Method and device for resolving angle of rotary transformer based on successive approximation of difference angle formula

Abstract

The invention discloses a rotary transformer angle resolving method based on successive approximation of a difference angle formula, and relates to the technical field of motor control, and the method comprises the steps: calculating the maximum change angle of the rotor angle of a rotary transformer in each decoding period based on the maximum operation speed of a rotating mechanism; setting a comparison angle, and setting the value of the comparison angle to be 0; acquiring a sine value and a cosine value corresponding to a current rotor angle of the rotary transformer, calculating a sine value and a cosine value corresponding to a comparison angle, and substituting the sine value and the cosine value into a difference angle formula for calculation; and calculating by adopting a successive approximation method to obtain the current rotor angle of the rotary transformer. According to the method, the comparison angle is set, the sine and cosine values are calculated and substituted into the difference angle formula, the result is calculated, and the current rotor angle of the rotary transformer is calculated by adopting the successive approximation method, so that the angle calculation of the rotary transformer is more accurate, and the problems of poor noise immunity and large static fluctuation of a software decoding scheme are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method and device for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula. Background Art

[0002] A resolver (resolver / transformer, hereinafter referred to as a resolver) is an electromagnetic sensor, also known as a synchronous resolver. It is a small AC motor used to measure angles. It is used to measure the angular displacement and angular velocity of the rotating shaft of a rotating object. It consists of a stator and a rotor. The stator winding serves as the primary side of the transformer and receives the excitation voltage. The rotor winding serves as the secondary side of the transformer and obtains the induced voltage through electromagnetic coupling. Figure 1 This is a signal diagram of the rotary transformer.

[0003] Resolvers and photoelectric encoders are the most widely used measuring components in the servo field. Photoelectric encoders directly output digital signals, have simple processing circuits, large noise tolerance, and are easy to improve resolution. However, they are not resistant to shock, high temperature, and radiation interference, so they are not suitable for use in military and space fields. Resolvers have the advantages of shock resistance, high temperature resistance, oil resistance, and high reliability. However, their disadvantage is that they output modulated analog signals, and the output signal calculation is more complicated.

[0004] At present, there are two main types of resolver signal decoding: hardware decoding and software decoding. The hardware decoding solution is to use a resolver-to-digital converter chip (RDC) to connect to the resolver, decode the analog signal (sinθ, cosθ) output by the resolver in hardware, and obtain the angular position signal and speed signal of the resolver rotor. Commonly used RDC chips include AD2S83, AD2S1210, etc. The software decoding solution is to use the MCU or external ADC interface to obtain the peak value of each high-frequency sine and cosine wave of the resolver signal, that is, the sinθ and cosθ values, and then use the formula θ=arctan(sinθ÷cosθ). This result can be used to directly look up the acrtan table to obtain the angle θ. Figure 2 Schematic diagram of the outer envelope peak extraction method for sine and cosine signals.

[0005] However, the hardware decoding solution has disadvantages such as high hardware cost and increased PCB wiring area. The inverse tangent algorithm of the software decoding solution can only solve the 0-90° value, and other intervals need to judge the signs of the sine and cosine data to process, which leads to poor noise resistance and large static fluctuations. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula.

[0007] In order to solve the above technical problems, the technical solution of the present invention is as follows: A method for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula, comprising: Calculate the maximum change angle of the rotary transformer rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism; Set the contrast angle and set its value to 0; Collect the sine value and cosine value corresponding to the current rotor angle of the resolver, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the resolver and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation; The successive approximation method is used to calculate the current rotor angle of the resolver.

[0008] As a preferred solution of the rotary transformer angle calculation method based on successive approximation of the difference angle formula of the present invention, the method of calculating the current rotor angle of the rotary transformer by using the successive approximation method includes: Set the maximum change angle of the resolver rotor angle in each decoding cycle to A, the comparison angle to Φ, the current rotor angle of the resolver to θ, and the calculation result of the difference angle formula to B; Set the approach angle value C and set C=A; Compare B with 0. If B is greater than 0, set the comparison angle Φ=Φ+C. If B is less than 0, set the comparison angle Φ=Φ-C and update C to C / 2. Repeat the previous step until B=0, at which time the comparison angle Φ is equal to the current rotor angle θ of the resolver.

[0009] As a preferred solution of the rotary transformer angle calculation method based on successive approximation of the difference angle formula of the present invention, wherein: after repeatedly executing the previous step until B=0, when the comparison angle Φ is equal to the current rotor angle θ of the rotary transformer, it also includes: If C is less than or equal to 1, and B is still not equal to 0, the current rotor angle θ of the resolver is value A.

[0010] As a preferred solution of the rotary transformer angle calculation method based on successive approximation of the difference angle formula of the present invention, the method of calculating the current rotor angle of the rotary transformer by using the successive approximation method includes: Set the maximum change angle of the resolver rotor angle in each decoding cycle to A, the comparison angle to Φ, the current rotor angle of the resolver to θ, and the calculation result of the difference angle formula to B; Set the approach angle value C and threshold D, and set C=A; Compare the absolute value of B with the threshold D. If the absolute value of B is greater than the threshold D and B is greater than 0, set the comparison angle Φ=Φ+C. If the absolute value of B is greater than the threshold D and B is less than 0, set the comparison angle Φ=Φ-C and update C to C / 2. Repeat the previous step until the absolute value of B is less than or equal to the threshold value D, at which time the comparison angle Φ is equal to the current rotor angle θ of the resolver.

[0011] As a preferred solution of the rotary transformer angle calculation method based on successive approximation of the difference angle formula of the present invention, wherein: after repeatedly executing the previous step until the absolute value of B is less than or equal to the threshold D, at which time the comparison angle Φ is equal to the current rotor angle θ of the rotary transformer, it also includes: If C is less than or equal to 1, and the absolute value of B is still greater than the threshold D, the current rotor angle θ of the resolver is value A.

[0012] The present invention also provides a rotary transformer angle calculation device based on successive approximation of a difference angle formula, comprising: A first calculation module, used for calculating the maximum change angle of the rotary transformer rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism; The setting module is used to set the contrast angle and set its value to 0; The second calculation module is used to collect the sine value and cosine value corresponding to the current rotor angle of the resolver, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the resolver and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation; The third calculation module is used to calculate the current rotor angle of the resolver by using the successive approximation method.

[0013] The present invention also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method described in any of the above-mentioned methods for solving the angle of a rotary transformer based on successive approximation of a difference angle formula is implemented.

[0014] The present invention also discloses a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any of the above-mentioned methods for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula is implemented.

[0015] The beneficial effects of the present invention are: The present invention calculates the sinΦ and cosΦ of the same equivalent by setting a comparison angle Φ, substitutes each value into the difference angle formula and calculates the result, and then uses the successive approximation method to calculate the current rotor angle of the resolver according to the calculation result. This not only solves the problem that the inverse tangent algorithm in the software decoding solution can only solve the value of 0-90°, making the resolver angle solution more accurate, but also avoids the problem that the software decoding solution has poor noise resistance and large static fluctuation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 It is the signal diagram of the rotary transformer; Figure 2 It is a schematic diagram of the peak value extraction method of the outer envelope of the sine and cosine signals; Figure 3 A schematic flow chart of a method for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula provided by the present invention; Figure 4 Schematic diagram of the successive approximation method in the embodiment; Figure 5 A schematic diagram of a rotary transformer angle calculation device based on successive approximation of a difference angle formula provided by the present invention; Figure 6 A schematic diagram of a computer device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings.

[0019] Figure 3 A flowchart of a method for calculating the angle of a rotary transformer based on successive approximation of the difference angle formula provided in an embodiment of the present application. The method specifically comprises the following steps: Step S101: Calculate the maximum change angle of the resolver rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism.

[0020] Specifically, after the system is running, the maximum change angle A of the rotary transformer rotor angle θ in each decoding cycle is calculated according to the maximum operating speed of the rotating mechanism.

[0021] Step S102: Set the contrast angle and set its value to 0.

[0022] Step S103: Collect the sine value and cosine value corresponding to the current rotor angle of the resolver, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the resolver and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation.

[0023] Specifically, the sine and cosine signals obtained from the resolver are the sine value sinθ and cosine value cosθ corresponding to the current angle θ of the resolver rotor. By setting the comparison angle Φ and calculating the equivalent sinΦ and cosΦ, each value is substituted into the difference angle formula sinθ×cosΦ-cosθ×sinΦ and the result is calculated.

[0024] Step S104: Calculate the current rotor angle of the resolver using the successive approximation method.

[0025] Specifically, the principle of the successive approximation method is as follows: When the result of the difference angle formula is greater than zero, it indicates that θ>Φ. At this time, the Φ angle value can be appropriately increased, sinΦ and cosΦ can be recalculated, and the Φ angle value can be adjusted accordingly according to the result of the difference angle formula; when the result is less than zero, it indicates that θ<Φ. At this time, the Φ angle value can be appropriately reduced, sinΦ and cosΦ can be recalculated, and the Φ angle value can be adjusted accordingly according to the result of the difference angle formula. When the result is equal to zero, it is concluded that θ=Φ, and thus the current rotor angle value θ of the resolver can be obtained.

[0026] Therefore, this step is specifically as follows: Set the calculation result of the difference angle formula to B, set the approximation angle value C in the successive approximation method, and set the value of C equal to the value of A; Compare the calculation result B of the difference angle formula with 0. If B is greater than 0, set the comparison angle Φ=Φ+C; if B is less than 0, set the comparison angle Φ=Φ-C, and update C to C / 2; Repeat the previous step until B = 0, at which point the comparison angle Φ is equal to the current rotor angle θ of the resolver. During the execution process, if C is less than or equal to 1, it means that there is no room for approach, and B is still not equal to 0, which means that the target angle is outside the maximum offset, which only occurs when the machine is just turned on and exceeds the maximum speed of the system. Therefore, the current rotor angle θ of the resolver is obtained as value A.

[0027] In actual operation, since the calculated value of sinθ×cosΦ-cosθ×sinΦ may not be exactly equal to zero, a threshold can be set. When the absolute value |B| of the calculated result B of the difference angle formula is less than or equal to the threshold, it can be judged that the calculated result B of the difference angle formula is zero. The specific steps are as follows: Set the calculation result of the difference angle formula to B, set the approximation angle value C in the successive approximation method, set the value of C equal to the value of A, and set the threshold D; Compare the absolute value of B with the threshold D. If the absolute value of B is greater than the threshold D and B is greater than 0, set the comparison angle Φ=Φ+C. If the absolute value of B is greater than the threshold D and B is less than 0, set the comparison angle Φ=Φ-C and update C to C / 2. Repeat the previous step until the absolute value of B is less than or equal to the threshold value D. At this time, the comparison angle Φ is equal to the current rotor angle θ of the resolver. In addition, during the execution process, if C is less than or equal to 1, it means that there is no room for approximation, and the absolute value of B is still greater than the threshold value D, it can be understood that the target angle is outside the maximum offset, which only occurs when the machine is just turned on and exceeds the maximum speed of the system. Therefore, the current rotor angle θ of the resolver is obtained as value A.

[0028] Figure 4It is a schematic diagram of the successive approximation method. In this embodiment, according to the maximum operating speed of the rotating mechanism, the maximum change angle A of the rotary transformer rotor angle θ calculated in this decoding cycle is 16. First, the approximation angle value C is set to 16. In the initial state, the value of the comparison angle Φ is 0. At this time, sinΦ and cosΦ are calculated based on the angle Φ. Substituting the difference angle formula sinθ×cosΦ-cosθ×sinΦ, the absolute value of the result B is greater than the threshold value D, and B is greater than 0, then the comparison angle Φ=Φ+C=0+16=16 is set, and the approximation angle value C is updated to C / 2=8. After that, the corresponding sinΦ and cosΦ are calculated with the comparison angle Φ value of 16. Substituting the difference angle formula sinθ×cosΦ-cosθ×sinΦ, the absolute value of the result B is greater than the threshold value D, and B is less than 0, then the comparison angle Φ=Φ-C=16-8=8 is set, and the approximation angle value C is updated to C / 2=4. After that, the corresponding sinΦ and cosΦ are calculated with the comparison angle Φ value of 8, and the absolute value of B calculated by substituting it into the difference angle formula sinθ×cosΦ-cosθ×sinΦ is greater than the threshold value D, and B is greater than 0, then the comparison angle Φ is set to Φ+C=8+4=12, and the approximation angle value C is updated to C / 2=2. After that, the corresponding sinΦ and cosΦ are calculated with the comparison angle Φ value of 12, and the absolute value of B calculated by substituting it into the difference angle formula sinθ×cosΦ-cosθ×sinΦ is greater than the threshold value D, and B is less than 0, then the comparison angle Φ is set to Φ-C=12-2=10, and the approximation angle value C is updated to C / 1=1. After that, the corresponding sinΦ and cosΦ are calculated with the comparison angle Φ value of 10, and the absolute value of the result B is calculated to be greater than the threshold value D when it is substituted into the difference angle formula sinθ×cosΦ-cosθ×sinΦ, and B is greater than 0, then the comparison angle Φ is set to Φ+C=10+1=11. At this time, the corresponding sinΦ and cosΦ are calculated with the comparison angle Φ value of 11, and the absolute value of the result B is calculated to be less than or equal to the threshold value D when it is substituted into the difference angle formula sinθ×cosΦ-cosθ×sinΦ, then the comparison angle Φ is equal to the current rotor angle θ of the resolver. See Figure 2 , the calculated comparison angle Φ is 11, while the actual current rotor angle θ of the resolver is 11.2, with a very small error.

[0029] Figure 5 A schematic diagram of a rotary transformer angle calculation device based on successive approximation of a difference angle formula provided in an embodiment of the present application. The device comprises a first calculation module 201, a setting module 202, a second calculation module 203 and a third calculation module 204.

[0030] Specifically, the first calculation module is used to calculate the maximum change angle of the rotary transformer rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism.

[0031] The setting module is used to set the contrast angle and set its value to 0.

[0032] The second calculation module is used to collect the sine value and cosine value corresponding to the current rotor angle of the rotary transformer, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the rotary transformer and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation.

[0033] The third calculation module is used to calculate the current rotor angle of the resolver by using the successive approximation method.

[0034] See also Figure 6 This embodiment also provides a computer device, and the components of the computer device may include but are not limited to: one or more processors or processing units, a system memory, and a bus connecting different system components (including the system memory and the processing unit).

[0035] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0036] The computer system / server typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer system / server, including volatile and non-volatile media, removable and non-removable media.

[0037] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The computer device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media. A disk drive for reading and writing removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0038] A program / utility having a set (at least one) of program modules may be stored, for example, in a memory, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described herein.

[0039] The computer device may also communicate with one or more external devices such as a keyboard, a pointing device, a display, etc. Such communication may be performed through an input / output (I / O) interface. Furthermore, the computer device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter.

[0040] The processing unit executes the functions and / or methods described in the embodiments of the present invention by running the programs stored in the system memory.

[0041] The above-mentioned computer program can be set in a computer storage medium, that is, the computer storage medium is encoded with a computer program, and when the program is executed by one or more computers, it enables one or more computers to execute the method flow and / or device operation shown in the above-mentioned embodiments of the present invention.

[0042] With the development of time and technology, the meaning of medium is becoming more and more extensive, and the propagation path of computer programs is no longer limited to tangible media, but can also be downloaded directly from the network, etc. Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, - but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by or in combination with instruction execution systems, devices or devices.

[0043] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0044] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0045] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0046] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A method for calculating the angle of a rotary transformer based on successive approximation of a difference angle formula, characterized in that: include: Calculate the maximum change angle of the rotary transformer rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism; Set the contrast angle and set its value to 0; Collect the sine value and cosine value corresponding to the current rotor angle of the resolver, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the resolver and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation; The successive approximation method is used to calculate the current rotor angle of the resolver.

2. The method for calculating the angle of a rotary transformer based on successive approximation of the difference angle formula according to claim 1, characterized in that: The method of using the successive approximation method to calculate the current rotor angle of the resolver includes: Set the maximum change angle of the resolver rotor angle in each decoding cycle to A, the comparison angle to Φ, the current rotor angle of the resolver to θ, and the calculation result of the difference angle formula to B; Set the approach angle value C and set C=A; Compare B with 0. If B is greater than 0, set the comparison angle Φ=Φ+C. If B is less than 0, set the comparison angle Φ=Φ-C and update C to C / 2. Repeat the previous step until B=0, at which time the comparison angle Φ is equal to the current rotor angle θ of the resolver.

3. The method for calculating the angle of a rotary transformer based on successive approximation of the difference angle formula according to claim 2, characterized in that: After repeating the previous step until B=0, when the comparison angle Φ is equal to the current rotor angle θ of the rotary transformer, the method further includes: If C is less than or equal to 1, and B is still not equal to 0, the current rotor angle θ of the resolver is value A.

4. The method for calculating the angle of a rotary transformer based on successive approximation of the difference angle formula according to claim 1, characterized in that: The method of using the successive approximation method to calculate the current rotor angle of the resolver includes: Set the maximum change angle of the resolver rotor angle in each decoding cycle to A, the comparison angle to Φ, the current rotor angle of the resolver to θ, and the calculation result of the difference angle formula to B; Set the approach angle value C and threshold D, and set C=A; Compare the absolute value of B with the threshold D. If the absolute value of B is greater than the threshold D and B is greater than 0, set the comparison angle Φ=Φ+C. If the absolute value of B is greater than the threshold D and B is less than 0, set the comparison angle Φ=Φ-C and update C to C / 2. Repeat the previous step until the absolute value of B is less than or equal to the threshold value D, at which time the comparison angle Φ is equal to the current rotor angle θ of the resolver.

5. The method for calculating the angle of a rotary transformer based on successive approximation of the difference angle formula according to claim 4 is characterized in that: After repeatedly executing the previous step until the absolute value of B is less than or equal to the threshold value D, and the comparison angle Φ is equal to the current rotor angle θ of the rotary transformer, the method further includes: If C is less than or equal to 1, and the absolute value of B is still greater than the threshold D, the current rotor angle θ of the resolver is value A.

6. A rotary transformer angle calculation device based on successive approximation of the difference angle formula, characterized in that: include: A first calculation module, used for calculating the maximum change angle of the rotary transformer rotor angle in each decoding cycle based on the maximum operating speed of the rotating mechanism; The setting module is used to set the contrast angle and set its value to 0; The second calculation module is used to collect the sine value and cosine value corresponding to the current rotor angle of the resolver, calculate the sine value and cosine value corresponding to the comparison angle, and substitute the sine value and cosine value corresponding to the current rotor angle of the resolver and the sine value and cosine value corresponding to the comparison angle into the difference angle formula for calculation; The third calculation module is used to calculate the current rotor angle of the resolver by using the successive approximation method.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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