Rotational phase multi-cycle absolute solution method and device

Abstract

The present invention provides a method and device for multi-cycle absolute phase calculation. The method collects first and second phase signals with different periods and processes them into non-orthogonal oblique trajectories. These trajectories are converted into complex form and then rotated and aligned by a set rotation angle. The rotated complex trajectories are then processed into discrete segments and interpolated to obtain the absolute phase. This method utilizes multi-cycle modulo phase signals to form non-orthogonal oblique trajectories, which are aligned with the rotation angle using complex representations. This achieves structural normalization, eliminates table lookup and inverse solution modules, and enables real-time angle recovery. The method is applicable to any period combination (including both coprime and non-coprime cases), offers high computational efficiency and accuracy, and can be directly deployed in an MCU / FPGA for 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 method and device for absolutely solving a multi-period rotation phase. Background Art

[0002] With the rapid advancement of position sensing and encoder technology, many sensor systems utilize multiple coils or signal sources with varying periods to improve angular resolution. These signals typically exhibit sinusoidal, sawtooth, or other periodic functions of varying periods. In practice, only the phase value of the modulo period can be obtained. Because each signal provides only partial information, it is difficult to directly determine the complete absolute phase (i.e., the true angle).

[0003] While traditional methods such as the Chinese remainder theorem or table lookup can be used for phase recovery, they suffer from limitations in accuracy, computational efficiency, and error tolerance. Therefore, a multi-cycle absolute solution method and device for the rotational phase are urgently needed to address these issues. Summary of the Invention

[0004] The object of the present invention is to provide a method and device for multi-cycle absolute solution of rotating phase, which can realize real-time absolute phase calculation with high efficiency and accuracy.

[0005] In a first aspect, the present invention provides a method for absolute multi-period solution of a rotating phase, comprising:

[0006] collecting a first phase signal and a second phase signal with different periods, and processing the signals into non-orthogonal oblique line trajectories;

[0007] Processing the trajectory into a complex form, and rotating and transforming the alignment direction by a set rotation angle;

[0008] The rotated complex form trajectory is subjected to discrete segment processing and interpolation calculation to obtain the absolute phase.

[0009] The method of the present invention has the following beneficial effects: it collects first and second phase signals with different periods and processes them into non-orthogonal oblique trajectories; transforms these trajectories into complex form and performs rotational transformation and alignment by a set rotation angle; and then performs discrete segment processing and interpolation on the rotated complex trajectories to obtain the absolute phase. By using multi-periodic modulo phase signals to form non-orthogonal oblique trajectories, and aligning the directions with the rotation angles through complex representation, structural normalization is achieved, eliminating the need for table lookup and inverse solution modules, enabling real-time angle recovery. This method is applicable to any period combination (including both coprime and non-coprime cases), offers high computational efficiency and accuracy, and can be directly deployed in an MCU / FPGA for real-time absolute phase calculation.

[0010] Optionally, collecting the first phase signal and the second phase signal with different periods and processing them to obtain the non-orthogonal oblique trajectory includes:

[0011] A first phase signal and a second phase signal with different periods are collected, and the first phase signal and the second phase signal are respectively processed into corresponding normalized modulo-periodic signals using a set angle and a corresponding number of periods.

[0012] Optionally, the normalized modulo-periodic signal corresponding to the first phase signal is:

[0013] The normalized modulo-periodic signal corresponding to the second phase signal is: in, To set the angle, the value range is ; is the cycle length corresponding to the first phase signal, M is the number of cycles, and its value range is a positive integer; is the cycle length corresponding to the second phase signal, N is the number of cycles, and its value range is a positive integer.

[0014] Optionally, collecting the first phase signal and the second phase signal with different periods and processing them to obtain the non-orthogonal oblique trajectory further includes:

[0015] The normalized modulo-periodic signal is processed into a two-dimensional vector, and the two-dimensional trajectory that changes with the angle is depicted in the phase diagram, and the non-orthogonal oblique line trajectory is obtained by processing.

[0016] Optionally, processing the trajectory into a plural form and performing a rotation transformation to align the direction by a set rotation angle includes:

[0017] The two-dimensional phase trajectory is expressed in complex form Indicates that the rotation angle is set Perform a rotation transformation on the complex numbers to normalize all oblique trajectories to approximately horizontal parallel lines:

[0018] Where j is the imaginary unit.

[0019] Optionally, the rotated complex form trajectory is subjected to discrete segment processing and interpolation calculation to obtain the absolute phase including:

[0020] The rotated complex form trajectory forms a quasi-equally spaced segment structure in the direction of the imaginary axis. Each segment has a specific center value in the complex plane and is mapped to an absolute angle interval:

[0021] Preset several discrete segment centers and use interval comparison or integer mapping to map the rotated imaginary part to the segment number;

[0022] After identifying the segment number, call the interpolation start and end real parts corresponding to the segment from the preset parameter table , and angle range , and then use the real part after rotation Perform linear interpolation within this interval and calculate the absolute phase: .

[0023] In a second aspect, the present invention provides a multi-cycle absolute resolution device for a rotating phase, comprising modules / units for executing any one of the possible design methods of the first aspect. These modules / units may be implemented in hardware, or in hardware executing corresponding software implementations.

[0024] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a program that can be run on the processor, and when the program is executed by the processor, the electronic device implements a method for executing any possible design of any of the above aspects.

[0025] In a fourth aspect, the present invention provides a readable storage medium, wherein the readable storage medium stores a program, and when the program is executed, it implements any possible design method of any of the above aspects.

[0026] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which implements the above method when executed by a processor.

[0027] For the beneficial effects of the second to fifth aspects, please refer to the description of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic flow chart of a multi-period absolute solution method for a rotating phase provided by an embodiment of the present invention;

[0029] Figure 2 A schematic structural diagram of a multi-period absolute solution device for a rotating phase according to an embodiment of the present invention;

[0030] Figure 3 A schematic structural diagram of an electronic device provided by an embodiment of the present invention;

[0031] Figure 4 The normalized modulo-periodic phase signal provided by the embodiment of the present invention when M=3 N=2;

[0032] Figure 5 A two-dimensional phase diagram provided in the first embodiment of the present invention;

[0033] Figure 6 The normalized modulo-periodic phase signal provided in the first embodiment of the present invention;

[0034] Figure 7 A two-dimensional phase image containing Gaussian noise provided in the first embodiment of the present invention;

[0035] Figure 8 The rotated two-dimensional phase image containing Gaussian noise provided in the first embodiment of the present invention;

[0036] Figure 9 The reconstruction of a phase signal containing Gaussian noise provided in the first embodiment of the present invention;

[0037] Figure 10 The normalized modulo-periodic phase signal provided in the second embodiment of the present invention;

[0038] Figure 11 A two-dimensional phase image containing Gaussian noise provided in the second embodiment of the present invention;

[0039] Figure 12 The rotated two-dimensional phase image containing Gaussian noise provided in the second embodiment of the present invention;

[0040] Figure 13 The second embodiment of the present invention provides the reconstruction of a phase signal containing Gaussian noise. DETAILED DESCRIPTION

[0041] In order to make the purpose, 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 in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs. The words "including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0042] The technical solutions in the embodiments of the present invention are described below in conjunction with the 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 expressions "a", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present invention, "at least one", "one or more" refer to one or more (including two). The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist; for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0043] References to "one embodiment" or "some embodiments" described in this specification mean that the specific features, structures or characteristics described in conjunction with the embodiment are included in one or more embodiments of the present invention. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", and "in some other embodiments" appearing 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 "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized. The term "connected" includes direct and indirect connections, unless otherwise stated. "First" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0044] In the embodiments of the present invention, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0045] like Figure 1 As shown, the present invention provides a multi-cycle absolute solution method for a rotating phase, comprising:

[0046] S101 , collecting a first phase signal and a second phase signal with different periods, and processing them into non-orthogonal oblique line trajectories.

[0047] 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 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-periodic signals using a set angle and a corresponding number of periods.

[0048] In some specific embodiments, the normalized modulo-periodic signal corresponding to the first phase signal is: The normalized modulo-periodic signal corresponding to the second phase signal is:

[0049] in, To set the angle, the value range is ; is the cycle length corresponding to the first phase signal, M is the number of cycles, and its value range is a positive integer; is the period length corresponding to the second phase signal, N is the number of periods, and its value range is a positive integer. For example, Figure 4 As shown in Figure 1, when M=3 and N=2, the normalized modulo-periodic phase signal.

[0050] In other specific embodiments, collecting the first phase signal and the second phase signal with different periods and processing them to obtain non-orthogonal oblique line trajectories also includes: processing the normalized modulo-periodic signal into a two-dimensional vector, and depicting a two-dimensional trajectory that changes with the angle in a phase diagram to obtain a non-orthogonal oblique line trajectory.

[0051] S102: Process the trajectory into a complex form, and perform rotation transformation and alignment direction through a set rotation angle to achieve structural normalization.

[0052] In some embodiments, processing the trajectory into a complex form and performing a rotation transformation to align the trajectory by a set rotation angle includes: transforming the two-dimensional phase trajectory into a complex form Indicates that the rotation angle is set Perform a rotation transformation on the complex numbers to normalize all oblique trajectories into approximately horizontal parallel lines:

[0053] Where j is the imaginary unit.

[0054] S103 , performing discrete segment processing and interpolation calculation on the rotated complex trajectory to obtain an absolute phase.

[0055] In some embodiments, the rotated complex form trajectory is subjected to discrete segment processing and interpolation calculation to obtain the absolute phase, including: the rotated complex form trajectory forms a segment structure arranged in quasi-equal intervals in the direction of the imaginary axis, each segment has a specific center value in the complex plane and is mapped to an absolute angle interval:

[0056] Preset several discrete segment centers (such as ±1, ±0.5, 0), and use interval comparison or integer mapping to map the rotated imaginary part to the segment number;

[0057] After identifying the segment number, call the interpolation start and end real parts corresponding to the segment from the preset parameter table , and angle range , and then use the real part after rotation Perform linear interpolation within this interval and calculate the absolute phase:

[0058] .

[0059] The advantages of the present invention are:

[0060] 1. The traditional method of obtaining absolute phase relies on table lookup or enumeration, which results in discontinuous calculation and limited accuracy, making it unsuitable for real-time operation and hardware deployment. However, the method of the present invention constructs a complex phase space and rotates the alignment direction to straighten and align the two-dimensional modal phase structure into a parallel structure, and uses multi-cycle modal phase signals to obtain the absolute phase of the phase. Form a non-orthogonal oblique trajectory, represented by a complex number and the rotation angle Align the directions 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. This eliminates the table lookup and inverse solution modules, allowing real-time angle recovery. This approach is applicable to any period combination (including coprime and non-coprime cases), offers efficient and high-precision computation, and can be directly deployed in MCUs / FPGAs for real-time absolute phase calculation.

[0061] 2. The traditional method of intra-segment interpolation relies on a periodic normalized expression, which can cause serious mismatching in the presence of noise or offset. The method of the present invention uses the rotated imaginary discrete value (such as ±1, ±0.5, 0) as the segment number identifier, combined with the real component interpolation, to convert the rotated complex coordinates It is split into real and imaginary parts, and segment number identification is achieved by determining the interval y is in (e.g., y>0.75→segment 0). Then, linear interpolation of x is performed between the left and right boundaries of the segment. Segment numbering is achieved only through interval comparison. The logic is simple and easy to digitize, the interpolation range is controlled and resistant to offset interference, and the structure is adapted to hardware pipeline implementation.

[0062] 3. Traditional methods have a fixed calculation resolution and cannot adaptively improve with increasing cycle configurations, limiting system scalability. However, the method of the present invention utilizes the least common multiple (LCM(M,N)) of different cycle parameters M and N to automatically improve the subdivision accuracy of the resolvable angle interval. The method of the present invention maps the discrete segments of the y value after complex rotation to LCM(M,N) absolute angle segments. The larger the cycle combination, the larger the LCM, the finer the perceived angle segmentation, and the naturally improved resolution. The system structure remains unchanged, and calculation accuracy can be linearly improved simply by configuring the cycle parameters. This method supports high-precision applications and adapts to the resolution requirements of different processes.

[0063] For ease of understanding, this embodiment further illustrates the specific implementation process of the above method in conjunction with a specific application scenario system, which specifically includes the following steps:

[0064] Step a: Phase signal construction and transition identification

[0065] Acquire two normalized first phase signals with different periods and the second phase signal , respectively set the angle The modular cycle results under the electrical signal with the number of cycles M and N. Since each electrical cycle is The corresponding period lengths are:

[0066] , As attached Figure 4 , the normalized modulo-periodic phase signal corresponding to the first phase signal and the second phase signal can be expressed as:

[0067]

[0068] Step b, 2D phase trajectory formation and perturbation modeling

[0069] Will It is regarded as a two-dimensional vector, and the two-dimensional trajectory that changes with the angle is depicted in the phase diagram, and the non-orthogonal oblique line trajectory is obtained by processing.

[0070] Step c, complex plane rotation normalized to direction

[0071] The two-dimensional phase trajectory is expressed in complex form Indicates that the rotation angle Perform a rotation transformation on the complex numbers to normalize all oblique trajectories into approximately horizontal parallel lines:

[0072] Where j is the imaginary unit.

[0073] Or equivalently, via the 2D rotation matrix accomplish:

[0074]

[0075] Step d: discrete segment matching and interpolation calculation

[0076] Complex trajectory after rotation A quasi-equally spaced segment structure is formed in the direction of the imaginary axis (corresponding to the direction of the oblique line in the original plane). Each segment has a specific center value y_center in the complex plane and is mapped to an absolute angle interval:

[0077]

[0078] In order to realize the hardware feasibility of the segment recognition process, several discrete segment centers (such as ±1, ±0.5, 0) are predefined, and the imaginary part after rotation is converted to Mapped to segment number index.

[0079] After identifying the segment number, call the interpolation start and end real parts corresponding to the segment from the preset parameter table , and angle range , and then use the real part after rotation Perform linear interpolation within this interval and calculate the absolute phase:

[0080] The above method is highly modular, the segment numbering and interpolation processes can be decoupled, and it supports asynchronous processing and hardware pipeline structure, making it suitable for deployment in low-power embedded systems.

[0081] Step e: Preprocessing of segment parameters before rotation

[0082] To adapt to the rotated coordinate system, all segment interval parameters (such as segment start and end phases, center coordinates, etc.) are also rotated synchronously with the rotation matrix R during the initialization phase, so that the segment matching process remains consistent in the rotated space.

[0083] Step f, reconstruction and error analysis

[0084] The entire angle sequence is reconstructed point by point to form , and the real angle The error curves obtained by comparison can be used to analyze the comprehensive performance of segment division density, interpolation strategy and noise robustness.

[0085] The advantages of the embodiments of the present invention are that the method of the present invention performs angle decoding entirely based on the geometric characteristics of the signal structure itself, and has the advantages of clear theory, strong robustness, and controllable errors; compared with the traditional Chinese remainder theorem or LUT method, it is more suitable for application scenarios with non-coprime period ratios or high resolution, and has universal applicability; the phase recovery accuracy of the method of the present invention is only determined by the sampling accuracy and interpolation resolution, which meets the industrial requirements of high-precision encoders; the method has low computational complexity, mainly relying on complex multiplication and linear interpolation, and can run in real time in low-power hardware such as MCU and FPGA; the method of the present invention has a complete mathematical model and numerical verification process, and can be directly transplanted to a digital logic system for implementation, with the implementation advantage of low gating overhead; it is suitable for various types of precision electromagnetic position measurement equipment such as rotary inductance encoders, multi-turn angle sensors, and harmonic suppression systems; current industrial sensors, robots, and servo control systems have a strong demand for high-resolution, low-latency, and high-robustness coding algorithms, especially in domestic substitution and high-end measurement and control systems, where there is an obvious application gap.

[0086] Exemplary:

[0087] Example 1

[0088] like Figure 5-9 , taking the low-complexity application scenario with a period ratio of M=4, N=3 as an example, where the two phase signals correspond to the modulo-periodic phases with periods of 90° and 120° respectively, the goal is to convert the input signal , Convert to absolute angle The implementation process is as follows:

[0089] 1. Phase structure:

[0090] Sample two periodic signals separately and construct the normalized modulo-periodic form:

[0091] in, , .

[0092] 2. Normalization of rotation direction:

[0093] To facilitate structured interpolation, calculate the rotation angle:

[0094] Construct a two-dimensional rotation matrix:

[0095]

[0096] Use the rotation matrix to transform a 2D point Perform a linear transformation.

[0097] 3. Segment interval structure:

[0098] The standard interpolation segment structure is constructed as follows (each segment maps a set of angle intervals):

[0099]

[0100] in, .

[0101] 4. Interpolation calculation:

[0102] For any sample point with rotated coordinates (x, y), the absolute phase is estimated using the following expression:

[0103]

[0104] 5. Hardware adaptability:

[0105] The above segment structures are small in number and fixed in direction, which facilitates LUT lookup and pipeline interpolation implementation and is suitable for low-power angle solving chips.

[0106] Exemplary:

[0107] Example 2

[0108] like Figure 10-13 As shown, take the high-precision configuration with a cycle ratio of M=12 and N=13 as an example

[0109] This example demonstrates a high-resolution multi-cycle decoding configuration suitable for applications requiring an angular resolution better than 1° (such as high-precision rotary encoders, medical imaging positioning, etc.). The implementation process is as follows:

[0110] 1. Signal period setting:

[0111] Set the input signal period to:

[0112] ,

[0113] 2. Rotation angle calculation:

[0114]

[0115] 3. Segment interval structure:

[0116]

[0117] The standard interpolation segment structure is constructed as follows (each segment maps a set of angle intervals):

[0118] in, .

[0119] 4. Interpolation method:

[0120] As in the first embodiment, linear interpolation of the Re part is adopted, and reconstruction can be completed by only floating-point division and multiplication after the segment structure table lookup, and the average reconstruction error is within ±0.2°.

[0121] Accuracy verification:

[0122] When 0.005 Gaussian noise is added, the maximum error is controlled at ±0.3°, and its stability is better than that of the table lookup or median projection method.

[0123] like Figure 2 As shown, based on the above-mentioned multi-cycle absolute solution method of the rotating phase, the present invention provides a multi-cycle absolute solution device for the rotating phase, including: an acquisition unit 201, used to acquire a first phase signal and a second phase signal with different periods, and process them into non-orthogonal oblique line trajectories; a processing unit 201, used to process the trajectories into a complex form, and perform a rotation transformation and alignment direction through a set rotation angle; a calculation unit 203, used to perform discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain the absolute phase.

[0124] It should be understood that all relevant content of each step involved in the above method embodiment can be referenced to the functional description of the corresponding functional module and will not be repeated here. In addition, the use of suffixes such as "module," "component," or "unit" to represent components is merely to facilitate the description of the present invention and does not have a specific meaning in 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 can include mobile terminals such as mobile phones, tablet computers, laptop computers, PDAs, PMPs, navigation devices, wearable devices, smart bracelets, pedometers, etc., as well as fixed terminals such as digital TVs and desktop computers. The subsequent description will use mobile terminals as an example. Those skilled in the art will understand that, in addition to components specifically designed for mobile purposes, the structures according to the embodiments of the present invention can also be applied to fixed-type terminals.

[0125] In other embodiments of the present invention, an electronic device 300 is disclosed. Figure 3As shown, the system 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 components may be connected via one or more communication buses 305. The one or more computer programs 304 are stored in the memory 302 and configured to be executed by the one or more processors 301. The one or more computer programs 304 include instructions, which may be used to execute the following instructions: Figure 1 Each step in the corresponding embodiment.

[0126] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0127] Memory 302 can be an internal storage unit of electronic device 300, such as a hard drive or memory of electronic device 300. Memory 302 can also be an external storage device of electronic device 300, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on electronic device 300. Furthermore, memory 302 can include both an internal storage unit of electronic device 300 and an external storage device. Memory 302 is used to store computer programs and other programs and data required by the electronic device. Memory 302 can also be used to temporarily store data that has been output or is about to be output.

[0128] The computer program 304 may be divided into one or more modules / units. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions. The instruction segments are used to describe the execution process of the computer program 304 in the electronic device 300 .

[0129] In addition to the above structure, those skilled in the art can understand that Figure 3This is merely 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 a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0131] Based on the above embodiments, the present invention further discloses a computer-readable storage medium storing at least one computer program, which, when executed by a processor, implements the multi-period absolute solution method for the rotation phase in the above embodiments.

[0132] Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments can be performed by instructing a processor through a program. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, or any combination thereof. The storage medium can be any available medium accessible by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0133] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0134] In summary, the present invention discloses a method and device for multi-cycle absolute solution of rotating phase, which uses multi-cycle modulo phase signals to form non-orthogonal oblique line trajectories, aligns the direction with the rotation angle through complex number representation, realizes structural normalization, eliminates the table lookup and inverse solution modules, can recover the angle in real time, is applicable to any period combination (including coprime and non-coprime cases), has efficient calculation and high precision, and can be directly deployed in MCU / FPGA to realize real-time absolute phase calculation.

[0135] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-cycle absolute solution method for a rotating phase, applied to sensor signals, characterized in that: include: collecting a first phase signal and a second phase signal with different periods, and processing the signals into non-orthogonal oblique line trajectories; Processing the trajectory into a complex form, and rotating and transforming the alignment direction by a set rotation angle; The rotated complex form trajectory is processed into discrete segments and interpolated to obtain the absolute phase; The trajectory is processed into a complex form and rotated by the set rotation angle. The alignment direction includes: The two-dimensional phase trajectory is expressed in complex form Indicates that the rotation angle is set Perform a rotation transformation on the complex numbers to normalize all oblique trajectories to approximately horizontal parallel lines: Where, j is the imaginary unit; is the first phase signal; is the second phase signal; M is the number of cycles of the first phase signal, and its value range is a positive integer; N is the number of cycles of the second phase signal, and its value range is a positive integer; The rotated complex form trajectory is processed into discrete segments and interpolated to obtain the absolute phase including: The rotated complex form trajectory forms a quasi-equally spaced segment structure in the direction of the imaginary axis. Each segment has a specific center value in the complex plane and is mapped to an absolute angle interval: Preset several discrete segment centers and use interval comparison or integer mapping to map the rotated imaginary part to the segment number; After identifying the segment number, call the interpolation start and end real parts corresponding to the segment from the preset parameter table , and angle range , and then use the real part after rotation Perform linear interpolation within this interval and calculate the absolute phase: in, To set the angle, the value range is , the center value is determined by the least common multiple of M and N.

2. The method according to claim 1, characterized in that Acquiring a first phase signal and a second phase signal with different periods and processing them to obtain a non-orthogonal oblique trajectory includes: A first phase signal and a second phase signal with different periods are collected, and the first phase signal and the second phase signal are respectively processed into corresponding normalized modulo-periodic signals using a set angle and a corresponding number of periods.

3. The method according to claim 2, characterized in that The normalized modulo-periodic signal corresponding to the first phase signal is: The normalized modulo-periodic signal corresponding to the second phase signal is: in, is the cycle length corresponding to the first phase signal; is the cycle length corresponding to the second phase signal.

4. The method according to claim 2, characterized in that Collecting the first phase signal and the second phase signal with different periods and processing them to obtain the non-orthogonal oblique trajectory also includes: The normalized modulo-periodic signal is processed into a two-dimensional vector, and the two-dimensional trajectory that changes with the angle is depicted in the phase diagram, and the non-orthogonal oblique line trajectory is obtained by processing.

5. A multi-cycle absolute solution device for rotating phase, applied to sensor signals, characterized in that: include: an acquisition unit, configured to acquire a first phase signal and a second phase signal having different periods and process the signals into non-orthogonal oblique line trajectories; a processing unit, configured to process the trajectory into a plural form and perform rotation transformation to align the trajectory with the set rotation angle; A calculation unit, used for performing discrete segment processing and interpolation calculation on the rotated complex form trajectory to obtain the absolute phase; The trajectory is processed into a complex form and rotated by the set rotation angle. The alignment direction includes: The two-dimensional phase trajectory is expressed in complex form Indicates that the rotation angle is set Perform a rotation transformation on the complex numbers to normalize all oblique trajectories into approximately horizontal parallel lines: Where, j is the imaginary unit; is the first phase signal; is the second phase signal; M is the number of cycles of the first phase signal, and its value range is a positive integer; N is the number of cycles of the second phase signal, and its value range is a positive integer; The rotated complex form trajectory is processed into discrete segments and interpolated to obtain the absolute phase including: The rotated complex form trajectory forms a quasi-equally spaced segment structure in the direction of the imaginary axis. Each segment has a specific center value in the complex plane and is mapped to an absolute angle interval: Preset several discrete segment centers and use interval comparison or integer mapping to map the rotated imaginary part to the segment number; After identifying the segment number, call the interpolation start and end real parts corresponding to the segment from the preset parameter table , and angle range , and then use the real part after rotation Perform linear interpolation within this interval and calculate the absolute phase: in, To set the angle, the value range is , the center value is determined by the least common multiple of M and N.

6. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores a program that can be run on the processor, and when the program is executed by the processor, the electronic device implements the method according to any one of claims 1 to 4.

7. A readable storage medium having a program stored therein, characterized in that: When the program is executed, the method according to any one of claims 1 to 4 is implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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