in magnitude and opposite in direction, they can cancel each other out after being superimposed on each other, because there is only a signal at twice the excitation frequency. and They are equivalent in frequency analysis diagram. It should be noted that Indicates frequency.

[0105] When the trigonometric signal passes through the channel, the excitation signal generated by the clock module lags behind time, which can be expressed as formula ①:

[0106] ————Formula①

[0107] From formula ①, we can see that the group delay of the trigonometric function is reflected in its phase lag. Due to the frequency and group delay time is a definite value, so It is also a certain value. Due to the existence of group delay, the trigonometric function signal will be transformed into formula ②:

[0108] —Formula②

[0109] because is a constant, so is also a constant, which is equivalent to superimposing a DC component on the final output result, which is reflected in the spectrum. At , the directions of the two harmonic components are not opposite, so they cannot be canceled out after superposition, so there is a DC component. The phase of the signal is delayed relative to the normal , so as long as the DC component superimposed on the final output result is extracted, the lagging phase can be obtained. , the phase of the lag It is added to the signal part that needs to be cancelled so that the two harmonic components match each other and eliminate the problem of group delay.

[0110] Extend the above principles to Fig. 9 During the group delay calibration process, the excitation signal components in the first modulation signal and the second modulation signal can be obtained. It is generated by the clock module inside the rotary digital converter. There is a group delay in the process of transmitting it to the resolver, and its phase will lag , so the excitation signal component, that is, the sinusoidal signal part, becomes , so as long as the phase value in this component The cosine signal part is extracted and compensated to the first modulation signal and the second modulation signal, so that the cosine signal part and the sine signal part in the modulation signal can be matched.

[0111] At this time it will be Fig. 9 Calibration signal in By making changes, we can get the following formula ③:

[0112] in, and It is determined by the modulator and cannot be changed, so it can only be and Make changes and get formula ④:

[0113] ————Formula④

[0114] Substituting formula ④ into formula ③, we can get formula ⑤:

[0115]

[0116] In the conventional demodulation process, the output conventional demodulation signal is as shown in the following formula ⑥:

[0117] in, and It is determined by the modulator and cannot be changed, so it can only be and Make changes and get formula ⑦:

[0118] ————Formula⑦

[0119] Substituting formula ⑦ into formula ⑥, we can get formula ⑧:

[0120]

[0121] Formula ⑤ represents the group delay calibration operation flow of the rotary digitizer group delay calibration, and formula ⑧ represents the demodulation operation flow of the rotary digitizer demodulation. It can be seen from formula ⑤ and formula ⑧ that in formula ⑤ and formula ⑧, except for the same access modulation signal, the excitation signal , excitation signal , excitation signal and stimulus signal The conversion process is the same, so based on this point, this embodiment is designed as follows Figure 3-Figure 4 The architecture shown in the trigonometric function generation unit in the embodiment can obtain the excitation signal required for the group delay calibration operation process and the demodulation operation process, so that the group delay calibration operation process and the demodulation operation process can share an input signal processing module, thereby integrating the architecture required for the group delay calibration operation and the architecture required for the demodulation operation into one device, thereby avoiding the problem of increased hardware cost caused by the need to set up relatively independent devices for the two operations, and avoiding the problem of increased circuit area cost caused by the need to occupy corresponding circuit areas when relatively independent devices are set up for the two operations.

[0122] The present application also proposes a rotational digital converter, which includes the demodulation device as described above. The specific structure of the demodulation device refers to the above embodiment. Since the rotational digital converter adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0123] The above description is only an exemplary embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the technical concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A demodulation calibration device, characterized in that: The demodulation calibration device comprises a frequency synthesis module, a rotation phase extraction module and a group delay calibration module; The input end of the rotation phase extraction module and the input end of the group delay calibration module are respectively connected to the output end of the frequency synthesis module; The frequency synthesis module is used to synthesize the phase of the excitation signal according to the phase information received, and then generate a first excitation signal for demodulation and a second excitation signal for group delay calibration based on the phase of the excitation signal; The rotation phase extraction module is used to multiply the received modulation signal with the first excitation signal to obtain a demodulated signal, demodulate the demodulated signal, and output demodulated data; The group delay calibration module is used to multiply the received modulation signal by the second excitation signal to obtain a calibration signal, extract a calibration sinusoidal signal from the calibration signal, and determine a target lag phase amount in the calibration sinusoidal signal as calibration data; The input end of the frequency synthesis module is respectively connected to the output end of the rotation phase extraction module, the output end of the group delay calibration module and the clock module, and is used to access the initial angular position in the demodulated data output by the rotation phase extraction module, the initial lag phase amount output by the group delay calibration module and the clock phase output by the clock module, wherein the initial angular position, the initial lag phase amount and the clock phase are the phase information; The frequency synthesis module includes a first adder, a second adder and a third adder; The input end of the first adder is connected to the clock module and the group delay calibration module respectively, and is used to compensate the clock phase according to the connected initial lag phase amount and output the initial input signal; The output end of the first adder is connected to the input end of the second adder and the input end of the third adder respectively, and the input end of the second adder and the input end of the third adder are also connected to the rotation phase extraction module respectively. The second adder is used to add the connected initial input signal and the initial angular position to output the first excitation signal phase, and the third adder is used to subtract the connected initial input signal and the initial angular position to output the second excitation signal phase.

2. The demodulation calibration device according to claim 1, characterized in that: The frequency synthesis module also includes a trigonometric function generation unit, a first addition processing unit and a second addition processing unit; The input end of the trigonometric function generating unit is connected to the output end of the second adder and the output end of the third adder, and is used to find the corresponding sine value and cosine value according to the phase of the first excitation signal and the phase of the second excitation signal, and respectively combine with the sine value and the cosine value to output a sine signal and a cosine signal; The input end of the first addition processing unit is connected to the first sine and cosine output end of the trigonometric function generation unit, and is used to add and subtract the sine signal and the cosine signal output from the first sine and cosine output end, respectively, and then output the first excitation signal; The input end of the second addition processing unit is connected to the second sine and cosine output end of the trigonometric function generation unit, and is used to add and subtract the sine signal and cosine signal output from the second sine and cosine output end respectively, and then output the second excitation signal.

3. The demodulation calibration device according to claim 2, characterized in that: The first adder is connected to the first preset value through the first switch.

4. The demodulation calibration device according to claim 2, characterized in that: A first switch path and a second switch path connected in parallel are connected between the input end of the frequency synthesis module and the output end of the group delay calibration module; The first switch path is used to transmit the initial lag phase amount at the output end of the group delay calibration module to the first adder in a closed state; A memory is provided on the second switch path, and is used to transfer the second preset value in the memory to the first adder in a closed state.

5. The demodulation calibration device according to claim 2, characterized in that: The rotation phase extraction module includes a first multiplier, a second multiplier, a fourth adder and a first tracking loop; The input end of the first multiplier is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first sinusoidal excitation signal in the first excitation signal and the first modulation signal in the modulation signal output by the modulator, and output a first output signal; The input end of the second multiplier is connected to the output end of the first addition processing unit and the modulator respectively, and is used to multiply the first cosine excitation signal in the first excitation signal and the second modulation signal in the modulation signal to output a second output signal; The input end of the fourth adder is connected to the output end of the first multiplier and the output end of the second multiplier respectively, and is used to subtract the first output signal and the second output signal connected thereto, and output the demodulated signal; The input end of the first tracking loop is connected to the output end of the fourth adder, and is used to track and demodulate the received demodulation signal and output the target angular position.

6. The demodulation calibration device according to claim 5, characterized in that: The first tracking loop comprises a first type integrator and a first low-pass filter connected in series; The input end of the first type integrator is connected to the output end of the fourth adder, and the output end of the first low-pass filter outputs the target angular position; or, The first tracking loop device comprises a first type II integrator and a first compensator connected in series; The input end of the first second type integrator is connected to the output end of the fourth adder, and the output end of the first compensator outputs the target angular position.

7. The demodulation calibration device according to claim 2, characterized in that: The group delay calibration module includes a third multiplier, a fourth multiplier, a fifth adder and a second tracking loop; The input end of the third multiplier is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second cosine excitation signal in the second excitation signal and the second modulation signal in the modulation signal output by the modulator, and output a third output signal; The input end of the fourth multiplier is connected to the output end of the second addition processing unit and the modulator respectively, and is used to multiply the second sinusoidal excitation signal in the second excitation signal and the first modulation signal in the modulation signal to output a fourth output signal; The input end of the fifth adder is connected to the output end of the third multiplier and the output end of the fourth multiplier respectively, and is used to subtract the connected third output signal and the fourth output signal, and output the calibration signal; The input end of the second tracking loop is connected to the output end of the fifth adder, and is used to track the calibration signal and extract the calibration sinusoidal signal, and after obtaining the target lagging phase amount in the calibration sinusoidal signal, output the target lagging phase amount as the calibration data; The second tracking loop comprises a filter unit and a second type-I integrator connected in series; The input end of the filtering unit is connected to the output end of the fifth adder, and the output end of the second type integrator outputs the calibration data; or, The second tracking loop comprises a second low-pass filter, a second type II integrator and a second compensator connected in series; An input terminal of the second low-pass filter is connected to an output terminal of the fifth adder, and an output terminal of the second compensator outputs the calibration data.

8. A rotation digitizer, characterized in that: The rotational digitizer comprises a demodulation calibration device as claimed in any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps that can be implemented by the demodulation and calibration device as described in any one of claims 1 to 7 can be implemented.

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