Control method and device of resolver, motor and storage medium

Abstract

The application discloses a control method and device of a resolver, a motor and a storage medium. The method comprises the following steps: acquiring a first signal and a second signal when the resolver is in a working state. Based on the first signal and the second signal, a magnitude correction value is determined. The magnitude correction value is a ratio between the magnitude of the first signal and the magnitude of the second signal. The second signal is corrected based on the magnitude correction value to obtain a second corrected signal. Based on the first signal and the second corrected signal, a rotor angle value of the resolver is determined. Since the first signal and the second signal in the application are obtained when the resolver is in the working state, the second signal is corrected in this case, which can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the working process of the resolver, realize real-time correction of the signal amplitude, and make the determined rotor angle value more accurate.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a control method, apparatus, electrical equipment, and storage medium for electrical equipment. Background Technology

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

[0003] A rotary transformer 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 excitation winding of the rotary transformer, the output winding of the rotary transformer will output a sine signal and a cosine signal containing rotor angle information through electromagnetic coupling. Subsequently, the sine signal and the cosine signal are calculated to determine the rotor angle information, and then the motion information of the motor shaft can be determined based on the rotor angle information.

[0004] However, during the actual operation of a rotary transformer, the amplitudes of the sine and cosine signals may drift due to environmental or temperature influences, which in turn leads to errors in the determined rotor angle information, thus affecting the control effect on the motor.

[0005] To compensate for the aforementioned signal amplitude drift, researchers typically measure the amplitudes of sine and cosine signals at preset rotor positions while the resolver is offline. However, offline correction methods can only correct errors present during resolver startup and cannot correct errors occurring during operation. Summary of the Invention

[0006] This application provides a control method, device, motor, and storage medium for a rotary transformer.

[0007] According to a first aspect of this application, an embodiment of this application provides a control method for a rotary transformer. The control method includes: Step S310, acquiring a first signal and a second signal while 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. 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, determining the rotor angle value of the rotary transformer based on the first signal and the second corrected signal.

[0008] According to a second aspect of this application, embodiments of this application also provide a control device for a rotary transformer. The control device includes an acquisition module, a first determination module, a second determination module, and a third determination module. The acquisition module is used 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 used 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 is used to correct 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. The third determination module is used to determine the rotor angle value of the rotary transformer based on the first signal and the second corrected signal.

[0009] According to a third aspect of this application, embodiments of this application also provide an electric motor, which includes a rotary transformer, one or more processors, a memory, and one or more application programs. The one or more application programs are stored in the memory and configured to be executed by the one or more processors, and are configured to perform the methods described above.

[0010] According to a fourth aspect of this application, embodiments of this application also provide a computer-readable storage medium storing computer program instructions that can be invoked by a processor to execute the methods described above.

[0011] According to a fifth aspect of this application, embodiments of this application also provide a computer program product that, when executed, implements the above-described method.

[0012] This application provides a control method, apparatus, motor, and storage medium for a rotary transformer. When the rotary transformer is in operation, the control method acquires a first signal and a second signal output by the rotary transformer, 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 amplitudes of the first signal and the second signal as an amplitude correction value. Next, the second signal is corrected based on the amplitude correction value to obtain a second corrected signal. Finally, the rotor angle value of the rotary transformer is determined based on the second corrected 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 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 subsequently determined rotor angle value.

[0014] Furthermore, since the first and second signals in this application are obtained when the rotary transformer is in operation, it indicates that the first and second signals can reflect the actual operating conditions of the rotary transformer. In this case, correcting the second signal can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the operation of the rotary transformer, achieving real-time correction of amplitude errors occurring during operation, thus making the determined rotor angle value more accurate. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the motor provided in the embodiment of this application.

[0017] Figure 2 yes Figure 1 A schematic diagram of the rotary transformer and controller in the motor shown.

[0018] Figure 3 This is a flowchart illustrating a control method for a rotary transformer provided in the first embodiment of this application.

[0019] Figure 4 This is a flowchart illustrating a control method for a rotary transformer provided in the second embodiment of this application.

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

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

[0022] Figure 7 This is a flowchart illustrating a control method for a rotary transformer provided in the third embodiment of this application.

[0023] Figure 8 This is a control flow diagram of another rotary transformer provided in the embodiments of this application.

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

[0025] Figure 10 This is a schematic diagram of the simulation results provided in the embodiments of this application.

[0026] Figure 11 yes Figure 10 The diagram shown is a partial enlarged view of the simulation results.

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

[0028] Figure 13 This is a block diagram of the motor provided in the embodiments of this application.

[0029] Figure 14 This is a block diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

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

[0031] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] This application provides a control method, apparatus, motor, and storage medium for a rotary transformer. When the rotary transformer is in operation, the control method acquires a first signal and a second signal output by the rotary transformer, 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 amplitudes of the first signal and the second signal as an amplitude correction value. Next, the second signal is corrected based on the amplitude correction value to obtain a second corrected signal. Finally, the rotor angle value of the rotary transformer is determined based on the second corrected 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 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 subsequently determined rotor angle value.

[0034] Furthermore, since the first and second signals in this application are obtained when the rotary transformer is in operation, it indicates that the first and second signals can reflect the actual operating conditions of the rotary transformer. In this case, correcting the second signal can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the operation of the rotary transformer, achieving real-time correction of amplitude errors occurring during operation, thus making the determined rotor angle value more accurate.

[0035] To facilitate a detailed explanation of this application, the application environment of the example in this application is first described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This diagram illustrates the application environment of the control method for a rotary transformer provided in this embodiment. The method is applied to a motor 100, which is a device that converts electrical energy into mechanical energy. It utilizes an energized coil (i.e., stator winding) to generate a rotating magnetic field that acts on the rotor, forming a magnetoelectric torque to achieve rotation of the 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. The rotary transformer 10 is disposed within the motor 100 and is used to detect the motion information of the shaft in the motor 100 (e.g., shaft angular displacement, angular velocity, etc.).

[0036] Specifically, the rotary transformer 10 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) to the excitation winding of the rotary transformer, the output winding of the rotary transformer, through electromagnetic coupling, outputs sine and cosine signals containing rotor angle information. Subsequent calculations on the sine and cosine signals 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 rotary transformer 10 can be a sine-cosine rotary transformer, where the output voltage of the sine-cosine rotary transformer has a sine and cosine function relationship with the rotor angle.

[0037] The controller 30 is housed within the motor 100 and electrically connected to the rotary transformer 10. On one hand, the controller 30 can send carrier signals to the rotary transformer 10. On the other hand, the controller 30 can also calculate the sine and cosine signals output by the rotary transformer 10 to determine the rotor angle value of the rotary transformer 10. Specifically, the controller 30 can be a control chip, or a control circuit integrating a control chip, etc.

[0038] Please see Figure 2 The controller 30 may specifically include a carrier signal generating unit 320, a sine / cosine signal demodulation unit 340, an amplitude correction unit 360, and an angle calculation unit 380. The carrier signal generating unit 320 is connected to the excitation winding of the rotary transformer 10 and is used to transmit a carrier signal. Specifically, the carrier signal can be an excitation signal, and the signal frequency of the excitation signal can be greater than or equal to 3000Hz, for example, a signal frequency of 3000Hz, 5000Hz, etc.

[0039] The sine / cosine signal demodulation unit 340, amplitude correction unit 360, and angle calculation unit 380 are sequentially connected to the output winding of the rotary transformer 10. During the operation of the rotary transformer 10, under the action of the carrier signal, it outputs one sine modulation signal and one cosine modulation signal, wherein the sine modulation signal and the cosine modulation signal are orthogonal. The above two signals are input to the sine / cosine signal demodulation unit 340, which is used to calculate the amplitude of the sine modulation signal to output a demodulated sine signal; and to calculate the amplitude of the cosine modulation signal to output a demodulated cosine signal.

[0040] It should be noted that, ideally, the sine and cosine signals output by the sine / cosine demodulation unit 340 have a 90-degree phase difference, equal amplitude and frequency, and the frequency of the signals is equal to the rotation 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, leading to errors in the subsequently determined rotor angle value and affecting the control effect of the motor 100.

[0041] To address the signal amplitude drift issue caused by environmental or temperature factors, this embodiment includes an amplitude correction unit 360 in the controller 30. This unit 360 corrects the amplitude of the two signals output from 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 rotor angle calculation. For details on the specific amplitude correction process, please refer to the relevant description in the method embodiment below. The angle calculation unit 380 calculates the rotor angle value based on the amplitude-corrected sine and cosine signals.

[0042] Please see Figure 3 The first embodiment of this application illustrates a control method for a rotary transformer, which includes the following steps.

[0043] Step S310: When the rotary transformer is in operation, acquire the first signal and the second signal.

[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 can be a sine signal, and the second signal can be a cosine signal. Alternatively, the first signal can be a cosine signal, and the second signal can be a sine signal. In the following description, we will use the example of the first signal being a cosine signal and the second signal being a sine signal.

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

[0046] In one implementation, the controller can acquire the motor's operating status flag to determine whether the motor is in operation. Specifically, if the operating status flag is a specified value (e.g., 01), it indicates that the motor is in operation. In this case, since the resolver needs to monitor the motor's operation in real time, the resolver also enters an operating state. The controller can acquire the first signal value (i.e., cosine signal value) corresponding to the first signal and the second signal value (i.e., sine signal value) corresponding to the second signal.

[0047] Step S320: Determine the 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 signal amplitude of the first signal under ideal conditions, b is the amplitude drift coefficient of 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 easy to understand that b equals 1 when the motor is not affected by environmental or temperature factors. 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 amplitude of the second signal under ideal conditions, and a is the amplitude drift coefficient of the second signal, where 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 easy to understand that a equals 1 when the motor is not affected by environmental or temperature factors. ω is the angular frequency of the second signal, φ is the initial phase of the second signal, and t is time. It is easy to see that the amplitude, angular frequency, and initial phase of the first and second signals are all equal under ideal conditions.

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

[0052]

[0053] Here, A*b can be considered as the actual amplitude of the first signal under environmental or temperature interference; A*a can be considered as the actual amplitude of the second signal under environmental or temperature interference. Of course, the amplitude correction value here can also be considered as 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, by squaring the first signal and then differentiating it with respect to time t, we can obtain the following first calculation formula.

[0056]

[0057] By squaring the second signal and then differentiating it with respect to time t, we can obtain the following second calculation formula.

[0058]

[0059] Secondly, 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] Taking the absolute value of the second calculation formula yields 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, calculate the ratio of the third and fourth calculation formulas, and then take the square root to obtain the following fifth calculation formula.

[0064]

[0065] It is easy to see that the calculated amplitude correction value k is unrelated to the signal amplitude A, angular frequency ω, and initial phase φ under ideal conditions. 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 above calculation principle. Specifically, the detailed 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 the second corrected signal.

[0067] In this embodiment, the controller determines the second corrected signal as the product of the amplitude correction value and the second signal. Since the amplitude correction value is the ratio between the amplitudes of the first and second signals, after correcting the second signal, the amplitude of the resulting second corrected signal can be approximately the same as the amplitude of the first signal. That is, the absolute value of the difference between the amplitudes of the second corrected signal and the first signal is less than or equal to a 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, etc. Ideally, the specified value is equal to 0, in which case the amplitude of the second corrected signal is equal to the amplitude of the first signal.

[0068] It's 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 cosine signal is used as a reference to correct the amplitude of the sine signal, so that the amplitude of the corrected sine signal is approximately the same as the amplitude of the cosine signal. Of course, in some other possible embodiments, the first signal can be a sine signal, and the second signal can be a cosine signal. Therefore, when correcting the second signal, the amplitude of the sine signal is used as a reference to correct the amplitude of the cosine signal, so that the amplitude of the corrected cosine signal is approximately the same as the amplitude of the sine signal.

[0069] Step S340: Determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

[0070] In this embodiment, the rotor angle value of the rotary transformer can be understood as the angle between the rotor and the stator in the motor. As one implementation, the controller can pre-store a calculation formula for the rotor angle value. This formula reflects the correspondence between the first signal, the second correction signal, and the rotor angle value. By inputting the first signal and the second correction signal into this calculation formula, the controller can determine the rotor angle value of the rotary transformer.

[0071] This application provides a control method for a resolver. In this method, the controller determines the ratio between the amplitudes of a first signal and a second signal as an amplitude correction value. Then, the second signal is corrected based on the amplitude correction value to obtain a second corrected signal. Finally, the rotor angle value of the resolver is determined based on the second corrected signal and the first signal. Since the absolute value of the difference between the amplitudes of the first signal and the second corrected signal is less than or equal to a specified value, it indicates that the amplitudes of the first signal and the second corrected signal are approximately equal, ensuring the accuracy of the subsequently determined rotor angle value.

[0072] Furthermore, since the first and second signals in this embodiment are obtained when the rotary transformer is in operation, it indicates that the first and second signals can reflect the actual operating conditions of the rotary transformer. In this case, correcting the second signal can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the operation of the rotary transformer, achieving real-time correction of amplitude errors occurring during operation, thus making the determined rotor angle value more accurate.

[0073] It should be noted that steps S310, S320, S330, and S340 in the above embodiment can be executed sequentially by the controller to form a calculation cycle. That is, in each calculation cycle, the controller will obtain 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 determine the rotor angle value corresponding to the calculation cycle after a series of calculations.

[0074] Specifically, there can be multiple calculation cycles. The interval between two adjacent calculation cycles can be determined based on the sampling frequency of the sine and cosine signal demodulation unit or by the computing performance of the controller; this application does not limit this. Therefore, the control method for the rotary transformer in this embodiment is a process of continuously correcting the amplitude of the second signal in real time during the operation of the motor to continuously determine the rotor angle value. In some possible cases, when correcting the amplitude of the second signal in the current calculation cycle, the calculation data from the previous calculation cycle will be used.

[0075] Furthermore, this method is independent of the specific operating conditions of the motor when performing amplitude correction. In other words, the amplitude can be corrected by this method whether the motor is rotating at a constant speed or at a variable speed, thus expanding the application scenarios of this method.

[0076] Please see Figure 4 This document illustrates a control method for a rotary transformer according to a second embodiment of this application, specifically describing the process for determining the amplitude correction value. Specifically, the method includes the following steps.

[0077] Step S410: With the rotary transformer in operation, acquire the first signal and the second signal.

[0078] It's easy to understand here that, since the controller continuously corrects the amplitude of the second signal in real time, it constantly acquires the first signal value corresponding to the first signal and the second signal value corresponding to the second signal. Therefore, in this embodiment, the first signal can be considered as a discrete signal sequence including multiple first signal values, and the second signal can be considered as a discrete signal sequence including multiple second signal values. Specifically, the multiple first signal values ​​and multiple second signal values ​​correspond one-to-one at the time of acquisition; that is, when the controller acquires a first signal value, it also obtains a corresponding second signal value.

[0079] Step S420: Determine the 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 specified signal processing on the first signal to obtain the first processed signal value corresponding to the first signal.

[0082] In this embodiment, the specified signal processing includes sequentially performing squaring, differentiation, and absolute value operations on the signal. As one implementation, the controller can pre-store the calculation formulas corresponding to the specified signal processing; by substituting the first signal into these formulas, the 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 for squaring, differentiation, and absolute value operations. The controller substitutes the first signal into the aforementioned multiple calculation formulas in sequence to obtain the first processed signal value corresponding to the first signal.

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

[0085] Step S422: Perform specified signal processing on the second signal to obtain the second processed signal value corresponding to the second signal.

[0086] As one implementation method, the controller can pre-store the calculation formula corresponding to the specified signal processing. By substituting the second signal into the calculation formula, the second processed signal value corresponding to the second signal can be obtained. Specifically, step S422 can be referred to the relevant description in step S421, and will not be repeated here. It is not difficult to see that step S422 here corresponds to the second calculation formula and the fourth calculation formula in the calculation principle introduced in step S320 above.

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

[0088] In one implementation, the controller may be equipped with a first low-pass filter corresponding to the first low-pass filtering process. Here, 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, etc. The researchers can determine and dynamically adjust the operating parameters (e.g., cutoff frequency) of the first low-pass filter based on the actual working conditions of the rotary transformer. This embodiment does not limit this.

[0089] This embodiment uses a first low-pass filter to perform a first low-pass filtering process on the signal, which can reduce signal noise in the first and second signals, making the subsequently determined amplitude correction value more accurate.

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

[0091] As can be 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 second processed signal values ​​will be equal to 0, making it impossible to successfully calculate the amplitude correction value subsequently. Therefore, to avoid the above situation, the controller needs to exclude the case where the first or second processed signal value is equal to 0. Specifically, step S423 may include step B100.

[0092] Step B100: If 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 determined by the specific value range of the first processing signal value or the second processing signal value. For example, if the maximum value of the first processing 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, etc.

[0094] If the controller executes step S423 when the first or second processed signal value is greater than or equal to a specified threshold, it can eliminate the possibility of ω = 0 or sin(ωt+φ)cos(ωt+φ) = 0, thus ensuring the smooth progress of subsequent calculations.

[0095] Based on the second and fourth calculation formulas in step S320, it is easy to see that the first and second processed signal values ​​are either 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 a specified threshold, it can determine that the other processed signal value is not equal to 0, thereby reducing the controller's computing resources.

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

[0097] Step B200: If 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] Since the controller determines the corresponding amplitude correction value in each calculation cycle, if the first or second processed signal value determined in the current calculation cycle is less than a specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value for the current calculation cycle to ensure that the second signal can be successfully corrected subsequently. In this embodiment, after executing step B200, the controller will directly execute 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 equals 1, then there is no previous calculation cycle, and 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 the R&D personnel based on historical correction data of the rotary transformer to ensure the smooth progress of subsequent steps.

[0100] It should be noted that if the first or 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 cases are quite strict, they will not affect the real-time performance of correcting the second signal in the actual operation of the rotary transformer.

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

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

[0103] As can be seen from the above description, the "first processing signal value" here corresponds to |S| in the third calculation formula in step S320 above. dcos The "second processed signal value" here corresponds to the |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 explained below.

[0104] In one implementation, the controller can 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 the signal ratio.

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

[0107] In another implementation, the controller can directly divide the first processed signal value and the second processed signal value, and then perform low-pass filtering to determine the signal ratio. Specifically, step S4230 may include steps S4232 and S4233.

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

[0109] In this embodiment, the controller can pre-store the calculation formula corresponding to the division operation. By substituting the first processing signal value and the second processing signal value into the calculation formula, the calculation ratio can be obtained.

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

[0111] In this embodiment, the controller may be equipped with a second low-pass filter corresponding to the second low-pass filtering process. Here, the second low-pass filter is a digital filter. Specifically, the second low-pass filter can be a first-order low-pass filter, a Gaussian low-pass filter, a Kalman filter, etc. The researchers can determine and dynamically adjust the operating parameters (e.g., cutoff frequency) of the second low-pass filter based on the actual working conditions of the rotary transformer. This embodiment does not limit this.

[0112] This embodiment reduces signal noise in the calculated ratio by setting a second low-pass filter, which makes the subsequently determined amplitude correction value more accurate.

[0113] Please see Figure 5 This document illustrates a control flow diagram of a rotary transformer provided in an embodiment of this application. (Hereinafter, in conjunction with...) Figure 5 The process of determining the signal ratio is explained. Figure 5 In the middle, the sine and cosine signal demodulation unit 340 outputs one cosine signal (that is, the first signal) and one sine signal (that is, the second signal).

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

[0115] Next, 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 and updated. The first threshold judgment 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 inputs 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 above, the low-pass filtering subunit 543 corresponds to step S4233 above, and the first square root subunit 550 corresponds to step S4239 below.

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

[0117] In another implementation, the controller can 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 and the signal ratio determined in the previous calculation cycle to obtain the corrected processed signal value.

[0119] In this embodiment, the controller can pre-store the calculation formula corresponding to the multiplication operation. 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 calculation formula, the correction processing signal value can be obtained.

[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 equals 1, then there is no previous calculation cycle, and 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 the R&D personnel based on historical calibration data of the rotary transformer to ensure the smooth progress of subsequent steps.

[0121] Step S4235: Subtract the first processed signal value and the correction processed signal value to obtain the first signal difference.

[0122] In this embodiment, the controller can pre-store the calculation formula corresponding to the subtraction operation. By substituting the first processed signal value and the correction processed signal value into the calculation formula, the first signal difference can be obtained.

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

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

[0125] It should be noted that "proportional operation" here can be understood as multiplying the first signal difference by a preset coefficient, and "integral operation" should be understood as integrating the discrete signal. The operational parameters used in the proportional and integral operations can be determined based on the algorithm's convergence speed and stability; this embodiment does not impose any limitations on this.

[0126] Specifically, the proportional and integral operations 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] Please see Figure 6 This illustrates a control flow diagram of another rotary transformer provided in an embodiment of this application. (Hereinafter, in conjunction with...) Figure 6 The process of determining the signal ratio is explained. Figure 6 In the middle, the sine and cosine signal demodulation unit 340 outputs one cosine signal (that is, the first signal) and one sine signal (that is, the second signal).

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

[0129] Next, the first threshold judgment subunit 530 determines whether the second processed signal value is greater than or equal to a threshold. If the second processed signal value is greater than or equal to the threshold, the first update subunit 540 is enabled and updated. The first threshold judgment 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 inputs and outputs an 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 inputs, 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 inputs, corresponding to step S4235 above. The first proportional subunit 547 and the first integral subunit 548 correspond to step S4236 above, and the first square root subunit 550 corresponds to step S4239 below.

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

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

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

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

[0134] Step S440: Determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

[0135] This application provides a control method for a rotary transformer. Specifically, it introduces a method for the controller to determine the amplitude correction value. This method can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the operation of the rotary transformer, and realize the real-time correction of amplitude errors that occur during operation, so that the determined rotor angle value can be more accurate.

[0136] Please see Figure 7 This document illustrates a control method for a rotary transformer according to a third embodiment of this application, which specifically describes another process for determining the amplitude correction value. Specifically, the method includes the following steps.

[0137] Step S710: When the rotary transformer is in operation, acquire the first signal and the second signal.

[0138] Step S720: Determine the 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 specified signal processing on the first signal to obtain the first processed signal value corresponding to the first signal.

[0141] In this embodiment, the specified signal processing includes sequentially performing squaring, differentiation, and absolute value operations on the signal. Specifically, the specific implementation of step S721 can be found in the relevant description in step S421, and will not be repeated here.

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

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

[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 equals 1, then there is no previous calculation cycle, and 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 the R&D personnel based on historical correction data of the rotary transformer to ensure the smooth progress of subsequent steps.

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

[0146] As one implementation, the controller can pre-store the calculation formula corresponding to the specified signal processing. By substituting the third signal into the calculation formula, the value of the third processed signal corresponding to the third signal can be obtained. Specifically, step S723 can be referred to the relevant description in step S421, and will not be repeated here.

[0147] In some possible embodiments, the specified signal processing further includes performing a first low-pass filter on the signal after the squaring operation. For details regarding the first low-pass filter, please refer to the description of step S422. This embodiment, by performing a first low-pass filter on the signal, can reduce signal noise in the first and third signals, making the subsequently determined amplitude correction value more accurate.

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

[0149] As can be 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, making it impossible to successfully calculate the amplitude correction value subsequently. Therefore, to avoid the above 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: If 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, if 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, etc.

[0152] If the controller executes step S724 when the first or third processed signal value is greater than or equal to a specified threshold, it can eliminate the possibility of ω = 0 or sin(ωt+φ)cos(ωt+φ) = 0, thus ensuring the smooth progress of subsequent calculations.

[0153] Based on the second and fourth calculation formulas in step S320, it is easy to see that the first and third processed signal values ​​are either 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 a 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 also include step B400.

[0155] Step B400: If 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] Since the controller determines the corresponding amplitude correction value in each calculation cycle, if the first or third processed signal value determined in the current calculation cycle is less than a specified threshold, the amplitude correction value determined in the previous calculation cycle is used as the amplitude correction value for the current calculation cycle to ensure that the second signal can be successfully corrected subsequently. In this embodiment, after executing step B400, the controller will directly execute 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 equals 1, then there is no previous calculation cycle, and 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 the R&D personnel based on historical correction data of the rotary transformer to ensure the smooth progress of subsequent steps.

[0158] It should be noted that if the value of the first or third processed signal 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 cases are quite strict, they will not affect the real-time performance of correcting the second signal in the actual operation of the rotary transformer.

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

[0160] Step S7241: Subtract the first processed signal value and the third processed signal value to obtain the second signal difference.

[0161] In this embodiment, the controller can pre-store the calculation formula corresponding to the subtraction operation. By substituting the first processed signal value and the third processed signal value into the calculation formula, the second signal difference can be obtained.

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

[0163] In this embodiment, the controller can pre-store the 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 "proportional operation" here can be understood as multiplying the difference of the second signal by a preset coefficient, and "integral operation" should be understood as integrating 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; this embodiment does not impose any limitations on this.

[0165] Specifically, the proportional and integral operations in this embodiment can be regarded as proportional-integral control (PI control) of the difference between the second signals. 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] Please see Figure 8 This illustrates a control flow diagram of another rotary transformer provided in an embodiment of this application. (Hereinafter, in conjunction with...) Figure 8 The process of determining the amplitude correction value is explained. Figure 8 In the middle, the sine and cosine signal demodulation unit 340 outputs one cosine signal (that is, the first signal) and one sine signal (that is, the second signal).

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

[0168] Next, the second threshold judgment 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 and updated. The second threshold judgment subunit 630 corresponds to step B300 above, and the second update subunit 640 corresponds to step S724 above. Specifically, the second update subunit 640 takes the first processed signal value and the third processed signal value as input and outputs an 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, corresponding to step S7241 above. The second proportional subunit 642, the second integral subunit 643, and the second square root subunit 644 correspond to step S7243 above.

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

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

[0171] Step S740: Determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

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

[0173] Please see Figures 9 to 11 It illustrates a simulation experiment diagram provided in an embodiment of this application. Figure 9 A schematic diagram of a signal simulation for a sine signal and a cosine signal is shown. Figure 9 The horizontal axis represents time, the vertical axis represents amplitude, the black curve represents the sine signal output by the resolver, and the gray curve represents the cosine signal output. Specifically, this set of signals has the following characteristics:

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

[0175] (2) Within 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 from 1 to 1.1 at a constant speed, and the amplitude of the cosine signal decreases from 1 to 0.8 at a constant speed, which is used to simulate the amplitude drift of the sine and cosine signals.

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

[0178] Figure 10 A schematic diagram of a simulation result is shown. Figure 10 The horizontal axis represents time, and the vertical axis represents the angular error obtained from the simulation, in radians. The black curve represents the simulation result obtained using the control method described in this application, and the gray curve represents the simulation result obtained using the offline correction method. From Figure 10 It is not difficult to find that:

[0179] (1) After 2 seconds, when the amplitudes of the sine and cosine signals drift, the offline method cannot correct the amplitude difference, which leads to an increase in the angle calculation 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 calculation error is maintained at the same level as when there was no amplitude drift (2 seconds ago).

[0181] Figure 11 It shows Figure 10 The image shown is a partially enlarged view of the simulation results diagram. From Figure 11 It is not difficult to observe that within 0 to 2 seconds, when there is no amplitude drift, the control method in this application performs identically to the offline method. Within 2 to 4 seconds, when there is amplitude drift, the angle calculation error of the control method in this application is much smaller than the corresponding angle calculation error of the offline method.

[0182] Please see Figure 12 This document illustrates a structural block diagram of a control device 1200 for a rotary transformer according to an embodiment of this 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 acquires 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 determines 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 1230 corrects 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. The third determination module 1240 determines the rotor angle value of the rotary transformer based on the first signal and the second corrected signal.

[0183] In some possible embodiments, the first determining module 1220 is specifically used 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 squaring, differentiation, and absolute value operations on the signal. Specified signal processing is then performed on the second signal to obtain a second processed signal value corresponding to the second signal. Based on the first and second processed signal values, an amplitude correction value is determined.

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

[0185] In some possible embodiments, the first determining module 1220 is specifically used to determine the signal ratio between the first processed signal value and the second processed signal value. The square root of the signal ratio is then performed to obtain an amplitude correction value.

[0186] In some possible embodiments, the first determining module 1220 is specifically used 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 used to perform a division operation on the first processed signal value and the second processed signal value to obtain an operation ratio. The operation ratio is then subjected to a second low-pass filtering process 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 constitute one calculation cycle, and each calculation cycle determines a corresponding rotor angle value. In each calculation cycle, the first determination module 1220 specifically performs a multiplication operation on the second processed signal value and the signal ratio determined in the previous calculation cycle to obtain a correction processed signal value. A subtraction operation is performed on the first processed signal value and the correction processed signal value to obtain a first signal difference. A proportional operation and an integral operation are sequentially performed on the first signal difference to obtain the signal ratio corresponding to the current calculation cycle.

[0189] In some possible embodiments, the first determining module 1220 is specifically used to determine an 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, 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 constitute one calculation cycle, and each calculation cycle determines a corresponding rotor angle value. The first determination module 1220 is further configured to, when the first processed signal value or the second processed signal value is less than a specified threshold, use the amplitude correction value determined in the previous calculation cycle as the amplitude correction value corresponding to the current calculation cycle.

[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 sequentially to constitute one calculation cycle, and each calculation cycle determines a corresponding rotor angle value. In each calculation cycle,

[0192] In some possible embodiments, the first determining module 1220 is specifically used 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 squaring, differentiation, and absolute value operations on the signal. The second signal and the amplitude correction value determined in the previous calculation cycle are multiplied to obtain a third signal. Specified signal processing is performed on the third signal to obtain a third processed signal value corresponding to the third signal. Based on the first processed signal value and the third processed signal value, an amplitude correction value is determined.

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

[0194] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

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

[0196] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0197] This application provides a control device for a resolver. In this device, the controller determines the ratio between the amplitudes of a first signal and a second signal as an amplitude correction value. Then, the second signal is corrected based on the amplitude correction value to obtain a second corrected signal. Finally, the rotor angle value of the resolver is determined based on the second corrected signal and the first signal. Since the absolute value of the difference between the amplitudes of the first signal and the second corrected signal is less than or equal to a specified value, it indicates that the amplitudes of the first signal and the second corrected signal are approximately equal, ensuring the accuracy of the subsequently determined rotor angle value.

[0198] Furthermore, since the first and second signals in this embodiment are obtained when the rotary transformer is in operation, it indicates that the first and second signals can reflect the actual operating conditions of the rotary transformer. In this case, correcting the second signal can effectively overcome the signal amplitude drift problem caused by environmental or temperature factors during the operation of the rotary transformer, achieving real-time correction of amplitude errors occurring during operation, thus making the determined rotor angle value more accurate.

[0199] Please see Figure 13 The illustration shows a motor 1300 provided in an embodiment of this application. The controller in the motor 1300 includes one or more processors 1310, a memory 1320, a resolver 1330, and one or more application programs. The one or more application programs are stored in the memory 1320 and configured to be executed by the one or more processors 1310. The one or more application programs are configured to perform the methods described in the above embodiments.

[0200] Processor 1310 may include one or more processing cores. Processor 1310 connects to various parts of the entire battery management system using various interfaces and lines, and performs various functions and processes data of the battery management system by running or executing instructions, programs, code sets, or instruction sets stored in memory 1320, and by calling data stored in memory 1320. Optionally, processor 1310 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 1310 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into processor 1310 and may be implemented separately through a communication chip.

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

[0202] For a detailed introduction to the rotary transformer 1330, please refer to the relevant description in the application environment embodiment above, which will not be repeated here.

[0203] Please see Figure 14 The illustration shows a computer-readable storage medium 1400 provided in an embodiment of this application, which stores computer program instructions 1410 that can be called by a processor to execute the methods described in the above embodiments.

[0204] The computer-readable storage medium 1400 may be, for example, flash memory, electrically erasable programmable read-only memory (EEPROM), electrically programmable read-only memory (EPROM), hard disk, or read-only memory (ROM). Optionally, 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 that perform any of the method steps described above. These computer program instructions 1410 may be read from or written to one or more computer program products.

[0205] In this application specification, certain terms are used to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to"; "generally" means that those skilled in the art can solve the technical problem within a certain margin of error 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., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the purpose of simplifying the description of this application and do not indicate or imply that the referred or the element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0207] In this application, unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or merely surface contact. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0208] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this application.

Claims

1. A control method for a rotary transformer, characterized in that, include: Step S310: When the rotary transformer is in operation, acquire 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, determine 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; wherein, determining 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 includes sequentially performing squaring, differentiation, and absolute value operations on the signal; performing the specified signal processing on the second signal to obtain a second processed signal value corresponding to the second signal; and determining the amplitude correction value based on the first processed signal value and the second processed signal value. Step S330: Correct 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 rotary transformer based on the first signal and the second correction signal.

2. The method according to claim 1, characterized in that, The specified signal processing further includes performing a first low-pass filter on the signal after the squaring operation.

3. The method according to claim 1 or 2, characterized in that, Determining the amplitude correction value based on the first processed signal value and the second processed signal value includes: Determine the signal ratio between the first processed signal value and the second processed signal value; The amplitude correction value is obtained by taking the square root of the signal ratio.

4. The method according to claim 3, characterized in that, Determining the signal ratio between the first processed signal value and the second processed signal value includes: The first processed signal value and the second processed signal value are divided to obtain the signal ratio; or The first processed signal value and the second processed signal value are divided to obtain the ratio; the ratio is then subjected to a second low-pass filter to obtain the signal ratio.

5. The method according to claim 3, characterized in that, The method includes multiple calculation cycles, wherein steps S310, S320, S330, and S340 are executed sequentially to constitute 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: The second processed signal value is multiplied by the signal ratio determined in the previous calculation cycle to obtain the corrected processed signal value. The first processed signal value and the corrected processed signal value are subtracted to obtain the first signal difference; The first signal difference is then subjected to proportional and integral operations in sequence to obtain the signal ratio corresponding to the current calculation cycle.

6. The method according to claim 1 or 2, characterized in that, Determining the amplitude correction value based on the first processed signal value and the second processed signal value includes: If the first processed signal value or the second processed signal value is greater than or equal to a specified threshold, the amplitude correction value is determined based on the first processed signal value and the second processed signal value.

7. The method according to claim 6, characterized in that, The method includes multiple calculation cycles, wherein steps S310, S320, S330, and S340 are executed sequentially to constitute one calculation cycle, and each calculation cycle determines a corresponding rotor angle value; the method further includes: If either the first processed signal value or the second processed signal value 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.

8. The method according to claim 1, characterized in that, The method includes multiple calculation cycles. Steps S310, S320, S330, and S340 are executed sequentially to constitute one calculation cycle. Each calculation cycle determines a corresponding rotor angle value. In each calculation cycle, determining the amplitude correction value based on the first signal and the second signal includes: The first signal is subjected to specified signal processing to obtain a first processed signal value corresponding to the first signal; the specified signal processing includes performing squaring, differentiation and absolute value operations on the signal in sequence. The second signal and the amplitude correction value determined in the previous calculation cycle are multiplied to obtain the third signal; The third signal is subjected to the specified signal processing to obtain the 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.

9. The method according to claim 8, characterized in that, Determining the amplitude correction value based on the first processed signal value and the third processed signal value includes: The first processed signal value and the third processed signal value are subtracted to obtain the second signal difference. The second signal difference is then subjected to proportional, integral, and square root operations in sequence to obtain the amplitude correction value corresponding to the current calculation period.

10. A control device for a rotary transformer, characterized in that, include: The acquisition module is used 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. A first determining 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; specifically, the first determining module is 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 performing squaring, differentiation, and absolute value operations on the signal in sequence; performing the specified signal processing on the second signal to obtain a second processed signal value corresponding to the second signal; and determining the amplitude correction value based on the first processed signal value and the second processed signal value. The second determining module is used to correct 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; The third determining module is used to determine the rotor angle value of the rotary transformer based on the first signal and the second correction signal.

11. An electric motor, characterized in that, include: Rotary transformer; One or more processors; Memory; as well as One or more applications, wherein the one or more said applications are stored in the memory and configured to be executed by one or more said processors and configured to perform the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that can be invoked by a processor to perform the method as described in any one of claims 1 to 9.

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