Rotary transformer compensation method, device, equipment and medium

Abstract

The invention provides a rotary transformer compensation method. The method comprises the following steps: inputting an excitation signal to a rotary transformer; acquiring an output signal of the rotary transformer; synthesizing the amplitude of the sinusoidal signal and the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of a synthesized vector; changing the phase shift of the excitation signal, and obtaining the amplitude of a resultant vector in real time; the phase shift of the excitation signal when the amplitude of the resultant vector is the extreme value is taken as the phase shift compensation value of the rotary transformer, and the phase shift compensation value is realized by adjusting the phase of the excitation signal, so that the process of comparison and conversion calculation of a feedback signal and the excitation signal in the traditional method is avoided, and the complex operation process is omitted. Amplitude compensation of the rotary transformer is realized by adjusting the amplitude of the excitation signal, precision loss caused by sampling value amplification is avoided, and decoding matching can be conveniently realized for rotary transformers with different discrimination ratios.

Description

Technical Field

[0001] The present invention relates to the field of rotary transformers, and in particular to a rotary transformer compensation method, device, equipment and medium. Background Art

[0002] A resolver is a device that converts mechanical position into electrical signals and is widely used in precision positioning systems, servo control systems, and measuring equipment. The resolver consists of a stator and a rotor. By passing an excitation signal into the stator, a signal related to the rotor position can be induced on the rotor. The signal is output as a sine and cosine feedback signal on the stator through a toroidal transformer between the stator and rotor. The decoding device can obtain the rotational position of the rotor by solving the sine and cosine signals.

[0003] Under ideal working conditions, the resolver can provide relatively accurate measurement results. However, in actual applications, due to factors such as wiring length, mechanical wear, temperature changes, electromagnetic interference, and dynamic load changes, the amplitude and phase of the output signal will change, thus affecting the measurement accuracy. For example, when using long wires to connect the resolver to the decoding controller, the output signal of the resolver will change in amplitude and phase due to line loss; environmental interference, electromagnetic interference, temperature fluctuations and other environmental factors will also affect the performance of the resolver, resulting in measurement errors; mechanical wear, after long-term use, the mechanical parts of the resolver may wear out, affecting its measurement accuracy. Summary of the invention

[0004] The object of the present invention is to provide a rotary transformer compensation method, which avoids the loss of accuracy caused by sampling value amplification.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rotary transformer compensation method, comprising the following steps: inputting an excitation signal to the rotary transformer; collecting the output signal of the rotary transformer; synthesizing the amplitude of the sine signal and the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of the synthetic vector; changing the phase shift of the excitation signal and obtaining the amplitude of the synthetic vector in real time; using the phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value as the phase shift compensation value of the rotary transformer.

[0006] Furthermore, after taking the phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value as the phase shift compensation value of the rotary transformer, it also includes: judging whether the extreme value of the amplitude of the synthetic vector is within a preset amplitude range; when the extreme value of the amplitude of the synthetic vector is not within the preset amplitude range, adjusting the duty cycle of the excitation signal until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range.

[0007] Furthermore, the preset amplitude range is 85%-95% of the sampling conversion range of the microcontroller.

[0008] Further, the step of adjusting the duty cycle of the excitation signal until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range includes: setting an adjustment step; determining the magnitude relationship between the extreme value of the amplitude of the synthetic vector and the preset amplitude range; when the extreme value of the amplitude of the synthetic vector is lower than the preset amplitude range, gradually increasing the duty cycle of the excitation signal with the adjustment step as the duty cycle increase value until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range; when the extreme value of the amplitude of the synthetic vector is higher than the preset amplitude range, gradually decreasing the duty cycle of the excitation signal with the adjustment step as the duty cycle decrease value until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range.

[0009] Further, the changing the phase shift of the excitation signal includes: confirming a phase shift range of the excitation signal; and adjusting the phase shift of the excitation signal until the excitation signal traverses the phase shift range.

[0010] Furthermore, the adjustment step is 2%-3%.

[0011] Furthermore, the phase shift range is 0°-360°.

[0012] On the other hand, a rotary transformer compensation device is provided, comprising: a control mechanism, which inputs an excitation signal to the rotary transformer through a microcontroller; a collection mechanism, which collects the output signal of the rotary transformer; an amplitude synthesis mechanism, which synthesizes the amplitude of the sine signal or the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of the synthesized vector; an amplitude judgment mechanism, which changes the phase shift of the excitation signal and obtains the amplitude of the synthesized vector in real time; and a compensation mechanism, which uses the phase shift of the excitation signal when the amplitude of the synthesized vector is an extreme value as the phase shift compensation value of the rotary transformer.

[0013] On the other hand, an electronic device is provided, comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned resolver compensation method.

[0014] On the other hand, a computer-readable storage medium is provided, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned rotary transformer compensation method.

[0015] The present invention discloses a method, device, equipment and medium for compensating a rotary transformer, which is realized by adjusting the phase of an excitation signal, avoiding the process of comparing and converting a feedback signal with an excitation signal in a traditional method, and eliminating a complicated calculation process. The amplitude compensation of the rotary transformer is realized by adjusting the amplitude of the excitation signal, avoiding the loss of precision caused by amplifying the sampling value, and at the same time, decoding matching can be realized more conveniently for rotary transformers with different resolution ratios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0017] Figure 1 A schematic diagram of the amplitude of a sine signal and a cosine signal according to an embodiment of the present invention.

[0018] Figure 2 Flowchart of an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0020] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", and "fourth", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0021] like Figure 1 As shown, according to an embodiment of the present invention, a rotary transformer compensation method is provided, comprising the following steps:

[0022] Step S101, input excitation signal to the rotary transformer through the microcontroller. Based on the internal sine and cosine table, the microcontroller outputs a preset period SPWM (Sinusoidal Pulse Width Modulation) signal through a timer. The duty cycle of the SPWM signal is usually centered on 50%, and the highest duty cycle is usually not more than 80%, while the lowest duty cycle is not less than 20%, so as to leave a 20% margin for subsequent amplitude compensation. The signal is low-pass filtered externally and then forms an excitation signal according to the set amplification ratio and is transmitted to the rotary transformer. Under the normal rotary transformer transformation ratio condition, the above-mentioned amplification ratio is close to the range of the microcontroller sampling to maximize the accuracy of the microcontroller decoding.

[0023] Step S102, collecting the output signal of the rotary transformer.

[0024] The microcontroller is triggered by a timer to synchronously sample, convert and record the sine and cosine signals output by the resolver, thereby obtaining the sequence data of the feedback signal inside the microcontroller. It should be noted that a decoding system centered on the microcontroller is established with synchronous excitation and feedback sampling.

[0025] Step S103, synthesizing the amplitude of the sine signal and the amplitude of the cosine signal in the output signal of the resolver to obtain the amplitude of the synthesized vector.

[0026] The half cycle of the excitation signal is used as a window to intercept the sequence data of the feedback signal, and the amplitudes of the positive and cosine signals are obtained through the FIR (Finite Impulse Response) filter. After the positive and cosine signal amplitudes are divided, the position information of the resolver can be obtained by querying the inverse tangent table. The amplitude of the synthetic vector can be obtained from the amplitude of the positive and cosine signals.

[0027] Step S104, changing the phase shift of the excitation signal, and acquiring the amplitude of the synthetic vector in real time.

[0028] The above-mentioned changing the phase shift of the excitation signal includes: confirming the phase shift range of the excitation signal; and adjusting the phase shift of the excitation signal until the excitation signal traverses the phase shift range.

[0029] like Figure 2 As shown, the above phase shift range is 0°-360°. Usually, the phase shift of the output SPWM signal is adjusted within the range of 0-360 degrees, and the synthetic amplitude of the acquired sine and cosine signals is recorded at the same time. Since the synthetic value of the first half cycle should be a positive value, and the synthetic value of the second half cycle should be a negative value, the extreme value point of the vector amplitude can be synthesized within the phase shift range.

[0030] Step S105: taking the phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value as the phase shift compensation value of the rotary transformer.

[0031] The phase shift compensation value is used as a fixed compensation value for exciting the resolver.

[0032] Step S106, determining whether the extreme value of the amplitude of the synthesized vector is within a preset amplitude range;

[0033] When the extreme value of the amplitude of the resultant vector is not within the preset amplitude range, the duty cycle of the excitation signal is adjusted until the extreme value of the amplitude of the resultant vector is within the preset amplitude range.

[0034] The above-mentioned preset amplitude range is 85%-95% of the range of sampling conversion of the microcontroller.

[0035] The above-mentioned adjustment of the duty cycle of the excitation signal until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range includes: setting an adjustment step; determining the size relationship between the extreme value of the amplitude of the synthetic vector and the preset amplitude range; when the extreme value of the amplitude of the synthetic vector is lower than the preset amplitude range, gradually increasing the duty cycle of the excitation signal with the adjustment step as the duty cycle increase value until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range; when the extreme value of the amplitude of the synthetic vector is higher than the preset amplitude range, gradually decreasing the duty cycle of the excitation signal with the adjustment step as the duty cycle decrease value until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range.

[0036] The above adjustment step is 2%-3%.

[0037] Specifically, the amplitude of the synthesized vector is compared with the range of the sampling conversion of the microcontroller. If the amplitude exceeds 95% of the sampling range, the duty cycle of the excitation SPWM signal is adjusted to reduce the amplitude of the output signal in a step ratio of 2-3%, and detect whether the amplitude of the synthesized vector is reduced in the same proportion. If so, the amplitude adjustment is considered to be completed, otherwise it continues to decrease until the requirement is met; if the amplitude is lower than 85% of the sampling range, the duty cycle of the excitation SPWM signal is adjusted to increase the amplitude of the output signal in a step ratio of 2-3%, and detect whether the amplitude of the synthesized vector is increased in the same proportion. If so, the amplitude adjustment is considered to be completed, otherwise it continues to increase until the requirement is met; when the amplitude of the synthesized vector is between 85% and 95% of the sampling range, the amplitude correction is considered to be completed.

[0038] The present invention also discloses a rotary transformer compensation device, comprising: a control mechanism, which inputs an excitation signal to the rotary transformer through a microcontroller; a collection mechanism, which collects the output signal of the rotary transformer; an amplitude synthesis mechanism, which synthesizes the amplitude of the sine signal or the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of the synthesized vector; an amplitude judgment mechanism, which changes the phase shift of the excitation signal and obtains the amplitude of the synthesized vector in real time; and a compensation mechanism, which uses the phase shift of the excitation signal when the amplitude of the synthesized vector is an extreme value as the phase shift compensation value of the rotary transformer.

[0039] The present invention also discloses an electronic device, which includes: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned rotary transformer compensation method.

[0040] The present invention also discloses a computer-readable storage medium, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned rotary transformer compensation method.

[0041] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: the phase shift compensation for the rotary transformer is achieved by adjusting the phase of the excitation signal, avoiding the comparison and transformation calculation process of the feedback signal and the excitation signal in the traditional method, and eliminating the complicated calculation process. The amplitude compensation for the rotary transformer is achieved by adjusting the amplitude of the excitation signal, avoiding the loss of accuracy caused by the amplification of the sampling value, and at the same time, decoding matching can be more conveniently achieved for rotary transformers with different resolution ratios.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rotary transformer compensation method, characterized in that: The following steps are involved: Inputting an excitation signal to the rotary transformer; Collecting an output signal of the rotary transformer; synthesizing the amplitude of the sine signal and the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of the synthesized vector; Changing the phase shift of the excitation signal and acquiring the amplitude of the synthetic vector in real time; The phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value is used as the phase shift compensation value of the rotary transformer.

2. A rotary transformer compensation method according to claim 1, characterized in that: After taking the phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value as the phase shift compensation value of the rotary transformer, the method further includes: Determining whether the extreme value of the amplitude of the synthetic vector is within a preset amplitude range; When the extreme value of the amplitude of the synthetic vector is not within the preset amplitude range, the duty cycle of the excitation signal is adjusted until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range.

3. A rotary transformer compensation method according to claim 2, characterized in that: The preset amplitude range is 85%-95% of the range of sampling conversion of the microcontroller.

4. A rotary transformer compensation method according to claim 2, characterized in that: The step of adjusting the duty cycle of the excitation signal until the extreme value of the amplitude of the synthetic vector is within a preset amplitude range comprises: Set the adjustment step size; Determine the magnitude relationship between the extreme value of the amplitude of the synthetic vector and the preset amplitude range; When the extreme value of the amplitude of the synthesized vector is lower than the preset amplitude range, gradually increasing the duty cycle of the excitation signal with the adjustment step length as the duty cycle increase value until the extreme value of the amplitude of the synthesized vector is within the preset amplitude range; When the extreme value of the amplitude of the synthetic vector is higher than the preset amplitude range, the duty cycle of the excitation signal is gradually reduced with the adjustment step as the duty cycle reduction value until the extreme value of the amplitude of the synthetic vector is within the preset amplitude range.

5. The rotary transformer compensation method according to claim 1, characterized in that: The changing the phase shift of the excitation signal comprises: confirming a phase shift range of the excitation signal; The phase shift of the excitation signal is adjusted until the excitation signal traverses the phase shift range.

6. A rotary transformer compensation method according to claim 4, characterized in that: The adjustment step is 2%-3%.

7. A rotary transformer compensation method according to claim 5, characterized in that: The phase shift range is 0°-360°.

8. A rotary transformer compensation device, characterized in that: include: A control mechanism, which inputs an excitation signal to the rotary transformer through a microcontroller; A collection mechanism for collecting an output signal of the rotary transformer; an amplitude synthesis mechanism for synthesizing the amplitude of the sine signal or the amplitude of the cosine signal in the output signal of the rotary transformer to obtain the amplitude of the synthesized vector; An amplitude judgment mechanism changes the phase shift of the excitation signal and obtains the amplitude of the synthetic vector in real time; The compensation mechanism uses the phase shift of the excitation signal when the amplitude of the synthetic vector is an extreme value as the phase shift compensation value of the rotary transformer.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the rotary transformer compensation method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by a processor to implement the rotary transformer compensation method described in any one of claims 1 to 7.

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