Rotary transformer angle soft decoding and rotating speed calculation method and device, equipment and medium

Abstract

The invention provides a resolver angle soft decoding and rotating speed calculation method and device, equipment and a medium, and belongs to the technical field of new energy electric drive. And performing zero value processing on sine and cosine values obtained through outer envelope extraction to obtain tangent values, obtaining rotary transformation angle values through arc tangent look-up, outputting the rotary transformation angle values in eight intervals by comparing the range of the sine and cosine values and the range of the tangent values, and then adding the obtained rotary transformation angle and a zero angle to obtain a final rotary transformation angle output value. The angular deviation of the resolver angle is solved, the angular velocity value is obtained, then the rotating speed is obtained through calculation, and the final output rotating speed is obtained through a first-order low-pass filtering algorithm. The resolver angle value and the rotating speed of the motor can be accurately calculated, so that the control accuracy of the electric drive system is improved.

Description

Technical Field

[0001] The present invention belongs to the field of new energy electric drive technology, and in particular relates to a method, device, equipment and medium for soft decoding of resolver angle and calculation of rotation speed. Background Art

[0002] In the field of new energy vehicles, the electric drive system is an important component of electric vehicles, including motors, electronic controls and reducers. The resolver is an electromagnetic sensor that is mainly used to measure angular position and angular velocity. The resolver consists of a stator that is fixed during installation and a rotor installed on the shaft. The working principle of the resolver is similar to that of an ordinary transformer. Its stator and rotor can be regarded as the primary and secondary sides of the transformer. The stator winding receives an external excitation voltage, while the rotor winding generates an induced electromotive force through electromagnetic coupling. As the core component of the resolver, the rotor angle and speed are calculated by the soft decoding method, which is crucial to ensuring the safety of the electric drive function in the future.

[0003] The current resolver soft decoding method generally obtains the sampling values ​​of the sine signal and the cosine signal, and then calculates the angle θ of the resolver. However, there is a lack of methods for normalizing the calculated resolver tangent value and compensating the resolver angle. Summary of the invention

[0004] In view of the above problems, the present disclosure proposes a method and device for soft decoding of the resolver angle and speed calculation of a rotary transformer, which can calculate the resolver tangent value and compensate the resolver angle, and can accurately calculate the resolver angle value and the motor speed, thereby improving the accuracy of the electric drive system control.

[0005] On the one hand, an embodiment of the present disclosure provides a method for soft decoding of a resolver angle and calculating a rotation speed of a resolver, including:

[0006] Determine a resolver tangent signal according to a resolver sine signal and a resolver cosine signal;

[0007] Normalizing the tangent value of the resolver tangent signal, obtaining the resolver radian according to an inverse tangent lookup table, and calculating the first resolver angle based on the resolver radian;

[0008] Partitioning the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals;

[0009] After the partition processing, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle;

[0010] The change angle is calculated based on the second resolver angle, and the rotor angular velocity and the motor speed are determined according to the second resolver angle and the change angle.

[0011] Further, determining the resolver tangent signal according to the resolver sine signal and the resolver cosine signal includes:

[0012] Obtaining a resolver sine signal and a resolver cosine signal of the resolver, and performing zero value processing on the cosine signal;

[0013] Wherein, when the cosine absolute value of the resolver cosine signal is less than or equal to the set value, the cosine value of the resolver cosine signal is determined to be the set value;

[0014] When the cosine absolute value of the resolver cosine signal is greater than the set value, the resolver cosine signal is determined to be an actual value;

[0015] The sine value of the resolver sine signal and the cosine value of the resolver cosine signal are divided and the absolute value is taken to obtain the resolver tangent signal.

[0016] Furthermore, the normalizing the tangent value of the resolver tangent signal includes:

[0017] When the tangent value is less than 1, determining the tangent value to be the original value;

[0018] When the tangent value is greater than or equal to 1, the inverse of the tangent value is obtained.

[0019] Further, the first resolver angle is partitioned according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals, including:

[0020] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the first resolver interval;

[0021] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than 1, the partition is a second resolver interval;

[0022] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is a third resolver interval;

[0023] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the fourth resolver interval;

[0024] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the fifth resolver interval;

[0025] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than 1, the partition is the sixth resolver interval;

[0026] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is the seventh resolver interval;

[0027] When the sine value of the resolver sine signal is less than or equal to zero and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the eighth resolver interval.

[0028] Furthermore, the method further comprises:

[0029] The rotation angle value of the first rotation angle in each corresponding interval is calculated.

[0030] Furthermore, after the partition processing, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle, including:

[0031] The angle error of the resolver angle signal is compensated by the current motor speed and the number of motor pole pairs, and the resolver angle is output. When the first resolver angle is greater than 360°, 360° is subtracted from the first resolver angle to output the second resolver angle; when the resolver angle is less than 360°, the original angle value is output.

[0032] Further, the calculation of the change angle based on the second resolver angle, and the determination of the rotor angular velocity and the motor speed according to the second resolver angle and the change angle include:

[0033] Subtracting the second rotation angle from the angle of the previous cycle to obtain a change angle, and determining the angular velocity according to the change angle;

[0034] The motor speed is determined according to the angular velocity and the number of pole pairs of the motor, and a first-order low-pass filter is performed on the motor speed to obtain a second motor speed.

[0035] Based on the same inventive concept, another aspect of the present disclosure provides a resolver angle soft decoding and speed calculation device for a resolver, including:

[0036] A signal determination unit, used for determining a resolver tangent signal according to a resolver sine signal and a resolver cosine signal;

[0037] A resolver angle unit, used for normalizing the tangent value of the resolver tangent signal, obtaining a resolver radian according to an inverse tangent lookup table, and calculating a first resolver angle based on the resolver radian;

[0038] A signal partitioning unit, configured to partition the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals;

[0039] an error compensation unit, configured to perform error compensation and range limitation on the first resolver angle to obtain a second resolver angle after the partition processing;

[0040] The calculation unit is used to calculate the change angle based on the second resolver angle, and determine the rotor angular velocity and the motor speed according to the second resolver angle and the change angle.

[0041] Based on the same inventive concept, another aspect of the embodiment of the present disclosure provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0042] a memory storing a computer program;

[0043] The processor implements a method for soft decoding of a resolver angle and calculating a rotation speed of a resolver when executing a program stored in the memory.

[0044] Based on the same inventive concept, another aspect of the embodiment of the present disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, a method for soft decoding of a resolver angle and calculation of a rotation speed of a resolver is implemented.

[0045] The above one or at least one technical solution in the embodiments of the present disclosure has at least the following technical effects:

[0046] The present invention processes the sine and cosine values ​​obtained by the outer envelope extraction to obtain the tangent value, and obtains the resolver angle value by looking up the inverse tangent table. By comparing the range of the sine and cosine values ​​and the tangent value, the resolver angle value is output in 8 intervals, and then the obtained resolver angle is added to the zero-position angle to obtain the final resolver angle output value. The angle deviation is calculated for the resolver angle and the angular velocity value is obtained, and then the rotation speed is calculated and the first-order low-pass filter algorithm is adopted to obtain the final output rotation speed. The resolver angle value and the motor speed can be accurately calculated, thereby improving the accuracy of the electric drive system control.

[0047] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or be understood by implementing the present disclosure. The purpose and other advantages of the present disclosure can be realized and obtained by the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present disclosure 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, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic diagram of a method for soft decoding of a rotary transformer resolver angle and calculating a rotation speed is shown;

[0050] Figure 2 The flowchart of soft decoding of the rotary transformer angle is shown;

[0051] Figure 3 The schematic diagram of the motor speed calculation logic is shown;

[0052] Figure 4 A schematic diagram of a resolver angle soft decoding and speed calculation device is shown;

[0053] Figure 5 A schematic diagram of an electronic device is shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0055] It should be noted that the terms "first", "second" etc. in the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged in appropriate circumstances, so that the embodiments of the present application described here. In the present application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" etc. are based on the orientation or positional relationship shown in the accompanying drawings.

[0056] The present disclosure provides a method for soft decoding of a rotary transformer resolver angle and calculating a rotation speed. Figure 1 ,include:

[0057] S101: Determine a resolver tangent signal according to a resolver sine signal and a resolver cosine signal;

[0058] S102: normalizing the tangent value of the resolver tangent signal, obtaining a resolver radian according to an inverse tangent lookup table, and calculating a first resolver angle based on the resolver radian;

[0059] S103: partitioning the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals;

[0060] S104: After the partitioning process, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle;

[0061] S105: Calculate the change angle based on the second resolution angle, and determine the rotor angular velocity and the motor speed according to the second resolution angle and the change angle.

[0062] It should be noted that the resolver angle soft decoding and speed calculation method involved in the present disclosure can be applied to devices such as mobile phones, tablet computers or industrial computers to optimize the electric drive system. In this embodiment, the first resolver angle and the second resolver angle are used to distinguish the resolver angles before and after processing. In this embodiment, both the sine and cosine signals are de-enveloped sine and cosine signals; in the specific description of this embodiment, the resolver angle focuses on its processing logic, and this embodiment does not make specific restrictions.

[0063] In step S101, determining a resolver tangent signal according to a resolver sine signal and a resolver cosine signal includes:

[0064] Obtaining a resolver sine signal and a resolver cosine signal of the resolver, and performing zero value processing on the cosine signal;

[0065] Wherein, when the cosine absolute value of the resolver cosine signal is less than or equal to the set value, the cosine value of the resolver cosine signal is determined to be the set value;

[0066] When the cosine absolute value of the resolver cosine signal is greater than the set value, the resolver cosine signal is determined to be an actual value;

[0067] The sine value of the resolver sine signal and the cosine value of the resolver cosine signal are divided and the absolute value is taken to obtain the resolver tangent signal.

[0068] Specifically, see Figure 2, since the cosine signal may have a value of 0, it is necessary to perform zero value processing. In this embodiment, the set value is set to 0.0001. Specifically, when the absolute value of the resolver cosine is ≤0.0001, the resolver cosine value is taken as 0.0001 to prevent division by zero when calculating the tangent. Then the resolver tangent value is calculated and the absolute value processing is performed.

[0069] In some specific implementations, normalizing the tangent value of the resolver tangent signal includes:

[0070] When the tangent value is less than 1, determining the tangent value to be the original value;

[0071] When the tangent value is greater than or equal to 1, the inverse of the tangent value is obtained.

[0072] Specifically, by processing the tan value, when the tan value is less than 1, the original value is retained. When the tan value is greater than 1, the inverse processing is performed. Finally, the resolver radian is obtained by looking up the inverse tangent table, and then the resolver angle θ is calculated by referring to the following formula:

[0073]

[0074] The rotation angle obtained in this step is the first rotation angle, and rad represents the rotation radian.

[0075] In some specific implementations, in step S103, the first resolver angle is partitioned according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals, including:

[0076] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the first resolver interval;

[0077] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than 1, the partition is a second resolver interval;

[0078] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is a third resolver interval;

[0079] When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the fourth resolver interval;

[0080] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the fifth resolver interval;

[0081] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than 1, the partition is the sixth resolver interval;

[0082] When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is the seventh resolver interval;

[0083] When the sine value of the resolver sine signal is less than or equal to zero and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the eighth resolver interval.

[0084] Specifically, according to the values ​​of the sine signal value, cosine signal value and tangent value of the resolver signal, the resolver angle can be divided into 8 intervals, specifically:

[0085] When sinθ≥0and cosθ≥0, if tanθ≥1thenθ∈[45°,90°](first rotation interval); if tanθ≤1, thenθ∈[0°,45°](second rotation interval);

[0086] When sinθ≥0and cosθ≤0, if tanθ≤-1thenθ∈[90°,135°](third rotation interval); if tanθ≥-1, thenθ∈[135°,180°](fourth rotation interval);

[0087] When sinθ≤0and cosθ≤0, if tanθ≤1thenθ∈[180°,225°](fifth revolving interval); if tanθ≥1, thenθ∈[225°,270°](sixth revolving interval);

[0088] When sinθ≤0and cosθ≥0, if tanθ≤-1thenθ∈[270°,315°](the seventh revolver interval); if tanθ≥-1, thenθ∈[315°,360°](the eighth revolver interval);

[0089] Furthermore, the method further comprises:

[0090] See also Figure 2 , calculate the rotation angle value of the first rotation angle in each corresponding interval.

[0091] Specifically, all angles are classified into the interval θ∈[0°,45°], and the calculated rotation angles are processed as follows:

[0092] When θ∈[0°,45°], tan(θ)∈[0,1], thenθ=arctan(tan(θ));

[0093] When θ∈[45°,90°], tan -1 (θ)∈[0,1], thenθ=90°-arctan(tan -1 (θ));

[0094] When θ∈[90°,135°], -tan -1 (θ)∈[0,1],then

[0095] θ=90°+arctan(-tan -1 (θ));

[0096] When θ∈[135°,180°], -tan(θ)∈[0,1], then

[0097] θ=180°-arctan(-tan(θ));

[0098] When θ∈[180°,225°], tan(θ)∈[0,1], thenθ=180°+arctan(tan(θ));

[0099] When θ∈[225°,270°], tan -1 (θ)∈[0,1], thenθ=270°-arctan(tan -1 (θ();

[0100] When θ∈[270°,315°], -tan -1 (θ)∈[0,1],thenθ=270°+arctan(-tan -1 (θ));

[0101] When θ∈[315°,360°], -tan(θ)∈[0,1], thenθ=360°-arctan(-tan(θ));

[0102] Furthermore, after the partition processing, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle, including:

[0103] The angle error of the resolver angle signal is compensated by the current motor speed, motor pole pair number, etc., and the resolver angle is output; among them, the resolver angle error compensation, the compensation coefficient is 7680, the motor speed is obtained according to the feedback, and the motor pole pair number is 4. The resolver angle range constraint constrains the resolver angle obtained by the solution to [0°, 360°].

[0104] When the first rotation angle is greater than 360°, 360° is subtracted from the first rotation angle to output a second rotation angle; when the rotation angle is less than 360°, the original angle value is output.

[0105] In some specific implementations, in step S105, the calculation of the change angle based on the second resolver angle, and the determination of the rotor angular velocity and the motor speed according to the second resolver angle and the change angle include:

[0106] See also Figure 2 and Figure 3 , taking the difference between the second rotation angle and the angle of the previous cycle to obtain a change angle, and determining the angular velocity according to the change angle;

[0107] The motor speed is determined according to the angular velocity and the number of pole pairs of the motor, and a first-order low-pass filter is performed on the motor speed to obtain a second motor speed.

[0108] Specifically, see Figure 2 and Figure 3 , add the calculated resolver angle to the resolver zero angle stored in the Flash to obtain the rotor angle; limit the range of the rotor angle. When the resolver angle is greater than 360°, subtract 360° from the first resolver angle. When the resolver angle is less than 0°, add 360°. In other cases, the original value is output.

[0109] Calculate the rotor angular velocity and motor speed. Subtract the resolver angle from the previous cycle angle to get the resolver angle, and then calculate the angular velocity according to the following relationship. Then, based on the angular velocity, calculate the speed according to the following relationship

[0110]

[0111] Among them, p is the number of motor pole pairs, n is the rotation speed, w is the angular velocity, θ is the rotation angle, and t is the rotation time.

[0112] Filtering. The obtained speed is processed by a first-order low-pass filter to obtain the final output motor speed. The processing logic is as follows:

[0113] Y(n)=a*X(n)+(1-a)*Y(n-1)

[0114] Among them, Y(n): the result of this filtering; a: filtering coefficient. The value range is 0~1, the smaller the value, the more stable, and the larger the value, the more sensitive; X(n): the current sampling value; Y(n-1): the result of the previous filtering.

[0115] Performing first-order low-pass filtering on the motor speed can suppress periodic interference and improve the stability of the electric drive system.

[0116] It should be noted that the motor speed finally output after filtering in the present invention is the second motor speed.

[0117] Based on the same inventive concept, another aspect of the present disclosure provides a rotary transformer resolver angle soft decoding and speed calculation device, see Figure 4 ,include:

[0118] A signal determination unit 201, configured to determine a resolver tangent signal according to a resolver sine signal and a resolver cosine signal;

[0119] The resolver angle unit 202 is used to normalize the tangent value of the resolver tangent signal, obtain the resolver radian according to the inverse tangent table, and calculate the first resolver angle based on the resolver radian;

[0120] A signal partitioning unit 203, configured to partition the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals;

[0121] An error compensation unit 204 is used to perform error compensation and range limitation on the first resolver angle to obtain a second resolver angle after the partition processing;

[0122] The calculation unit 205 is used to calculate the change angle based on the second resolution angle, and determine the rotor angular velocity and the motor speed according to the second resolution angle and the change angle.

[0123] Based on the same inventive concept, the present disclosure also provides an electronic device 161, see Figure 5 , including a processor 164, a communication interface 165, a memory 162 and a communication bus, wherein the processor 164, the communication interface 165 and the memory 162 communicate with each other through the communication bus;

[0124] A memory 162 storing a computer program 163;

[0125] When the processor 164 executes the program stored in the memory 162, a method for soft decoding of the resolver angle and calculating the rotation speed of the resolver is implemented.

[0126] The above communication bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

[0127] The communication interface 165 is used for communication between the electronic device 161 and other devices.

[0128] The memory 162 may include a random access memory 162 (RAM), or may include a non-volatile memory 162 (non-volatile memory), such as at least one disk memory 162. Optionally, the memory 162 may also be at least one storage device located away from the processor 164.

[0129] The above-mentioned processor 164 can be a general-purpose processor 164, including a central processing unit 164 (CPU), a network processor 164 (NP), etc.; it can also be a digital signal processor 164 (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0130] Based on the same inventive concept, the embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program 163 , which implements a method for soft decoding of a resolver angle and calculating a rotation speed of a resolver when executed by a processor 164 .

[0131] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed, a method for soft decoding of resolver angle and calculation of rotation speed of a resolver according to an embodiment of the present disclosure is implemented.

[0132] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for soft decoding of rotary transformer angle and calculation of rotation speed, characterized in that: include: Determine a resolver tangent signal according to a resolver sine signal and a resolver cosine signal; Normalizing the tangent value of the resolver tangent signal, obtaining the resolver radian according to an inverse tangent lookup table, and calculating the first resolver angle based on the resolver radian; Partitioning the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals; After the partition processing, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle; The change angle is calculated based on the second resolver angle, and the rotor angular velocity and the motor speed are determined according to the second resolver angle and the change angle.

2. The method according to claim 1, characterized in that The method of determining a resolver tangent signal according to a resolver sine signal and a resolver cosine signal comprises: Obtaining a resolver sine signal and a resolver cosine signal of the resolver, and performing zero value processing on the cosine signal; Wherein, when the cosine absolute value of the resolver cosine signal is less than or equal to the set value, the cosine value of the resolver cosine signal is determined to be the set value; When the cosine absolute value of the resolver cosine signal is greater than the set value, the resolver cosine signal is determined to be an actual value; The sine value of the resolver sine signal and the cosine value of the resolver cosine signal are divided and the absolute value is taken to obtain the resolver tangent signal.

3. The method according to claim 1, characterized in that: The normalizing the tangent value of the resolver tangent signal comprises: When the tangent value is less than 1, determining the tangent value to be the original value; When the tangent value is greater than or equal to 1, the inverse of the tangent value is obtained.

4. The method according to claim 1, characterized in that: The first resolver angle is partitioned according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals, including: When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the first resolver interval; When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than 1, the partition is a second resolver interval; When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is a third resolver interval; When the sine value of the resolver sine signal is greater than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the fourth resolver interval; When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than or equal to 1, the partition is the fifth resolver interval; When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is less than or equal to zero, if the tangent value of the resolver tangent signal is greater than 1, the partition is the sixth resolver interval; When the sine value of the resolver sine signal is less than or equal to zero, and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is less than or equal to -1, the partition is the seventh resolver interval; When the sine value of the resolver sine signal is less than or equal to zero and the cosine value of the resolver cosine signal is greater than or equal to zero, if the tangent value of the resolver tangent signal is greater than -1, the partition is the eighth resolver interval.

5. The method according to claim 4, characterized in that The method further comprises: The rotation angle value of the first rotation angle in each corresponding interval is calculated.

6. The method according to claim 1, characterized in that After the partition processing, error compensation and range limitation are performed on the first resolver angle to obtain a second resolver angle, including: The angle error of the resolver angle signal is compensated by the current motor speed and the number of motor pole pairs, and the resolver angle is output. When the first resolver angle is greater than 360°, 360° is subtracted from the first resolver angle to output the second resolver angle; when the resolver angle is less than 360°, the original angle value is output.

7. The method according to claim 1, characterized in that The method of calculating the change angle based on the second resolver angle and determining the rotor angular velocity and the motor speed according to the second resolver angle and the change angle includes: Subtracting the second rotation angle from the first rotation angle to obtain a change angle, and determining an angular velocity according to the change angle; The motor speed is determined according to the angular velocity and the number of pole pairs of the motor, and a first-order low-pass filter is performed on the motor speed to obtain a second motor speed.

8. A rotary transformer resolver angle soft decoding and speed calculation device, characterized in that: include: A signal determination unit, used for determining a resolver tangent signal according to a resolver sine signal and a resolver cosine signal; A resolver angle unit, used for normalizing the tangent value of the resolver tangent signal, obtaining a resolver radian according to an inverse tangent lookup table, and calculating a first resolver angle based on the resolver radian; A signal partitioning unit, configured to partition the first resolver angle according to the sine value of the resolver sine signal, the cosine value of the resolver cosine signal, and the tangent value of the resolver tangent signal to obtain eight resolver angle intervals; an error compensation unit, configured to perform error compensation and range limitation on the first resolver angle to obtain a second resolver angle after the partition processing; The calculation unit is used to calculate the change angle based on the second resolver angle, and determine the rotor angular velocity and the motor speed according to the second resolver angle and the change angle.

9. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; a memory storing a computer program; The processor implements the resolver angle soft decoding and speed calculation method of a resolver as described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, a method for soft decoding of a resolver angle and calculating a rotation speed of a resolver as claimed in any one of claims 1 to 7 is implemented.

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