Rotating phase multi-cycle absolute solution algorithm and application thereof

Abstract

The invention provides a rotation phase multi-period absolute solution algorithm and application thereof, and the algorithm comprises the steps: collecting a first phase signal and a second phase signal with different periods, and processing the first phase signal and the second phase signal into a non-orthogonal oblique track; the track is processed into a plurality of forms, and rotation is carried out through a set rotation angle to change the alignment direction; and discrete section processing and interpolation calculation are carried out on the rotated complex form trajectory to obtain an absolute phase. Multi-period mode phase signals are used for forming a non-orthogonal oblique line track, the direction is aligned through complex numbers and rotation angles, structural normalization is achieved, table look-up and inverse solution modules are removed, the angle can be recovered in real time, the method is suitable for any period combination (including co-prime and non-co-prime conditions), calculation is efficient, and precision is high. The method can be directly deployed in an MCU / FPGA to realize real-time absolute phase calculation.

Description

Technical Field

[0001] The present invention relates to the field of electronic information technology, and in particular to a rotating phase multi-period absolute resolution algorithm and its application. Background Art

[0002] With the rapid development of position sensing and encoder technologies, many sensor systems improve angular resolution by combining multiple cycles of different coils or signal sources. These signals usually appear as sine, sawtooth, or other periodic functions with different periods, and only the phase values of their modulo periods can be obtained in actual sampling. Since each signal can only provide local information, it is difficult to directly obtain the complete absolute phase (i.e., the true angle).

[0003] Traditional methods such as the Chinese Remainder Theorem or the look-up table method can be used for phase recovery, but they have deficiencies in terms of accuracy, computational efficiency, and error tolerance. Therefore, there is an urgent need for a rotating phase multi-period absolute resolution algorithm and its application to improve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a rotating phase multi-period absolute resolution algorithm and its application, which can achieve real-time absolute phase calculation, with high computational efficiency and high accuracy.

[0005] In a first aspect, the present invention provides a rotating phase multi-period absolute resolution algorithm, including: Collecting a first phase signal and a second phase signal with different periods and processing them into non-orthogonal oblique trajectories; Processing the trajectories into complex forms and performing a rotation transformation through a set rotation angle to align the directions; Performing discrete segment processing and interpolation calculation on the rotated complex form trajectories to obtain the absolute phase.

[0006] The beneficial effects of the algorithm of the present invention are as follows: By collecting a first phase signal and a second phase signal with different periods and processing them into non-orthogonal oblique trajectories; processing the trajectories into complex forms and performing a rotation transformation through a set rotation angle to align the directions; performing discrete segment processing and interpolation calculation on the rotated complex form trajectories to obtain the absolute phase. Using multi-period modulo phase signals to form non-orthogonal oblique trajectories, aligning the directions through complex representation and rotation angles, realizing structural normalization, removing the look-up table and inverse solution modules, the angle can be recovered in real time, applicable to any period combination (including relatively prime and non-relatively prime cases), with high computational efficiency and high accuracy, and can be directly deployed in MCU / FPGA to achieve real-time absolute phase calculation.

[0007] Optionally, collecting a first phase signal and a second phase signal with different periods and processing to obtain non-orthogonal oblique trajectories includes: Collect the first-phase signal and the second-phase signal with different periods, and process the first-phase signal and the second-phase signal into corresponding normalized modulo-period signals by using a set angle and corresponding numbers of periods respectively.

[0008] Optionally, the normalized modulo-period signal corresponding to the first-phase signal is: The normalized modulo-period signal corresponding to the second-phase signal is: where θ is the set angle, and the value range is [0°, 360°); is the period length corresponding to the first-phase signal, M is the number of periods, and the value range is positive integers; is the period length corresponding to the second-phase signal, N is the number of periods, and the value range is positive integers.

[0009] Optionally, collecting the first-phase signal and the second-phase signal with different periods and processing to obtain a non-orthogonal oblique trajectory further includes: Process the normalized modulo-period signal into a two-dimensional vector, and depict a two-dimensional trajectory varying with the angle in a phase diagram to obtain a non-orthogonal oblique trajectory.

[0010] Optionally, processing the trajectory into a complex form and performing a rotation transformation through a set rotation angle to align the directions includes: Represent the two-dimensional phase trajectory in a complex form and perform a rotation transformation on the complex number through the set rotation angle to normalize all the oblique-direction trajectories into approximately horizontal parallel lines: where j is the imaginary unit.

[0011] Optionally, performing discrete segment processing and interpolation calculation on the rotated complex-form trajectory to obtain the absolute phase includes: The rotated complex-form trajectory forms a paragraph structure with quasi-equidistant arrangement in the imaginary axis direction. Each paragraph has a specific central value in the complex plane and is mapped to an absolute angle interval: Preset several discrete segment centers, and map the rotated imaginary part to the segment number by using interval comparison or integer mapping; After identifying the segment number, retrieve the start and end real parts corresponding to this segment from the preset parameter table , and the angle range , and then use the rotated real part to complete linear interpolation within this interval to calculate the absolute phase: .

[0012] In a second aspect, the present invention provides a rotational phase multi-period absolute resolution device, which includes a module / unit that executes the algorithm of any possible design in the above first aspect. These modules / units can be implemented by hardware or by hardware executing corresponding software.

[0013] In a third aspect, the present invention provides an electronic device, including a memory and a processor. A program is stored on the memory and can run on the processor. When the program is executed by the processor, the electronic device is enabled to execute the algorithm of any possible design in any of the above aspects.

[0014] In a fourth aspect, the present invention provides a readable storage medium, in which a program is stored. When the program is executed, the algorithm of any possible design in any of the above aspects is implemented.

[0015] In a fifth aspect, the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, the above algorithm is implemented.

[0016] For the beneficial effects of the above second to fifth aspects, reference can be made to the description of the first aspect above. Description of the Drawings

[0017] Figure 1 It is a schematic flow chart of a rotational phase multi-period absolute resolution algorithm provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a rotational phase multi-period absolute resolution device provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention; Figure 4 It is a normalized modulus period phase signal provided by an embodiment of the present invention when M = 3 and N = 2; Figure 5 It is a two-dimensional phase diagram provided by Embodiment 1 of the present invention; Figure 6 It is a normalized modulus period phase signal provided by Embodiment 1 of the present invention; Figure 7 It is a two-dimensional phase diagram containing Gaussian noise provided by Embodiment 1 of the present invention; Figure 8 It is a rotated two-dimensional phase diagram containing Gaussian noise provided by Embodiment 1 of the present invention; Figure 9 It is a reconstruction of a phase signal containing Gaussian noise provided by Embodiment 1 of the present invention; Figure 10 It is a normalized modulus period phase signal provided by Embodiment 2 of the present invention; Figure 11 The two-dimensional phase diagram containing Gaussian noise provided by the second embodiment of the present invention; Figure 12 The rotated two-dimensional phase diagram containing Gaussian noise provided by the second embodiment of the present invention; Figure 13 The reconstruction of the phase signal containing Gaussian noise provided by the second embodiment of the present invention. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The words such as "including" used herein are intended to mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items.

[0019] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention. Among them, in the description of the embodiments of the present invention, the terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the", "above-mentioned", "this" and "this one" are also intended to include the expression form such as "one or more" unless clearly indicated to the contrary in the context. It should also be understood that in the following embodiments of the present invention, "at least one" and "one or more" mean one or more than two (including two). The term "and / or" is used to describe the associated relationship of associated objects and indicates that three relationships may exist; for example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0020] References to "one embodiment" or "some embodiments" described in this specification mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of the present invention. Thus, statements such as "in one embodiment", "in some embodiments", "in some other embodiments", "in still other embodiments" that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise specifically emphasized. The term "connection" includes direct connection and indirect connection, unless otherwise stated. "First" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0021] In the embodiments of the present invention, "exemplarily" or "for example" is used to represent an example, illustration, or explanation. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present invention should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0022] As Figure 1 shown, the present invention provides a rotational phase multi-period absolute resolution algorithm, including: S101, collecting a first phase signal and a second phase signal with different periods, and processing them into a non-orthogonal oblique line trajectory.

[0023] In some embodiments, collecting a first phase signal and a second phase signal with different periods and processing them to obtain a non-orthogonal oblique line trajectory includes: collecting a first phase signal and a second phase signal with different periods, and processing the first phase signal and the second phase signal into corresponding normalized modulo-period signals respectively by using a set angle and corresponding numbers of periods.

[0024] In some specific embodiments, the normalized modulo-period signal corresponding to the first phase signal is: The normalized modulo-period signal corresponding to the second phase signal is: where θ is the set angle, and the value range is [0°, 360°); is the period length corresponding to the first phase signal, M is the number of periods, and the value range is a positive integer; is the period length corresponding to the second phase signal, N is the number of periods, and the value range is a positive integer. Exemplarily, as Figure 4 shown, when M = 3 and N = 2, the normalized modulo-period phase signal.

[0025] In some other specific embodiments, collecting the first phase signal and the second phase signal with different periods and processing to obtain a non-orthogonal oblique line trajectory further includes: processing the normalized modulus period signal into a two-dimensional vector, and depicting a two-dimensional trajectory varying with the angle in the phase diagram, and processing to obtain a non-orthogonal oblique line trajectory.

[0026] S102. Process the trajectory into a complex form, and perform a rotation transformation through a set rotation angle to align the directions to achieve structural normalization.

[0027] In some embodiments, processing the trajectory into a complex form and performing a rotation transformation through a set rotation angle to align the directions includes: representing the two-dimensional phase trajectory in a complex form and performing a rotation transformation on the complex number through a set rotation angle to normalize all the oblique direction trajectories into approximately horizontal parallel lines: where j is the imaginary unit.

[0028] S103. Perform discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain the absolute phase.

[0029] In some embodiments, performing discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain the absolute phase includes: the rotated complex form trajectory forms a paragraph structure with quasi-equidistant arrangement in the imaginary axis direction, each paragraph has a specific central value in the complex plane, and is mapped to an absolute angle interval: Preset several discrete segment centers (such as ±1, ±0.5, 0), and map the rotated imaginary part to the segment number by using interval comparison or integer mapping; After identifying the segment number, retrieve the start and end real parts corresponding to this segment from the preset parameter table , and the angle range , and then use the rotated real part to complete linear interpolation within this interval to calculate the absolute phase: .

[0030] The advantages of the present invention are as follows: 1. The traditional method for obtaining the absolute phase relies on look-up tables or enumeration, the calculation is discontinuous and the accuracy is limited, which is not suitable for real-time operation and hardware deployment. However, the method of the present invention constructs a complex phase space and rotates to align the directions, straightens and aligns the two-dimensional modulus phase structure into a parallel structure, utilizes the multi-period modulus phase signal to form a non-orthogonal oblique line trajectory, and through complex representation and rotation angle Alignment direction to achieve structural normalization; the rotated y-axis corresponds to the global segment number, and the x-axis corresponds to the offset within the segment. The look-up table and inverse solution modules are removed, and the angle can be restored in real time. It is applicable to any period combination (including relatively prime and non-relatively prime cases), with high calculation efficiency and accuracy, and can be directly deployed in MCU / FPGA to achieve real-time absolute phase calculation.

[0031] 2. In the traditional method, the interpolation within the segment depends on the period normalization expression, and there are serious mis-matches in the presence of noise or offset. The method of the present invention uses the discrete imaginary part values after rotation (such as ±1, ±0.5, 0) as the segment number identifier, combines the real part component interpolation, and splits the complex coordinate after rotation into a real part and an imaginary part. The segment number is identified by judging the interval where y is located (such as y > 0.75 → segment 0), and then linear interpolation is performed on x between the left and right boundaries of this segment. The segment number is realized only through interval comparison, with simple logic and easy digitization. The interpolation range is controlled and resistant to offset interference, and the structure is adapted to the hardware pipeline implementation.

[0032] 3. The calculation resolution of the traditional method is fixed and cannot be adaptively improved with the increase of the period configuration, resulting in limited system scalability. The method of the present invention uses the least common multiple LCM(M,N) of different period parameters M and N to automatically improve the subdivision accuracy of the solvable angle interval. The method of the present invention discretely segments and maps the y value after complex rotation to LCM(M,N) absolute angle segments; the larger the period combination, the larger the LCM, the finer the perceivable angle segmentation, and the natural improvement of the resolution. The system structure remains unchanged, and the calculation accuracy can be linearly improved only by configuring the period parameters; it supports high-precision applications and adapts to different process resolution requirements.

[0033] For the convenience of understanding, in this embodiment, the specific implementation process of the above method is further elaborated in combination with a specific application scenario system, which specifically includes the following steps: Step a, Phase signal construction and jump recognition Collect two normalized first phase signals with different periods and second phase signals , which are respectively the modulo period results of the set angle θ ∈ [0°, 360°) under the electrical signals with periods M and N. Since each electrical cycle is evenly distributed in 360°, their corresponding period lengths are: As shown in the appendix Figure 4 , the normalized modulo period phase signals corresponding to the first phase signal and the second phase signal can be expressed as:

[0034] Step b, Two-dimensional phase trajectory formation and perturbation modeling Take It is regarded as a two-dimensional vector, and the two-dimensional trajectory varying with the angle is depicted in the phase diagram, and a non-orthogonal oblique line trajectory is obtained through processing.

[0035] Step c, complex plane rotation for direction normalization The two-dimensional phase trajectory is represented in complex number form and is rotated by the rotation angle to perform a rotation transformation on the complex number, so that all oblique direction trajectories are normalized to approximately horizontal parallel lines: where j is the imaginary unit.

[0036] Or equivalently, it is achieved through the two-dimensional rotation matrix as follows:

[0037] Step d, discrete segment matching and interpolation calculation The rotated complex number trajectory forms a paragraph structure with quasi-equidistant arrangement in the imaginary axis direction (corresponding to the oblique line direction in the original plane). Each paragraph has a specific central value y_center in the complex plane and is mapped to an absolute angle interval:

[0038] To achieve the hardware realizability of the segment recognition process, several discrete segment centers are predefined (such as ±1, ±0.5, 0), and the rotated imaginary part is mapped to the segment number index by using interval comparison or integer mapping.

[0039] After identifying the segment number, the start and end real parts of the interpolation corresponding to this segment are retrieved from the preset parameter table , and the angle range , and then the rotated real part is used to complete linear interpolation within this interval to calculate the absolute phase: The above method has highly modular characteristics. The segment number and the interpolation process can be decoupled and implemented, supporting asynchronous processing and hardware pipeline structure, and is suitable for deployment in low-power embedded systems.

[0040] Step e, preprocessing before segment parameter rotation To adapt to the rotated coordinate system, all segment interval parameters (such as segment start and end phases, central coordinates, etc.) are also synchronously rotated with the rotation matrix R in the initialization stage, so that the segment matching process remains consistent in the rotated space.

[0041] Step f, reconstruction and error analysis All angle sequences are reconstructed point by point to form , an error curve is obtained by comparing with the true angle θ, which can be used to analyze the comprehensive performance of segment division density, interpolation strategy and noise robustness.

[0042] The advantages of the embodiments of the present invention are as follows: The method of the present invention performs angle decoding completely based on the geometric characteristics of the signal structure itself, and has advantages such as clear theory, strong robustness, and controllable error; compared with the traditional Chinese Remainder Theorem or LUT method, it is more suitable for application scenarios where the period ratios are not relatively prime or high resolution, and has universality; the phase recovery accuracy of the method of the present invention is only determined by the sampling accuracy and interpolation resolution, meeting the industrial requirements of high-precision encoders; the algorithm has low computational complexity, mainly relying on complex multiplication and linear interpolation, and can run in real time on low-power hardware such as MCUs and FPGAs; the method of the present invention already has a complete mathematical model and numerical verification process, can be directly transplanted into a digital logic system for implementation, and has the implementation advantage of low gating overhead; it is applicable to various precision electromagnetic position measurement devices such as rotary inductive encoders, multi-turn angle sensors, and harmonic suppression systems; currently, industrial sensors, robots, and servo control systems have strong demands for high-resolution, low-latency, and high-robustness coding algorithms, especially in the domestic substitution and high-end measurement and control systems, there are obvious application gaps; the method of the present invention has structural advantages and mass production friendliness in the core ability of "absolute phase recovery", has the potential to be packaged, promoted, and licensed as a basic algorithm IP, and has high technical barriers and transformation feasibility.

[0043] Exemplary: Embodiment 1

[0044] Such as Figures 5 - 9 , taking the low-complexity application scenario with period ratios of M = 4 and N = 3 as an example, where the two phase signals respectively correspond to the modulo-period phases with periods of 90° and 120°, and the goal is to convert the input signal into the absolute angle θ ∈ [0°, 360°). The implementation process is as follows: 1. Phase construction: Sample the two periodic signals respectively and construct the normalized modulo-period form: Where, , .

[0045] 2. Rotation direction normalization: For facilitating structured interpolation, calculate the rotation angle: Construct a two-dimensional rotation matrix:

[0046] Use the rotation matrix to perform a linear transformation on the two-dimensional point .

[0047] 3. Segment Interval Structure: Construct the standard interpolation segment structure as follows (each segment maps a group of angular intervals): Among them, .

[0048] 4. Interpolation Calculation: For the rotated coordinates (x, y) of any sampling point, use the following expression to estimate the absolute phase:

[0049] 5. Hardware Adaptability: The above segment structure has a small number and fixed directions, which is convenient for LUT look-up table and pipelined interpolation implementation, and is suitable for low-power angle resolution chips.

[0050] Exemplarily: Example 2

[0051] As Figures 10 - 13 shown, taking the high-precision configuration with a period ratio of M = 12 and N = 13 as an example This embodiment shows a high-resolution multi-period decoding configuration, which is suitable for application scenarios that require an angular resolution better than 1° (such as high-precision rotary encoders, medical imaging positioning, etc.). The implementation process is as follows: 1. Signal Period Setting: Set the input signal period to:

[0052] 2. Rotation Angle Calculation:

[0053] 3. Segment Interval Structure:

[0054] Construct the standard interpolation segment structure as follows (each segment maps a group of angular intervals):

[0055] Among them, .

[0056] 4. Interpolation Method: Same as Example 1, adopt Re partial linear interpolation. After looking up the table of the segment structure, only floating-point division and multiplication are required to complete the reconstruction, and the average reconstruction error is within ±0.2°.

[0057] Accuracy Verification: In the case of adding 0.005 Gaussian noise, the maximum error is controlled within ±0.3°, and the stability is better than the look-up table or median projection method.

[0058] As Figure 2As shown in the figure, based on the above-mentioned rotation phase multi-period absolute resolution algorithm, the present invention provides a rotation phase multi-period absolute resolution device, including: an acquisition unit 201, configured to acquire a first phase signal and a second phase signal with different periods, and process them into a non-orthogonal oblique line trajectory; a processing unit 202, configured to process the trajectory into a complex form, and perform a rotation transformation through a set rotation angle to align the direction; a calculation unit 203, configured to perform discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain an absolute phase.

[0059] It should be understood that all relevant contents of the steps involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here. In addition, the use of suffixes such as "module", "component" or "unit" for representing elements is only for the convenience of explaining the present invention, and it has no specific meaning by itself. Therefore, "module", "component" or "unit" can be used interchangeably. The terminal can be implemented in various forms. For example, the terminal described in the present invention may include mobile terminals such as mobile phones, tablet computers, laptop computers, palmtop computers, personal digital assistants (PDAs), portable media players (PMPs), navigation devices, wearable devices, smart bracelets, pedometers, etc., and fixed terminals such as digital TVs, desktop computers, etc. In the following description, a mobile terminal will be used as an example for illustration, and those skilled in the art will understand that, except for components specifically for mobile purposes, the structure according to the embodiments of the present invention can also be applied to fixed-type terminals.

[0060] In some other embodiments of the present invention, embodiments of the present invention disclose an electronic device 300, as Figure 3 shown, which may include: one or more processors 301; a memory 302; a display 303; one or more applications (not shown); and one or more computer programs 304. The above devices can be connected through one or more communication buses 305. Wherein the one or more computer programs 304 are stored in the memory 302 and are configured to be executed by the one or more processors 301. The one or more computer programs 304 include instructions, and the above instructions can be used to execute as Figure 1 the respective steps in the corresponding embodiments.

[0061] The processor 301 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0062] The memory 302 may be an internal storage unit of the electronic device 300, such as the hard disk or memory of the electronic device 300. The memory 302 may also be an external storage device of the electronic device 300, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the electronic device 300. Further, the memory 302 may also include both the internal storage unit and the external storage device of the electronic device 300. The memory 302 is used to store computer programs and other programs and data required by the electronic device. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0063] The computer program 304 may be divided into one or more modules / units. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 304 in the electronic device 300.

[0064] In addition to the above structure, those skilled in the art can understand that Figure 3 This is only an example of the electronic device 300 and does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0065] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present invention. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0066] Based on the above embodiments, the present invention also discloses a computer-readable storage medium, on which at least one computer program is stored, and when the computer program is executed by a processor, the rotation phase multi-period absolute resolution algorithm in the foregoing embodiments is implemented.

[0067] Those of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiments can be completed by instructing a processor through a program. The program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that integrates one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid-state drive (SSD)), etc.

[0068] The descriptions of the processes or structures corresponding to the above respective drawings have their own emphases. For the parts not detailed in a certain process or structure, reference can be made to the relevant descriptions of other processes or structures.

[0069] In summary, a rotation phase multi-period absolute resolution algorithm and its application disclosed by the present invention utilize multi-period modulo phase signals to form non-orthogonal oblique trajectories, align the directions with the rotation angles through complex number representation, achieve structural normalization, remove the look-up table and inverse solution modules, can recover the angles in real time, are applicable to any period combination (including coprime and non-coprime cases), are computationally efficient and highly accurate, and can be directly deployed in MCU / FPGA to implement real-time absolute phase calculation.

[0070] The above are only embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A rotational phase multi-period absolute resolution algorithm, characterized in that Comprising: Collecting a first phase signal and a second phase signal with different periods, and processing them into a non-orthogonal oblique trajectory; Processing the trajectory into a complex form, and performing a rotation transformation through a set rotation angle to align the direction; Performing discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain an absolute phase.

2. The algorithm according to claim 1, characterized in that, Collecting a first phase signal and a second phase signal with different periods, and processing to obtain a non-orthogonal oblique trajectory comprising: Collecting a first phase signal and a second phase signal with different periods, and respectively processing the first phase signal and the second phase signal into corresponding normalized modulus periodic signals by using a set angle and corresponding number of periods.

3. The algorithm according to claim 2, wherein The normalized modulus periodic signal corresponding to the first phase signal is: The normalized modulus periodic signal corresponding to the second phase signal is as follows: wherein, θ is a set angle, and the value range is ; is the period length corresponding to the first phase signal, M is the number of periods, and the value range is positive integers; is the period length corresponding to the second phase signal, N is the number of periods, and the value range is positive integers.

4. The algorithm according to claim 2, wherein Collecting a first phase signal and a second phase signal with different periods, and processing to obtain a non-orthogonal oblique trajectory further comprising: Processing the normalized modulus periodic signal into a two-dimensional vector, and depicting a two-dimensional trajectory varying with the angle in a phase diagram to process and obtain a non-orthogonal oblique trajectory.

5. The algorithm according to claim 3, wherein Processing the trajectory into a complex form, and performing a rotation transformation through a set rotation angle to align the direction comprising: Represent the two-dimensional phase trajectory in complex form and perform a rotation transformation on the complex number by the set rotation angle to normalize all oblique trajectories into approximately horizontal parallel lines: where j is the imaginary unit.

6. The algorithm according to claim 3, wherein Performing discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain an absolute phase comprising: The rotated complex form trajectory forms a paragraph structure with quasi-equidistant arrangement in the imaginary axis direction, each paragraph has a specific central value in the complex plane, and is mapped to an absolute angle interval: Preset several discrete segment centers, and map the rotated imaginary part to the segment number by means of interval comparison or integer mapping; After identifying the segment number, retrieve the start and end real parts of the interpolation corresponding to this segment from the preset parameter table , and the angle range , and then use the rotated real part to complete linear interpolation within this interval and calculate the absolute phase: 。 7. A rotational phase multi-period absolute resolution device for the algorithm according to any one of claims 1-6, characterized in that, Comprising: A collecting unit, configured to collect a first phase signal and a second phase signal with different periods, and process them into a non-orthogonal oblique trajectory; A processing unit, configured to process the trajectory into a complex form, and perform a rotation transformation through a set rotation angle to align the direction; A calculation unit, configured to perform discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain an absolute phase.

8. An electronic device, characterized in that, Comprising a memory and a processor, wherein a program is stored on the memory and can run on the processor, and when the program is executed by the processor, the electronic device implements the algorithm described in any one of claims 1-6.

9. A readable storage medium, in which a program is stored, characterized in that, When the program is executed, the algorithm described in any one of claims 1-6 is implemented.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the algorithm described in any one of claims 1-6 is implemented.

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