Control method and device of rotary transformer, motor and storage medium

Abstract

The invention discloses a control method and device of a rotary transformer, a motor and a storage medium, and the method comprises the steps: obtaining a first signal and a second signal when the rotary transformer is in a working state; determining an amplitude correction value based on the first signal and the second signal; the amplitude correction value is a ratio between the amplitude of the first signal and the amplitude of the second signal. And correcting the second signal based on the amplitude correction value to obtain a second correction signal. A rotor angle value of the resolver is determined based on the first signal and the second correction signal. The first signal and the second signal are obtained when the rotary transformer is in the working state, and the second signal is corrected under the condition, so that the problem of signal amplitude drift caused by environment or temperature factors in the working process of the rotary transformer can be effectively solved, real-time correction of the signal amplitude is realized, and the accuracy of correction of the signal amplitude is improved. And the determined rotor angle value can be more accurate.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a control method and device for electrical equipment, electrical equipment, and a storage medium. Background Art

[0002] In the process of controlling existing motors (e.g., servo motors), in order to achieve higher-precision control, it is necessary to obtain real-time motion information of the motor's rotating shaft (e.g., shaft angular displacement, angular velocity, etc.). Specifically, researchers typically install a resolver in the motor to obtain this shaft motion information.

[0003] A resolver is an electromagnetic sensor whose output signal changes with the rotor angle. Ideally, by inputting a carrier signal (e.g., a high-frequency excitation signal) into the resolver's excitation winding, the resolver's output winding will, through electromagnetic coupling, output a sine signal and a cosine signal containing rotor angle information. The sine and cosine signals are then calculated to determine the rotor angle information, and based on this rotor angle information, the motion information of the motor's rotating shaft can be determined.

[0004] However, during the actual operation of the resolver, the amplitudes of the sine and cosine signals may drift due to the influence of the environment or temperature, which may cause errors in the determined rotor angle information and affect the control effect of the motor.

[0005] To compensate for this drift, researchers typically measure the amplitudes of the sine and cosine signals at preset rotor positions while the resolver is offline. However, this offline calibration method can only correct for errors that occur during resolver startup, but not during operation. Summary of the Invention

[0006] Embodiments of the present application provide a control method, device, motor, and storage medium for a rotary transformer.

[0007] According to a first aspect of the present application, an embodiment of the present application provides a control method for a rotary transformer, the control method comprising: step S310, when the rotary transformer is in an operating state, obtaining a first signal and a second signal; one of the first signal and the second signal is a sine signal, and the other is a cosine signal. Step S320, based on the first signal and the second signal, determining an amplitude correction value; the amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal. Step S330, correcting the second signal based on the amplitude correction value to obtain a second corrected signal; the absolute value of the difference between the amplitude of the second corrected signal and the amplitude of the first signal is less than or equal to a specified value. Step S340, determining a rotor angle value of the rotary transformer based on the first signal and the second correction signal.

[0008] According to a second aspect of the present application, an embodiment of the present application further provides a control device for a rotary transformer, the control device comprising an acquisition module, a first determination module, a second determination module, and a third determination module. The acquisition module is configured to acquire a first signal and a second signal when the rotary transformer is in operation; one of the first signal and the second signal is a sine signal, and the other is a cosine signal. The first determination module is configured to determine an amplitude correction value based on the first signal and the second signal; the amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal. The second determination module is configured to correct the second signal based on the amplitude correction value to obtain a second correction signal; the absolute value of the difference between the amplitude of the second correction signal and the amplitude of the first signal is less than or equal to a specified value. The third determination module is configured to determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

[0009] According to a third aspect of the present application, an embodiment of the present application further provides a motor, comprising a resolver, one or more processors, a memory, and one or more applications. The one or more applications are stored in the memory and configured to be executed by the one or more processors, and are configured to perform the above-described method.

[0010] According to the fourth aspect of the present application, an embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the above method.

[0011] According to the fifth aspect of the present application, an embodiment of the present application further provides a computer program product, which implements the above method when executed.

[0012] Embodiments of the present application provide a control method, device, motor, and storage medium for a resolver. The control method, when the resolver is in operation, obtains a first signal and a second signal output by the resolver, wherein one of the first signal and the second signal is a sine signal and the other is a cosine signal. The method then determines the ratio between the amplitude of the first signal and the amplitude of the second signal as an amplitude correction value. The method then corrects the second signal based on the amplitude correction value to obtain a second correction signal. Finally, the rotor angle value of the resolver is determined based on the second correction signal and the first signal.

[0013] Since the absolute value of the difference between the amplitude of the first signal and the amplitude of the second correction signal is less than or equal to the specified value, it means that the amplitude of the first signal and the amplitude of the second correction signal are approximately equal, which can ensure the accuracy of the subsequently determined rotor angle value.

[0014] Furthermore, since the first and second signals in this application are obtained when the resolver is in operation, they can reflect the resolver's actual operating conditions. In this case, correcting the second signal effectively overcomes signal amplitude drift caused by environmental or temperature factors during resolver operation, enabling real-time correction of amplitude errors that occur during operation, resulting in a more accurate determination of the rotor angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a structural schematic diagram of the motor provided in an embodiment of the present application.

[0017] Figure 2 yes Figure 1 Schematic diagram of the resolver and controller in the motor shown.

[0018] Figure 3 This is a flow chart of a method for controlling a rotary transformer provided in the first embodiment of the present application.

[0019] Figure 4 This is a flow chart of a method for controlling a rotary transformer provided in the second embodiment of the present application.

[0020] Figure 5 This is a control flow block diagram of a rotary transformer provided in an embodiment of the present application.

[0021] Figure 6 This is a control flow block diagram of another rotary transformer provided in an embodiment of the present application.

[0022] Figure 7 This is a flow chart of a method for controlling a rotary transformer provided in the third embodiment of the present application.

[0023] Figure 8 This is another control flow block diagram of a rotary transformer provided in an embodiment of the present application.

[0024] Figure 9 This is a signal simulation diagram of a sine signal and a cosine signal provided in an embodiment of the present application.

[0025] Figure 10 It is a schematic diagram of the simulation results provided in the embodiment of the present application.

[0026] Figure 11 yes Figure 10 A partially enlarged diagram of the simulation result schematic shown.

[0027] Figure 12 This is a module block diagram of the control device of the rotary transformer provided in an embodiment of the present application.

[0028] Figure 13 This is a module block diagram of the motor provided in an embodiment of the present application.

[0029] Figure 14 This is a module block diagram of the computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0031] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0032] Embodiments of the present application provide a control method, device, motor, and storage medium for a resolver. The control method, when the resolver is in operation, obtains a first signal and a second signal output by the resolver, wherein one of the first signal and the second signal is a sine signal and the other is a cosine signal. The method then determines the ratio between the amplitude of the first signal and the amplitude of the second signal as an amplitude correction value. The method then corrects the second signal based on the amplitude correction value to obtain a second correction signal. Finally, the rotor angle value of the resolver is determined based on the second correction signal and the first signal.

[0033] Since the absolute value of the difference between the amplitude of the first signal and the amplitude of the second correction signal is less than or equal to the specified value, it means that the amplitude of the first signal and the amplitude of the second correction signal are approximately equal, which can ensure the accuracy of the subsequently determined rotor angle value.

[0034] Furthermore, since the first and second signals in this application are obtained when the resolver is in operation, they can reflect the resolver's actual operating conditions. In this case, correcting the second signal effectively overcomes signal amplitude drift caused by environmental or temperature factors during resolver operation, enabling real-time correction of amplitude errors that occur during operation, resulting in a more accurate determination of the rotor angle.

[0035] In order to explain this application scheme in detail, the following first introduces the application environment of this application example with reference to the accompanying drawings. Figure 1 , Figure 1 Schematic diagram of the application environment of the control method of the rotary transformer provided in the embodiment of the present application, the method is applied to the motor 100, and the motor 100 is a device that converts electrical energy into mechanical energy. It uses an energized coil (i.e., a stator winding) to generate a rotating magnetic field and act on the rotor to form a magneto-electrodynamic rotating torque to realize the rotation of the rotating shaft in the motor 100. Specifically, the motor 100 can be a servo motor, a DC motor, a single-phase motor, a three-phase motor, etc. In this embodiment, the motor 100 may include a rotary transformer 10 and a controller 30, wherein the rotary transformer 10 is arranged in the motor 100, and is used to detect the motion information of the rotating shaft in the motor 100 (for example, the angular displacement of the rotating shaft, the angular velocity, etc.).

[0036] Specifically, the resolver 10 is an electromagnetic sensor whose output signal varies with the rotor angle. Ideally, by inputting a carrier signal (e.g., a high-frequency excitation signal) into the resolver's excitation winding, the resolver's output winding, through electromagnetic coupling, will output a sine signal and a cosine signal containing rotor angle information. The sine and cosine signals are then calculated to determine the rotor angle information, and based on this rotor angle information, the motion information of the motor shaft can be determined. In some possible embodiments, the resolver 10 may be a sine-cosine resolver, and the output voltage of the sine-cosine resolver is a sine function relationship and a cosine function relationship as a function of the rotor angle.

[0037] Controller 30 is disposed within motor 100 and electrically connected to resolver 10. Controller 30 can transmit a carrier signal to resolver 10. Furthermore, controller 30 can calculate the sine and cosine signals output by resolver 10 to determine the rotor angle of resolver 10. Specifically, controller 30 can be a control chip, a control circuit integrated with a control chip, or the like.

[0038] See also Figure 2 The controller 30 may specifically include a carrier signal generating unit 320, a sine and cosine signal demodulating unit 340, an amplitude correction unit 360, and an angle calculating unit 380. The carrier signal generating unit 320 is connected to the excitation winding of the resolver 10 and is configured to transmit a carrier signal. Specifically, the carrier signal may be an excitation signal, and the excitation signal may have a frequency greater than or equal to 3000 Hz, for example, 3000 Hz, 5000 Hz, or the like.

[0039] The sine-cosine signal demodulation unit 340, the amplitude correction unit 360, and the angle calculation unit 380 are sequentially connected to the output winding of the resolver 10. During operation, the resolver 10 outputs a sine modulated signal and a cosine modulated signal under the influence of a carrier signal, wherein the sine modulated signal and the cosine modulated signal are orthogonal to each other. These two signals are input to the sine-cosine signal demodulation unit 340, which is used to calculate the modulation signal amplitude of the sine modulated signal to output a demodulated sine signal; and to calculate the modulation signal amplitude of the cosine modulated signal to output a demodulated cosine signal.

[0040] It should be noted that, ideally, the phase difference between the sine signal and the cosine signal output by the sine-cosine signal demodulation unit 340 is 90 degrees, the amplitude and frequency of the two signals are equal, and the frequency of the signals is equal to the rotational frequency of the motor 100. However, during the actual operation of the motor 100, the amplitudes of the sine and cosine signals may drift due to environmental or temperature influences, thereby causing a certain error in the subsequently determined rotor angle value, thereby affecting the control effect of the motor 100.

[0041] To address the aforementioned issue of signal amplitude drift due to environmental or temperature factors, this embodiment includes an amplitude correction unit 360 within the controller 30. This amplitude correction unit 360 is used to perform amplitude correction on the two signals output by the sine and cosine signal demodulation unit 340, ensuring that the amplitudes of the corrected sine and cosine signals are approximately equal, thereby improving the accuracy of the rotor angle calculation. For details on the signal amplitude correction process, please refer to the relevant description in the method embodiment below. Angle calculation unit 380 is used to calculate the rotor angle based on the amplitude-corrected sine and cosine signals.

[0042] See also Figure 3 , which shows a control method for a rotary transformer provided by the first embodiment of the present application, the method includes the following steps.

[0043] Step S310: When the rotary transformer is in an operating state, a first signal and a second signal are acquired.

[0044] In this embodiment, one of the first signal and the second signal is a sine signal, and the other is a cosine signal. For example, the first signal may be a sine signal, and the second signal may be a cosine signal. In another example, the first signal may be a cosine signal, and the second signal may be a sine signal. In the following description, the first signal is a cosine signal, and the second signal is a sine signal.

[0045] It should be noted that the sine signal and cosine signal in this embodiment are signals output after being demodulated by the sine and cosine signal demodulation unit. When the sine and cosine signal demodulation unit demodulates the input signal, it first performs discrete sampling processing on the signal before demodulating the signal. Therefore, the sine signal and cosine signal obtained after signal demodulation are also discrete signals. Specifically, the sine signal in this embodiment can be regarded as a discrete signal sequence including multiple sine signal values, and the cosine signal can be regarded as a discrete signal sequence including multiple cosine signal values.

[0046] As an embodiment, the controller can obtain the working status flag of the motor to determine whether the motor is in the working state. Specifically, if the working status flag is a specified value (for example, 01), it means that the motor is in the working state. In this case, since the resolver needs to detect the working condition of the motor in real time, the resolver also enters the working state. The controller can obtain the first signal value corresponding to the first signal (that is, the cosine signal value) and the second signal value corresponding to the second signal (that is, the sine signal value).

[0047] Step S320: determining an amplitude correction value based on the first signal and the second signal.

[0048] In this embodiment, the amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal.

[0049] Here the first signal is denoted as S cos =A*bcos(ωt+φ), where A is the ideal amplitude of the first signal, b is the amplitude drift coefficient corresponding to the first signal, and b is a positive number close to 1. For example, b can be greater than or equal to 0.8 and less than or equal to 1.2. It is not difficult to understand that when the motor is not affected by environmental or temperature factors, b is equal to 1. ω is the angular frequency of the first signal, φ is the initial phase of the first signal, and t is time.

[0050] Here the second signal is denoted as S sin =A*asin(ωt+φ), where A is the ideal signal amplitude of the second signal, a is the amplitude drift coefficient corresponding to the second signal, and a is a positive number close to 1. For example, a can be greater than or equal to 0.8 and less than or equal to 1.2. It is not difficult to understand here that when the motor is not disturbed by environmental or temperature factors, a is equal to 1. ω is the angular frequency of the second signal, φ is the initial phase of the second signal, and t is time. It is not difficult to find here that the ideal signal amplitude, angular frequency, and initial phase of the first and second signals are equal.

[0051] Here, the amplitude correction value is recorded as k, and k satisfies the following formula.

[0052]

[0053] Here, A*b can be considered the actual amplitude of the first signal when affected by environmental or temperature factors, and A*a can be considered the actual amplitude of the second signal when affected by environmental or temperature factors. Of course, the amplitude correction value here can also be considered the ratio between the amplitude drift coefficient b corresponding to the first signal and the amplitude drift coefficient a corresponding to the second signal.

[0054] The calculation principle of the amplitude correction value k is introduced below.

[0055] First, the first signal is squared and then differentiated with respect to time t to obtain the following first calculation formula.

[0056]

[0057] By squaring the second signal and then taking the derivative with respect to time t, the following second calculation formula can be obtained.

[0058]

[0059] Next, by taking the absolute value of the first calculation formula, we can obtain the following third calculation formula.

[0060] |S dcos |=2A 2 b 2 ω*|sin(ωt+φ)cos(ωt+φ)|.

[0061] By taking the absolute value of the second calculation formula, we can obtain the following fourth calculation formula.

[0062] |S dsin |=2A 2 a 2 ω*|sin(ωt+φ)cos(ωt+φ)|.

[0063] Finally, when ω≠0 and sin(ωt+φ)cos(ωt+φ)≠0, the ratio of the third calculation formula to the fourth calculation formula is calculated, and then the square root is taken to obtain the following fifth calculation formula.

[0064]

[0065] It's easy to see that the calculated amplitude correction value k is unrelated to the ideal signal amplitude A, angular frequency ω, and initial phase φ. Instead, it is related to the amplitude drift coefficient b corresponding to the first signal and the amplitude drift coefficient a corresponding to the second signal. Therefore, the controller in this embodiment can determine the amplitude correction value based on the first and second signals using the aforementioned calculation principle. The specific process for determining the amplitude correction value is described in detail in the following embodiments.

[0066] Step S330: Correct the second signal based on the amplitude correction value to obtain a second corrected signal.

[0067] In this embodiment, the controller determines the product of the amplitude correction value and the second signal as the second correction signal. Since the amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal, after the second signal is corrected, the amplitude of the second correction signal obtained can be roughly the same as the amplitude of the first signal, that is, the absolute value of the difference between the amplitude of the second correction signal and the amplitude of the first signal is less than or equal to the specified value. Specifically, the specified value can be greater than or equal to 0 and less than or equal to 0.1. For example, the specified value can be 0, 0.05, 0.1, and so on. Ideally, the specified value is equal to 0, at which point the amplitude of the second correction signal is equal to the amplitude of the first signal.

[0068] It is easy to understand that in this embodiment, the first signal is a cosine signal, and the second signal is a sine signal. Therefore, when correcting the second signal, the amplitude of the sine signal is used as a reference, and the amplitude of the cosine signal is corrected so that the amplitude of the corrected sine signal is approximately the same as the amplitude of the cosine signal. Of course, in other possible embodiments, the first signal may be a sine signal, and the second signal may be a cosine signal. Therefore, when correcting the second signal, the amplitude of the cosine signal is used as a reference, and the amplitude of the cosine signal is corrected so that the amplitude of the corrected cosine signal is approximately the same as the amplitude of the sine signal.

[0069] Step S340: determining a rotor angle value of the resolver based on the first signal and the second correction signal.

[0070] In this embodiment, the rotor angle value of the resolver can be understood as the angle between the rotor and the stator in the motor. As an implementation method, the controller can pre-store a calculation formula for the rotor angle value. This calculation formula reflects the corresponding relationship between the first signal, the second correction signal, and the rotor angle value. The controller inputs the first signal and the second correction signal into this calculation formula to determine the rotor angle value of the resolver.

[0071] An embodiment of the present application provides a method for controlling a rotary transformer, in which a controller determines the ratio between the amplitude of a first signal and the amplitude of a second signal as an amplitude correction value. The second signal is then corrected based on the amplitude correction value to obtain a second correction signal, and finally, the rotor angle value of the rotary transformer is determined based on the second correction signal and the first signal. Since the absolute value of the difference between the amplitude of the first signal and the amplitude of the second correction signal is less than or equal to a specified value, it indicates that the amplitude of the first signal and the amplitude of the second correction signal are approximately equal, which can ensure the accuracy of the rotor angle value subsequently determined.

[0072] Furthermore, since the first and second signals in this embodiment are obtained while the resolver is operating, they can reflect the resolver's actual operating conditions. In this case, correcting the second signal effectively overcomes signal amplitude drift caused by environmental or temperature factors during resolver operation, enabling real-time correction of amplitude errors that occur during operation, resulting in a more accurate determination of the rotor angle.

[0073] It should be noted that steps S310, S320, S330, and S340 in the above embodiment can be executed sequentially by the controller to constitute a calculation cycle. That is, in each calculation cycle, the controller obtains the first signal value corresponding to the first signal and the second signal value corresponding to the second signal at the time corresponding to the current calculation cycle, and then, after a series of calculation processes, determines the rotor angle value corresponding to the calculation cycle.

[0074] Specifically, there can be multiple calculation cycles, wherein the interval length between two adjacent calculation cycles can be determined according to the sampling frequency of the sine and cosine signal demodulation unit, or can be determined by the calculation performance of the controller, and this application does not limit this. Therefore, the control method of the rotary transformer in this embodiment is a process in which the amplitude of the second signal is continuously corrected in real time during the operation of the motor, thereby continuously determining the rotor angle value. In some possible situations, when the amplitude of the second signal of the current calculation cycle is corrected, the calculation data in the previous calculation cycle will be used.

[0075] In addition, when performing amplitude correction, this method is not related to the specific working conditions of the motor. That is to say, when the motor is rotating at a constant speed or at a variable speed, the amplitude correction can be achieved by this method, which expands the application scenarios of the method.

[0076] See also Figure 4 , which shows a control method for a rotary transformer provided by the second embodiment of the present application, and specifically introduces the process of determining the amplitude correction value in this embodiment. Specifically, the method includes the following steps.

[0077] Step S410: When the rotary transformer is in an operating state, a first signal and a second signal are acquired.

[0078] It is not difficult to understand here that, since the controller continuously corrects the amplitude of the second signal in real time, the controller continuously obtains the first signal value corresponding to the first signal and the second signal value corresponding to the second signal. Therefore, the first signal in this embodiment can be regarded as a discrete signal sequence including multiple first signal values, and the second signal can be regarded as a discrete signal sequence including multiple second signal values. Specifically, the multiple first signal values ​​and the multiple second signal values ​​correspond one-to-one at the time of acquisition. That is, when the controller obtains a first signal value, it also obtains a corresponding second signal value.

[0079] Step S420: determining an amplitude correction value based on the first signal and the second signal.

[0080] In this embodiment, step S420 may specifically include steps S421 to S423.

[0081] Step S421: Perform designated signal processing on the first signal to obtain a first processed signal value corresponding to the first signal.

[0082] In this embodiment, the designated signal processing includes sequentially performing a square operation, a derivative operation, and an absolute value operation on the signal. As an implementation, the controller may pre-store an operation formula corresponding to the designated signal processing. By substituting the first signal into the operation formula, a first processed signal value corresponding to the first signal can be obtained.

[0083] In some possible embodiments, there may be multiple calculation formulas corresponding to the specified signal processing, specifically including calculation formulas corresponding to square operations, calculation formulas corresponding to derivative operations, and calculation formulas corresponding to absolute value operations. The controller sequentially substitutes the first signal into the above-mentioned multiple calculation formulas to obtain a first processed signal value corresponding to the first signal.

[0084] It should be noted that since the first signal is a discrete signal sequence, the "derivative operation" here should be understood as a "differential operation" on the discrete signal. It is not difficult to see that step S421 corresponds to the first and third calculation formulas in the calculation principle described in step S320 above.

[0085] Step S422: performing designated signal processing on the second signal to obtain a second processed signal value corresponding to the second signal.

[0086] As an implementation, the controller may pre-store an arithmetic formula corresponding to a specified signal processing operation. By substituting the second signal into this arithmetic formula, a second processed signal value corresponding to the second signal can be obtained. Specifically, step S422 can refer to the relevant description of step S421 and will not be repeated here. It is not difficult to find that step S422 corresponds to the second and fourth calculation formulas in the calculation principle described in step S320 above.

[0087] In some possible embodiments, the designated signal processing further includes performing a first low-pass filtering process on the signal after the squaring operation.

[0088] As an embodiment, the controller may be provided with a first low-pass filter corresponding to the first low-pass filtering process, where the first low-pass filter is a digital filter. Specifically, the first low-pass filter may be a first-order low-pass filter, a Gaussian low-pass filter, a Kalman filter, or the like. Researchers may determine and dynamically adjust the operating parameters (e.g., cutoff frequency) of the first low-pass filter based on the actual operating conditions of the resolver, and this embodiment does not limit this.

[0089] In this embodiment, by setting a first low-pass filter to perform a first low-pass filtering process on the signal, the signal noise in the first signal and the second signal can be reduced, and the amplitude correction value determined subsequently can be made more accurate.

[0090] Step S423: determining an amplitude correction value based on the first processed signal value and the second processed signal value.

[0091] In the calculation principle described in step S320 above, it is not difficult to see that when ω = 0 or sin(ωt + φ)cos(ωt + φ) = 0, the determined first processed signal value and the second processed signal value will be equal to 0, resulting in the subsequent inability to successfully calculate the amplitude correction value. Therefore, to avoid this situation, the controller needs to exclude the situation where the first processed signal value or the second processed signal value is equal to 0. Specifically, step S423 can include step B100.

[0092] Step B100 : When the first processed signal value or the second processed signal value is greater than or equal to a specified threshold, determine an amplitude correction value based on the first processed signal value and the second processed signal value.

[0093] Specifically, the specified threshold can be a default value or can be determined by the specific value range of the first processed signal value or the second processed signal value. For example, when the maximum value of the first processed signal value is 1, the specified threshold can be greater than or equal to 0.1 and less than or equal to 0.3. For example, the specified threshold can be 0.1, 0.2, 0.3, and so on.

[0094] When the first processing signal value or the second processing signal value is greater than or equal to the specified threshold, the controller executes step S423, which can eliminate the situation where ω=0 or sin(ωt+φ)cos(ωt+φ)=0, so that the subsequent calculation process proceeds smoothly.

[0095] Here, according to the second and fourth calculation formulas in step S320, it is not difficult to find that the first processed signal value and the second processed signal value are both equal to 0 or not equal to 0 at the same time. Therefore, as long as the controller determines that one of the processed signal values ​​is greater than or equal to the specified threshold, it can determine that the other processed signal value is not equal to 0, thereby reducing the computing resources of the controller.

[0096] In some possible embodiments, this embodiment may further include step B200.

[0097] Step B200: When the first processed signal value or the second processed signal value is less than a specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value corresponding to the current calculation cycle.

[0098] Because the controller determines the corresponding amplitude correction value in each calculation cycle, if the first processed signal value or the second processed signal value determined in the current calculation cycle is less than the specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value corresponding to the current calculation cycle to ensure that the second signal can be corrected smoothly subsequently. In this embodiment, after executing step B200, the controller directly executes step S430.

[0099] Specifically, if the current calculation cycle is the i-th calculation cycle, the previous calculation cycle is the i-1-th calculation cycle. If i is 1, indicating that there was no previous calculation cycle, the controller can use the default value of the amplitude correction value as the amplitude correction value corresponding to the current calculation cycle. The default value of the amplitude correction value can be 1, or it can be determined by R&D personnel based on historical calibration data of the resolver to ensure smooth progress of subsequent steps.

[0100] It should be noted here that when the first processed signal value or the second processed signal value is less than the specified threshold, it means that ω=0 or sin(ωt+φ)cos(ωt+φ)=0 may occur. Since the conditions for the occurrence of the above two situations are relatively strict, in the actual operation of the rotary transformer, it does not affect the real-time correction of the second signal.

[0101] In this embodiment, step S423 may specifically include step S4230 and step S4239.

[0102] Step S4230: determining a signal ratio between the first processed signal value and the second processed signal value.

[0103] According to the above description, it is not difficult to find that the "first processed signal value" here corresponds to |S in the third calculation formula in step S320 above. dcos |, where the "second processed signal value" corresponds to |S in the fourth calculation formula in step S320 above dsin |. Therefore, the signal ratio between the first processed signal value and the second processed signal value is The specific method for determining the signal ratio is described below.

[0104] As an implementation manner, the controller may directly divide the first processed signal value and the second processed signal value to determine the signal ratio. Specifically, step S4230 may include step S4231.

[0105] Step S4231: Perform a division operation on the first processed signal value and the second processed signal value to obtain a signal ratio.

[0106] In this embodiment, the controller may pre-store an operation formula corresponding to the division operation, and by substituting the first processed signal value and the second processed signal value into the operation formula, the signal ratio between the first processed signal value and the second processed signal value can be obtained.

[0107] As another embodiment, the controller may directly divide the first processed signal value and the second processed signal value, and determine the signal ratio after performing low-pass filtering. Specifically, step S4230 may include step S4232 and step S4233.

[0108] Step S4232: Perform a division operation on the first processed signal value and the second processed signal value to obtain an operation ratio.

[0109] In this embodiment, an operation formula corresponding to a division operation may be pre-stored in the controller, and the operation ratio may be obtained by substituting the first processed signal value and the second processed signal value into the operation formula.

[0110] Step S4233: Perform a second low-pass filtering process on the calculated ratio to obtain a signal ratio.

[0111] In this embodiment, the controller may be provided with a second low-pass filter corresponding to the second low-pass filtering process, where the second low-pass filter is a digital filter. Specifically, the second low-pass filter may be a first-order low-pass filter, a Gaussian low-pass filter, a Kalman filter, or the like. Researchers may determine and dynamically adjust the operating parameters (e.g., cutoff frequency) of the second low-pass filter based on the actual operating conditions of the resolver, and this embodiment does not limit this.

[0112] In this embodiment, by providing a second low-pass filter to perform ratio calculation on the signal, the signal noise in the ratio calculation can be reduced, and the amplitude correction value determined subsequently can be made more accurate.

[0113] See also Figure 5 , which shows a control flow diagram of a rotary transformer provided by an embodiment of the present application. Figure 5 , the process of determining the signal ratio is explained. Figure 5 In the embodiment, the sin-cos signal demodulation unit 340 outputs one cosine signal (ie, the first signal) and one sine signal (ie, the second signal).

[0114] First, the cosine signal is sequentially input into the first squaring subunit 510, the first low-pass filtering and micro-molecule unit 512, and the first absolute value subunit 514 to obtain a first processed signal value, which corresponds to step S421 above. The sine signal is sequentially input into the second squaring subunit 520, the second low-pass filtering and micro-molecule unit 522, and the second absolute value subunit 524 to obtain a second processed signal value, which corresponds to step S422 above.

[0115] Secondly, the first threshold judgment subunit 530 determines whether the second processed signal value is greater than or equal to the threshold. If the second processed signal value is greater than or equal to the threshold, the first update subunit 540 is enabled for updating. The first threshold judgment subunit 530 corresponds to step B100 described above, and the first update subunit 540 corresponds to step S423 described above. Specifically, the first update subunit 540 takes the first processed signal value and the second processed signal value as input, and outputs an amplitude correction value. The first update subunit 540 may include a division subunit 541, a low-pass filtering subunit 543, and a first square root subunit 550. The division subunit 541 corresponds to step S4232 described above, the low-pass filtering subunit 543 corresponds to step S4233 described above, and the first square root subunit 550 corresponds to step S4239 described below.

[0116] Finally, the amplitude correction value and the sine signal output by the first updating subunit 540 are input to the first multiplication subunit 560 to generate a corrected sine signal (i.e., the second corrected signal). First multiplication subunit 560 corresponds to step S430 below. Angle calculation unit 380 calculates the rotor angle value based on the corrected sine and cosine signals.

[0117] As another embodiment, the controller may calculate the error between the first processed signal value and the second processed signal value, and indirectly determine the signal ratio using an error correction method. Specifically, step S4230 may include steps S4234 to S4236.

[0118] Step S4234: multiply the second processed signal value by the signal ratio determined in the previous calculation cycle to obtain a corrected processed signal value.

[0119] In this embodiment, the controller may pre-store an operation formula corresponding to the multiplication operation, and the correction processing signal value may be obtained by substituting the second processing signal value corresponding to the current calculation cycle and the signal ratio determined in the previous calculation cycle into the operation formula.

[0120] Specifically, if the current calculation cycle is the i-th calculation cycle, the previous calculation cycle is the i-1-th calculation cycle. If i is 1, indicating there was no previous calculation cycle, the controller can use the default value of the signal ratio as the signal ratio determined in the previous calculation cycle. The default value of the signal ratio can be 1, or it can be determined by R&D personnel based on historical resolver calibration data to ensure smooth progress in subsequent steps.

[0121] Step S4235: performing a subtraction operation on the first processed signal value and the corrected processed signal value to obtain a first signal difference.

[0122] In this embodiment, an operation formula corresponding to the subtraction operation may be pre-stored in the controller, and the first signal difference value may be obtained by substituting the first processed signal value and the corrected processed signal value into the operation formula.

[0123] Step S4236: Perform proportional operation and integral operation on the first signal difference in sequence to obtain a signal ratio corresponding to the current calculation cycle.

[0124] In this embodiment, the controller may pre-store calculation formulas corresponding to proportional operation and integral operation. By substituting the first signal difference into the calculation formulas corresponding to proportional operation and integral operation, the signal ratio corresponding to the current calculation cycle can be obtained.

[0125] It should be noted that the "proportional operation" herein can be understood as multiplying the first signal difference by a preset coefficient, and the "integral operation" should be understood as the integration operation of the discrete signal. The operational parameters used in the proportional and integral operations can be determined based on the convergence speed and stability of the algorithm, and this embodiment does not limit this.

[0126] Specifically, the proportional operation and integral operation in this embodiment can be regarded as proportional integral control (PI control) of the first signal difference, that is, steps S4234 to S4236 can be regarded as a negative feedback adjustment of the error between the first processed signal value and the second processed signal value, so that the signal ratio obtained after PI control can approach the actual ratio between the first processed signal value and the second processed signal value.

[0127] See also Figure 6 , which shows a control flow diagram of another rotary transformer provided by an embodiment of the present application. Figure 6 , the process of determining the signal ratio is explained. Figure 6 In the embodiment, the sin-cos signal demodulation unit 340 outputs one cosine signal (ie, the first signal) and one sine signal (ie, the second signal).

[0128] First, the cosine signal is sequentially input into the first squaring subunit 510, the first low-pass filtering and micro-molecule unit 512, and the first absolute value subunit 514 to obtain a first processed signal value, which corresponds to step S421 above. The sine signal is sequentially input into the second squaring subunit 520, the second low-pass filtering and micro-molecule unit 522, and the second absolute value subunit 524 to obtain a second processed signal value, which corresponds to step S422 above.

[0129] Next, the first threshold determination subunit 530 determines whether the second processed signal value is greater than or equal to the threshold. If the second processed signal value is greater than or equal to the threshold, the first update subunit 540 is enabled for updating. The first threshold determination subunit 530 corresponds to step B100 above, and the first update subunit 540 corresponds to step S423 above. Specifically, the first update subunit 540 takes the first processed signal value and the second processed signal value as input and outputs the amplitude correction value. The first update subunit 540 may include a second multiplication subunit 545, a first subtraction subunit 546, a first proportional subunit 547, a first integral subunit 548, and a first square root subunit 550. The second multiplication subunit 545 takes the output of the first integral subunit 548 and the second processed signal value as input, corresponding to step S4234 above. The first subtraction subunit 546 takes the output of the first integral subunit 548 and the first processed signal value as input, corresponding to step S4235 above. The first proportional subunit 547 and the first integral subunit 548 correspond to step S4236 described above, and the first square root subunit 550 corresponds to step S4239 described below.

[0130] Finally, the amplitude correction value and the sine signal output by the first updating subunit 540 are input to the first multiplication subunit 560 to generate a corrected sine signal (i.e., the second corrected signal). First multiplication subunit 560 corresponds to step S430 below. Angle calculation unit 380 calculates the rotor angle value based on the corrected sine and cosine signals.

[0131] Step S4239: perform square root operation on the signal ratio to obtain the amplitude correction value.

[0132] In this embodiment, the controller may pre-store a formula corresponding to the square root operation. By substituting the signal ratio into the formula, the amplitude correction value can be obtained. It is not difficult to find that steps S4230 and S4239 correspond to the fifth calculation formula in the calculation principle described above in step S320.

[0133] Step S430: Correct the second signal based on the amplitude correction value to obtain a second corrected signal.

[0134] Step S440: determining a rotor angle value of the resolver based on the first signal and the second correction signal.

[0135] An embodiment of the present application provides a control method for a rotating transformer. In this method, a specific implementation method for a controller to determine an amplitude correction value is introduced. This method can effectively overcome the problem of signal amplitude drift caused by environmental or temperature factors during the operation of the rotating transformer, and realize real-time correction of the amplitude error occurring during the operation process, so that the determined rotor angle value can be more accurate.

[0136] See also Figure 7 , which shows a control method for a rotary transformer provided by the third embodiment of the present application, and specifically introduces another determination process of the amplitude correction value in this embodiment. Specifically, the method includes the following steps.

[0137] Step S710: When the rotary transformer is in an operating state, a first signal and a second signal are acquired.

[0138] Step S720: Determine an amplitude correction value based on the first signal and the second signal.

[0139] In this embodiment, step S720 may specifically include steps S721 to S724.

[0140] Step S721: Perform designated signal processing on the first signal to obtain a first processed signal value corresponding to the first signal.

[0141] In this embodiment, the designated signal processing includes sequentially performing square operations, derivative operations, and absolute value operations on the signal. Specifically, the specific implementation of step S721 can refer to the relevant introduction of step S421, which will not be repeated here.

[0142] Step S722: Multiply the second signal by the amplitude correction value determined in the previous calculation cycle to obtain a third signal.

[0143] In this embodiment, the controller may pre-store an operation formula corresponding to the multiplication operation, and the third signal may be obtained by substituting the second signal corresponding to the current calculation cycle and the amplitude correction value determined in the previous calculation cycle into the operation formula.

[0144] Specifically, if the current calculation cycle is the i-th calculation cycle, the previous calculation cycle is the i-1-th calculation cycle. If i is 1, indicating that there was no previous calculation cycle, the controller can use the default value of the amplitude correction value as the amplitude correction value determined in the previous calculation cycle. The default value of the amplitude correction value can be 1, or it can be determined by R&D personnel based on historical calibration data of the resolver to ensure smooth progress of subsequent steps.

[0145] Step S723: Perform designated signal processing on the third signal to obtain a third processed signal value corresponding to the third signal.

[0146] As an embodiment, the controller may pre-store an operation formula corresponding to a specified signal processing. By substituting the third signal into the operation formula, a third processed signal value corresponding to the third signal can be obtained. Specifically, step S723 can refer to the relevant description of step S421 and will not be repeated here.

[0147] In some possible embodiments, the designated signal processing further includes performing a first low-pass filtering process on the signal after the squaring operation. For an introduction to the first low-pass filtering process, reference may be made to the description of step S422. In this embodiment, by providing the first low-pass filter to perform the first low-pass filtering process on the signal, signal noise in the first signal and the third signal may be reduced, thereby making the subsequently determined amplitude correction value more accurate.

[0148] Step S724: determining an amplitude correction value based on the first processed signal value and the third processed signal value.

[0149] As can be readily seen from the calculation principle described in step S320 above, when ω = 0 or sin(ωt + φ)cos(ωt + φ) = 0, the determined first and third processed signal values ​​will be equal to 0, resulting in the inability to successfully calculate the amplitude correction value. Therefore, to avoid this situation, the controller needs to exclude the case where the first or third processed signal value is equal to 0. Specifically, step S724 may include step B300.

[0150] Step B300: When the first processed signal value or the third processed signal value is greater than or equal to a preset threshold, an amplitude correction value is determined based on the first processed signal value and the third processed signal value.

[0151] Specifically, the preset threshold can be a default value, or it can be determined by the specific value range of the first processing signal value or the third processing signal value. For example, when the maximum value of the first processing signal value is 1, the preset threshold can be greater than or equal to 0.1 and less than or equal to 0.3. For example, the preset threshold can be 0.1, 0.2, 0.3, and so on.

[0152] When the first processing signal value or the third processing signal value is greater than or equal to the specified threshold, the controller executes step S724, which can eliminate the situation where ω=0 or sin(ωt+φ)cos(ωt+φ)=0, so that the subsequent calculation process proceeds smoothly.

[0153] Here, based on the second and fourth calculation formulas in step S320, it is not difficult to find that the first processed signal value and the third processed signal value are both equal to 0 or both not equal to 0. Therefore, as long as the controller determines that one of the processed signal values ​​is greater than or equal to the specified threshold, it can determine that the other processed signal value is not equal to 0, thereby reducing the controller's computing resources.

[0154] In some possible embodiments, this embodiment may further include step B400.

[0155] Step B400: When the first processed signal value or the third processed signal value is less than a preset threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value corresponding to the current calculation cycle.

[0156] Because the controller determines the corresponding amplitude correction value in each calculation cycle, if the first processed signal value or the third processed signal value determined in the current calculation cycle is less than the specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value corresponding to the current calculation cycle to ensure that the second signal can be corrected smoothly subsequently. In this embodiment, after executing step B400, the controller directly executes step S730.

[0157] Specifically, if the current calculation cycle is the i-th calculation cycle, the previous calculation cycle is the i-1-th calculation cycle. If i is 1, indicating that there was no previous calculation cycle, the controller can use the default value of the amplitude correction value as the amplitude correction value corresponding to the current calculation cycle. The default value of the amplitude correction value can be 1, or it can be determined by R&D personnel based on historical calibration data of the resolver to ensure smooth progress of subsequent steps.

[0158] It should be noted here that when the first processed signal value or the third processed signal value is less than the specified threshold, it means that ω=0 or sin(ωt+φ)cos(ωt+φ)=0 may occur. Since the conditions for the occurrence of the above two situations are relatively strict, in the actual operation of the rotary transformer, it does not affect the real-time correction of the second signal.

[0159] In this embodiment, step S724 may specifically include step S7241 and step S7243.

[0160] Step S7241: performing a subtraction operation on the first processed signal value and the third processed signal value to obtain a second signal difference.

[0161] In this embodiment, an operation formula corresponding to the subtraction operation may be pre-stored in the controller, and the second signal difference value may be obtained by substituting the first processed signal value and the third processed signal value into the operation formula.

[0162] Step S7243: Perform proportional operation, integral operation, and square root operation on the second signal difference in sequence to obtain an amplitude correction value corresponding to the current calculation cycle.

[0163] In this embodiment, the controller can pre-store calculation formulas corresponding to proportional operation, integral operation and square root operation. By substituting the second signal difference into the calculation formulas corresponding to proportional operation, integral operation and square root operation, the amplitude correction value corresponding to the current calculation cycle can be obtained.

[0164] It should be noted that the "proportional operation" herein can be understood as multiplying the second signal difference by a preset coefficient, and the "integral operation" should be understood as the integration operation of the discrete signal. The operation parameters used in the proportional operation and the integral operation can be determined based on the convergence speed and stability of the algorithm, and this embodiment does not limit this.

[0165] Specifically, the proportional operation and integral operation in this embodiment can be regarded as proportional integral control (PI control) of the second signal difference, that is, steps S722 to S724 can be regarded as a negative feedback adjustment of the error between the first processed signal value and the third processed signal value, so that the amplitude correction value obtained after PI control can approach the actual ratio between the first signal value and the second signal value.

[0166] See also Figure 8 , which shows a control flow diagram of another rotary transformer provided by the embodiment of the present application. Figure 8 , the process of determining the amplitude correction value is explained. Figure 8 In the embodiment, the sin-cos signal demodulation unit 340 outputs one cosine signal (ie, the first signal) and one sine signal (ie, the second signal).

[0167] First, the cosine signal is sequentially input into the first squaring sub-unit 510, the first low-pass filtering and micro-molecule unit 512, and the first absolute value sub-unit 514 to obtain a first processed signal value, which corresponds to step S721 above. The sine signal and the amplitude correction value output by the second update sub-unit 640 are then input into the third multiplication sub-unit 610 to obtain a third signal, which corresponds to step S722 above. The third signal is sequentially input into the third squaring sub-unit 620, the third low-pass filtering and micro-molecule unit 622, and the third absolute value sub-unit 624 to obtain a third processed signal value, which corresponds to step S723 above.

[0168] Next, the second threshold determination subunit 630 determines whether the third processed signal value is greater than or equal to the threshold. If the third processed signal value is greater than or equal to the threshold, the second update subunit 640 is enabled for updating. The second threshold determination subunit 630 corresponds to step B300 described above, and the second update subunit 640 corresponds to step S724 described above. Specifically, the second update subunit 640 takes the first processed signal value and the third processed signal value as input and outputs the amplitude correction value. The second update subunit 640 may include a second subtraction subunit 641, a second proportional subunit 642, a second integral subunit 643, and a second square root subunit 644. The second subtraction subunit 641 takes the first processed signal value and the third processed signal value as input and corresponds to step S7241 described above. The second proportional subunit 642, the second integral subunit 643, and the second square root subunit 644 correspond to step S7243 described above.

[0169] It is not difficult to find here that the "third signal" is also the corrected sinusoidal signal (ie, the second corrected signal). The angle calculation unit 380 calculates the rotor angle value based on the corrected sinusoidal signal and the cosine signal.

[0170] Step S730: Correct the second signal based on the amplitude correction value to obtain a second corrected signal.

[0171] Step S740: determining a rotor angle value of the resolver based on the first signal and the second correction signal.

[0172] An embodiment of the present application provides a control method for a rotating transformer. In this method, another implementation method of a controller determining an amplitude correction value is specifically introduced. This method can effectively overcome the problem of signal amplitude drift caused by environmental or temperature factors during the operation of the rotating transformer, and realize real-time correction of the amplitude error occurring during the operation process, so that the determined rotor angle value can be more accurate.

[0173] See also Figures 9 to 11 , which shows a schematic diagram of a simulation experiment provided by an embodiment of the present application. Figure 9 A signal simulation schematic diagram of a sine signal and a cosine signal is shown. Figure 9 The horizontal axis is time, the vertical axis is amplitude, the black curve is the sine signal output by the resolver, and the gray curve is the cosine signal output. Specifically, this group of signals has the following characteristics:

[0174] (1) The signal frequency of the sine signal and the signal frequency of the cosine signal increase uniformly from 0 Hz to 10 Hz within 4 seconds.

[0175] (2) From 0 to 2 seconds, the amplitude of the sine signal is 1, and the amplitude of the cosine signal is 0.9.

[0176] (3) Within 2 to 4 seconds, the amplitude of the sine signal increases uniformly from 1 to 1.1, and the amplitude of the cosine signal decreases uniformly from 1 to 0.8, which is used to simulate the amplitude drift of the sine signal and cosine signal.

[0177] (4) A noise signal with an amplitude of 0.01 is superimposed on the sine signal and cosine signal respectively.

[0178] Figure 10 A schematic diagram of simulation results is shown. Figure 10 The horizontal axis is time, the vertical axis is the angular error obtained by simulation, the unit is radian, the black curve is the simulation result obtained by using the control method in this application, and the gray curve is the simulation result obtained by using the offline correction method. Figure 10 It is not difficult to find:

[0179] (1) After 2 seconds, when the amplitudes of the sine and cosine signals drift, the offline method cannot correct the amplitude difference, resulting in an increase in the angle solution error.

[0180] (2) After 2 seconds, when the amplitudes of the sine and cosine signals drift, the control method in this application can correct the amplitude difference in real time, and the angle solution error is maintained at the same level as when there is no amplitude drift (2 seconds ago).

[0181] Figure 11 Shown Figure 10 The schematic diagram of the simulation results is shown in the partial enlargement diagram. Figure 11 It is not difficult to find that within 0 to 2 seconds, when there is no amplitude drift, the control method in this application performs the same as the offline method. Within 2 to 4 seconds, when there is amplitude drift, the angle solution error of the control method in this application is much smaller than the angle solution error of the offline method.

[0182] See also Figure 12 , which shows a block diagram of a control device 1200 for a rotary transformer provided in an embodiment of the present application. Specifically, the control device 1200 may include an acquisition module 1210, a first determination module 1220, a second determination module 1230, and a third determination module 1240. The acquisition module 1210 is configured to acquire a first signal and a second signal when the rotary transformer is in operation; one of the first signal and the second signal is a sine signal, and the other is a cosine signal. The first determination module 1220 is configured to determine an amplitude correction value based on the first signal and the second signal; the amplitude correction value is the ratio between the amplitudes of the first signal and the second signal. The second determination module 1230 is configured to correct the second signal based on the amplitude correction value to obtain a second correction signal; the absolute value of the difference between the amplitude of the second correction signal and the amplitude of the first signal is less than or equal to a specified value. The third determination module 1240 is configured to determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

[0183] In some possible embodiments, the first determination module 1220 is specifically configured to perform specified signal processing on the first signal to obtain a first processed signal value corresponding to the first signal; the specified signal processing includes sequentially performing a square operation, a derivative operation, and an absolute value operation on the signal. The specified signal processing is performed on the second signal to obtain a second processed signal value corresponding to the second signal. The amplitude correction value is determined based on the first processed signal value and the second processed signal value.

[0184] In some possible embodiments, the designated signal processing further includes performing a first low-pass filtering process on the signal after the squaring operation.

[0185] In some possible embodiments, the first determining module 1220 is specifically configured to determine a signal ratio between the first processed signal value and the second processed signal value, and perform a square root operation on the signal ratio to obtain an amplitude correction value.

[0186] In some possible embodiments, the first determining module 1220 is specifically configured to perform a division operation on the first processed signal value and the second processed signal value to obtain a signal ratio.

[0187] In some possible embodiments, the first determining module 1220 is specifically configured to perform a division operation on the first processed signal value and the second processed signal value to obtain an operation ratio, and perform a second low-pass filtering operation on the operation ratio to obtain a signal ratio.

[0188] In some possible embodiments, the control device 1200 includes multiple calculation cycles, wherein the acquisition module 1210, the first determination module 1220, the second determination module 1230, and the third determination module 1240 are executed sequentially to form a calculation cycle, and each calculation cycle determines a corresponding rotor angle value. In each calculation cycle, the first determination module 1220 specifically multiplies the second processed signal value by the signal ratio determined in the previous calculation cycle to obtain a corrected processed signal value. The first processed signal value and the corrected processed signal value are subtracted to obtain a first signal difference value. The first signal difference value is sequentially subjected to proportional and integral operations to obtain the signal ratio value corresponding to the current calculation cycle.

[0189] In some possible embodiments, the first determination module 1220 is specifically configured to determine the amplitude correction value based on the first processed signal value and the second processed signal value when the first processed signal value or the second processed signal value is greater than or equal to a specified threshold.

[0190] In some possible embodiments, control device 1200 includes multiple calculation cycles, wherein the acquisition module 1210, first determination module 1220, second determination module 1230, and third determination module 1240 are executed sequentially to form a calculation cycle, and each calculation cycle determines a corresponding rotor angle value. First determination module 1220 is further configured to use the amplitude correction value determined in the previous calculation cycle as the amplitude correction value corresponding to the current calculation cycle when the first processed signal value or the second processed signal value is less than a specified threshold.

[0191] In some possible embodiments, the control device 1200 includes multiple calculation cycles, wherein the acquisition module 1210, the first determination module 1220, the second determination module 1230, and the third determination module 1240 are executed in sequence to form a calculation cycle, and each calculation cycle determines a corresponding rotor angle value. In each calculation cycle,

[0192] In some possible embodiments, the first determination module 1220 is specifically configured to perform specified signal processing on the first signal to obtain a first processed signal value corresponding to the first signal; the specified signal processing includes sequentially performing a square operation, a derivative operation, and an absolute value operation on the signal. The second signal is multiplied by the amplitude correction value determined in the previous calculation cycle to obtain a third signal. The specified signal processing is performed on the third signal to obtain a third processed signal value corresponding to the third signal. The amplitude correction value is determined based on the first processed signal value and the third processed signal value.

[0193] In some possible embodiments, the first determining module 1220 is specifically configured to perform a subtraction operation on the first processed signal value and the third processed signal value to obtain a second signal difference value, and sequentially perform a proportional operation, an integral operation, and a square root operation on the second signal difference value to obtain an amplitude correction value corresponding to the current calculation cycle.

[0194] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0195] In several embodiments provided in this application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0196] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0197] An embodiment of the present application provides a control device for a rotary transformer, in which a controller determines the ratio between the amplitude of a first signal and the amplitude of a second signal as an amplitude correction value. The second signal is then corrected based on the amplitude correction value to obtain a second correction signal, and finally, the rotor angle value of the rotary transformer is determined based on the second correction signal and the first signal. Since the absolute value of the difference between the amplitude of the first signal and the amplitude of the second correction signal is less than or equal to a specified value, it indicates that the amplitude of the first signal and the amplitude of the second correction signal are approximately equal, which can ensure the accuracy of the rotor angle value subsequently determined.

[0198] Furthermore, since the first and second signals in this embodiment are obtained while the resolver is operating, they can reflect the resolver's actual operating conditions. In this case, correcting the second signal effectively overcomes signal amplitude drift caused by environmental or temperature factors during resolver operation, enabling real-time correction of amplitude errors that occur during operation, resulting in a more accurate determination of the rotor angle.

[0199] See also Figure 13 , which shows a motor 1300 provided in an embodiment of the present application. The controller in the motor 1300 includes: one or more processors 1310, a memory 1320, a resolver 1330, and one or more applications. The one or more applications are stored in the memory 1320 and configured to be executed by the one or more processors 1310. The one or more applications are configured to execute the methods described in the above embodiments.

[0200] The processor 1310 may include one or more processing cores. The processor 1310 utilizes various interfaces and circuits to connect various components within the battery management system. It executes instructions, programs, code sets, or instruction sets stored in the memory 1320, as well as accesses data stored in the memory 1320, to perform various functions of the battery management system and process data. Optionally, the processor 1310 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 1310 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 1310 and may be implemented separately via a communication chip.

[0201] The memory 1320 may include a random access memory 1320 (RAM) and may also include a read-only memory 1320 (ROM). The memory 1320 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described above, etc. The data storage area may also store data created by the electronic device during use (e.g., a phone book, audio and video data, chat history data), etc.

[0202] For the relevant introduction of the rotary transformer 1330, reference can be made to the relevant introduction in the above application environment embodiment, which will not be repeated here.

[0203] See also Figure 14 , which shows a computer-readable storage medium 1400 provided in an embodiment of the present application, in which computer program instructions 1410 are stored. The computer program instructions 1410 can be called by a processor to execute the method described in the above embodiment.

[0204] The computer-readable storage medium 1400 may be, for example, a flash memory, an electrically erasable programmable read-only memory (EEPROM), an electrically programmable read-only memory (EPROM), a hard disk, or a read-only memory (ROM). Alternatively, the computer-readable storage medium 1400 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 1400 has storage space for computer program instructions 1410 for executing any of the method steps described above. These computer program instructions 1410 can be read from or written to one or more computer program products.

[0205] In the specification of this application, certain words are used to refer to specific components in the specification and claims. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as the criterion for distinction. For example, "including" mentioned throughout the specification and claims is an open term and should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0206] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inside", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description for the convenience of describing this application, and do not indicate or imply that the referred to or element must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0207] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; or mere surface contact. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0208] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0209] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0210] Finally, it should be noted that 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a rotary transformer, characterized in that: include: Step S310: When the resolver is in operation, a first signal and a second signal are acquired; one of the first signal and the second signal is a sine signal, and the other is a cosine signal; Step S320, determining an amplitude correction value based on the first signal and the second signal; The amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal; Step S330: Correcting the second signal based on the amplitude correction value to obtain a second corrected signal; the absolute value of the difference between the amplitude of the second corrected signal and the amplitude of the first signal is less than or equal to a specified value; Step S340: Determine the rotor angle value of the resolver based on the first signal and the second correction signal.

2. The method according to claim 1, characterized in that The determining of the amplitude correction value based on the first signal and the second signal includes: performing specified signal processing on the first signal to obtain a first processed signal value corresponding to the first signal; the specified signal processing comprises sequentially performing a square operation, a derivative operation, and an absolute value operation on the signal; performing the specified signal processing on the second signal to obtain a second processed signal value corresponding to the second signal; The amplitude correction value is determined based on the first processed signal value and the second processed signal value.

3. The method according to claim 2, characterized in that The designated signal processing further includes performing a first low-pass filtering process on the signal after the squaring operation.

4. The method according to claim 2 or 3, characterized in that The determining the amplitude correction value based on the first processed signal value and the second processed signal value includes: determining a signal ratio between the first processed signal value and the second processed signal value; Performing a square root operation on the signal ratio to obtain the amplitude correction value.

5. The method according to claim 4, characterized in that Determining a signal ratio between the first processed signal value and the second processed signal value includes: performing a division operation on the first processed signal value and the second processed signal value to obtain the signal ratio; or A division operation is performed on the first processed signal value and the second processed signal value to obtain an operation ratio; and a second low-pass filtering process is performed on the operation ratio to obtain the signal ratio.

6. The method according to claim 4, characterized in that The method includes multiple calculation cycles, wherein the steps S310, S320, S330, and S340 are sequentially executed to form one calculation cycle, and each calculation cycle determines a corresponding rotor angle value; in each calculation cycle, determining the signal ratio between the first processed signal value and the second processed signal value includes: performing a multiplication operation on the second processed signal value and the signal ratio determined in the previous calculation cycle to obtain a corrected processed signal value; performing a subtraction operation on the first processed signal value and the corrected processed signal value to obtain a first signal difference; Proportional operation and integral operation are sequentially performed on the first signal difference to obtain a signal ratio corresponding to the current calculation cycle.

7. The method according to claim 2 or 3, characterized in that The determining the amplitude correction value based on the first processed signal value and the second processed signal value includes: The amplitude correction value is determined based on the first processed signal value and the second processed signal value when the first processed signal value or the second processed signal value is greater than or equal to a specified threshold.

8. The method according to claim 7, characterized in that The method includes multiple calculation cycles, wherein the steps S310, S320, S330, and S340 are sequentially executed to form one calculation cycle, and each calculation cycle determines a corresponding rotor angle value; the method further includes: When the first processed signal value or the second processed signal value is smaller than the specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value corresponding to the current calculation cycle.

9. The method according to claim 1, characterized in that The method includes multiple calculation cycles, wherein the steps S310, S320, S330, and S340 are sequentially executed to form one calculation cycle, and each calculation cycle determines a corresponding rotor angle value. In each calculation cycle, determining an amplitude correction value based on the first signal and the second signal includes: performing specified signal processing on the first signal to obtain a first processed signal value corresponding to the first signal; the specified signal processing comprises sequentially performing a square operation, a derivative operation, and an absolute value operation on the signal; multiplying the second signal by the amplitude correction value determined in the previous calculation cycle to obtain a third signal; performing the designated signal processing on the third signal to obtain a third processed signal value corresponding to the third signal; The amplitude correction value is determined based on the first processed signal value and the third processed signal value.

10. The method according to claim 9, characterized in that The determining the amplitude correction value based on the first processed signal value and the third processed signal value includes: performing a subtraction operation on the first processed signal value and the third processed signal value to obtain a second signal difference; Perform proportional operation, integral operation and square root operation on the second signal difference in sequence to obtain an amplitude correction value corresponding to the current calculation cycle.

11. A control device for a rotary transformer, characterized in that: include: an acquisition module, configured to acquire a first signal and a second signal when the resolver is in an operating state; one of the first signal and the second signal is a sine signal, and the other is a cosine signal; a first determining module, configured to determine an amplitude correction value based on the first signal and the second signal; The amplitude correction value is the ratio between the amplitude of the first signal and the amplitude of the second signal; a second determining module, configured to correct the second signal based on the amplitude correction value to obtain a second corrected signal; wherein an absolute value of a difference between an amplitude of the second corrected signal and an amplitude of the first signal is less than or equal to a specified value; A third determination module is configured to determine a rotor angle value of the resolver based on the first signal and the second correction signal.

12. A motor, characterized in that: include: Resolver; one or more processors; Memory; as well as One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by one or more processors, and configured to perform the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which can be called by a processor to execute the method according to any one of claims 1 to 10.

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