Output signal calibration method and device, equipment and storage medium
By extracting and correcting the excitation residual in the output signal of the rotary transformer, the problems of uneven output signal amplitude and unclean zero crossing point in rotary transformers or eddy current rotary transformers are solved, thereby improving the measurement accuracy and stability of the rotary transformer.
Patent Information
- Application Number
- CN202511395691.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-28
- Publication Date
- 2025-12-19
AI Technical Summary
In traditional resolvers or eddy current resolvers, the high-frequency excitation signal is coupled to the secondary winding through the capacitor of the resolver, resulting in large and small waves in the output signal and unclean zero-crossing, which affects the measurement accuracy.
By acquiring the output signals of the rotary transformer under sinusoidal and cosine excitation signals, signal processing is performed respectively to extract the amplitude and phase of the excitation residual quantity, construct the reverse residual quantity, and correct the output signal.
It effectively solves the problems of large and small wave sizes and unclean zero crossings in the output signal, and significantly improves the accuracy and stability of the output signal of the rotary transformer.
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Figure CN121173162A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of signal processing technology, and in particular to an output signal calibration method, apparatus, device and storage medium. Background Technology
[0002] In traditional resolvers or eddy current resolvers, the high-frequency excitation signal is coupled to the secondary winding through the capacitor on the resolver, forming an excitation residual. When the residual is in phase with the output signal, it causes the signal amplitude to increase; when it is out of phase, it causes the amplitude to decrease. This results in large and small wave phenomena in the output signal during the resolver's rotation cycle. Furthermore, if there is a phase shift between the residual and the output signal, it can also lead to an unclean zero-crossing point, affecting measurement accuracy. Summary of the Invention
[0003] The main objective of this application is to provide an output signal calibration method, apparatus, device, and storage medium, which aims to solve the technical problems of how to extract the excitation residual quantity in the output signal of a rotary transformer, and then deal with the large and small waves and unclean zero crossing caused by the excitation residual quantity.
[0004] To achieve the above objectives, this application proposes an output signal calibration method, the method comprising:
[0005] Obtain the sinusoidal output signal and cosine output signal of the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity;
[0006] The sinusoidal output signal and the cosine output signal are processed according to the sinusoidal excitation signal and the corresponding cosine excitation signal, respectively, to obtain the target sinusoidal detection signal and the target cosine detection signal.
[0007] Based on the target sinusoidal detection signal, the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal are determined, and based on the target cosine detection signal, the second amplitude and second phase of the excitation residual quantity in the cosine output signal are determined.
[0008] An inverse residual is constructed based on the first amplitude, the first phase, the second amplitude, and the second phase, and the sine output signal and the cosine output signal are corrected based on the inverse residual.
[0009] Optionally, the step of processing the sinusoidal output signal and the cosine output signal according to the sinusoidal excitation signal and the corresponding cosine excitation signal respectively to obtain the target sinusoidal detection signal and the target cosine detection signal includes:
[0010] The sinusoidal output signal is multiplied and filtered according to the sinusoidal excitation signal and the cosine excitation signal respectively to obtain the first initial sinusoidal detection signal and the second initial sinusoidal detection signal.
[0011] The cosine output signal is multiplied and filtered according to the sinusoidal excitation signal and the cosine excitation signal, respectively, to obtain the first initial cosine detection signal and the second initial cosine detection signal.
[0012] The target sine detection signal corresponding to the sine output signal is determined based on the first initial sine detection signal and the second initial sine detection signal;
[0013] The target cosine detection signal corresponding to the cosine output signal is determined based on the first initial cosine detection signal and the second initial cosine detection signal.
[0014] Optionally, the target sine detection signal includes a first target sine detection signal and a second target sine detection signal, and the target cosine detection signal includes a first target cosine detection signal and a second target cosine detection signal;
[0015] The step of determining the target sine detection signal corresponding to the sine output signal based on the first initial sine detection signal and the second initial sine detection signal includes:
[0016] The rotary transformer is rotated by a preset angle based on a preset cycle to obtain the adjusted rotary transformer;
[0017] The maximum and minimum sine values of the first and second initial sine detection signals are obtained based on the adjusted rotary transformer.
[0018] The first target sinusoidal detection signal and the second target sinusoidal detection signal are determined by averaging the maximum and minimum sinusoidal values.
[0019] Accordingly, the step of determining the target cosine detection signal corresponding to the cosine output signal based on the first initial cosine detection signal and the second initial cosine detection signal includes:
[0020] The maximum and minimum cosine values of the first and second initial cosine detection signals are obtained based on the adjusted rotary transformer.
[0021] The first target cosine detection signal and the second target cosine detection signal are determined by averaging the maximum and minimum cosine values.
[0022] Optionally, the step of determining the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal based on the target sinusoidal detection signal, and determining the second amplitude and second phase of the excitation residual quantity in the cosine output signal based on the target cosine detection signal, includes:
[0023] The square root of the sum of the squares of the first target sinusoidal detection signal and the second target sinusoidal detection signal is multiplied by a preset gain coefficient to obtain the first amplitude.
[0024] The first phase is determined based on the arctangent of the ratio of the first target sinusoidal detection signal and the second target sinusoidal detection signal;
[0025] The square root of the sum of the squares of the first target cosine detection signal and the second target cosine detection signal is taken and multiplied by the preset gain coefficient to obtain the second amplitude.
[0026] The second phase is determined based on the arctangent of the ratio of the first target cosine detection signal and the second target cosine detection signal.
[0027] Optionally, the step of constructing an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and correcting the sine output signal and the cosine output signal based on the inverse residual, includes:
[0028] Based on the first amplitude and the first phase, a first reverse residual quantity is generated that is opposite in phase to the excitation residual quantity in the sinusoidal output signal;
[0029] Based on the second amplitude and the second phase, a second reverse residual quantity is generated that is opposite in phase to the excitation residual quantity in the cosine output signal;
[0030] The first inverse residual is superimposed on the sine output signal, and the second inverse residual is superimposed on the cosine output signal to obtain the corrected target sine output signal and target cosine output signal.
[0031] Optionally, before the step of obtaining the sinusoidal output signal and cosine output signal of the rotary transformer under the action of a sinusoidal excitation signal, the method further includes:
[0032] A sinusoidal excitation signal and a cosine excitation signal are generated according to a preset frequency, wherein the phase of the cosine excitation signal lags behind that of the sinusoidal excitation signal.
[0033] The sinusoidal excitation signal is applied to the primary winding of the rotary transformer to control the rotary transformer to generate a sinusoidal output signal and a cosine output signal.
[0034] Optionally, after the step of constructing an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and correcting the sine output signal and the cosine output signal based on the inverse residual, the method further includes:
[0035] The calibrated sine and cosine output signals are normalized to obtain the processed signal.
[0036] The angular position information of the rotary transformer is calculated based on the processed signal.
[0037] Furthermore, to achieve the above objectives, this application also proposes an output signal calibration device, which includes:
[0038] The signal output module is used to acquire the sinusoidal output signal and the cosine output signal output by the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity;
[0039] The signal processing module is used to perform signal processing on the sinusoidal output signal and the cosine output signal according to the sinusoidal excitation signal and the corresponding cosine excitation signal, respectively, to obtain the target sinusoidal detection signal and the target cosine detection signal;
[0040] The residual quantity extraction module is used to determine the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal based on the target sinusoidal detection signal, and to determine the second amplitude and second phase of the excitation residual quantity in the cosine output signal based on the target cosine detection signal.
[0041] The signal calibration module is used to construct an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and to correct the sine output signal and the cosine output signal based on the inverse residual.
[0042] In addition, to achieve the above objectives, this application also proposes an output signal calibration device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the output signal calibration method as described above.
[0043] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the output signal calibration method described above.
[0044] This application discloses a method for correcting the output signal of a rotary transformer by extracting the excitation residual quantity from the output signal and constructing a reverse residual quantity based on the amplitude and phase of the residual quantity. This method can effectively solve the problems of large and small wave sizes and unclean zero crossings in the output signal caused by the excitation residual quantity of traditional rotary transformers, and significantly improve the accuracy and stability of the output signal of the rotary transformer. Attached Figure Description
[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0047] Figure 1 This is a flowchart illustrating the first embodiment of the output signal calibration method of this application;
[0048] Figure 2 This is a schematic diagram of the rotary transformer of this application;
[0049] Figure 3 This is a flowchart illustrating the second embodiment of the output signal calibration method of this application;
[0050] Figure 4 This is a schematic diagram illustrating the specific implementation of the first detection module for sinusoidal excitation residual quantity in this application.
[0051] Figure 5 This is a schematic diagram illustrating the specific implementation of the second detection module for sinusoidal excitation residual quantity in this application.
[0052] Figure 6 This is a schematic diagram illustrating the specific implementation of the first detection module for cosine excitation residual quantity in this application.
[0053] Figure 7 This is a schematic diagram illustrating the specific implementation of the second detection module for cosine excitation residual quantity in this application.
[0054] Figure 8 This is a flowchart illustrating the third embodiment of the output signal calibration method of this application;
[0055] Figure 9 This is a schematic diagram illustrating the specific implementation of the third detection module for sinusoidal excitation residual quantity in this application.
[0056] Figure 10 This is a schematic diagram illustrating the specific implementation of the third detection module for cosine excitation residual quantity in this application.
[0057] Figure 11 This is a schematic diagram of the module structure of the output signal calibration device according to an embodiment of this application;
[0058] Figure 12 This is a schematic diagram of the device structure of the hardware operating environment involved in the output signal calibration method in the embodiments of this application.
[0059] Explanation of icon numbers:
[0060] 1. Rotary transformer;
[0061] 2. First detection module for sinusoidal excitation residual quantity; 21. First multiplier module;
[0062] 22. First filter module; 23. First rotation module; 24. First averaging module;
[0063] 3. Second detection module for sinusoidal excitation residual quantity; 31. Second multiplier module;
[0064] 32. Second filter module; 33. Second rotation module; 34. Second averaging module;
[0065] 4. Third detection module for sinusoidal excitation residual quantity; 41. First sum of squares module;
[0066] 42. First square root module; 43. First gain module; 44. First arctangent module;
[0067] 5. First detection module for cosine excitation residual quantity; 51. Third multiplier module;
[0068] 52. Third filter module; 53. Third rotation module; 54. Third averaging module
[0069] 6. Second detection module for cosine excitation residual quantity; 61. Fourth multiplier module;
[0070] 62. Fourth filter module; 63. Fourth rotation module; 64. Fourth averaging module;
[0071] 7. Third detection module for cosine excitation residual quantity; 71. Second sum of squares module;
[0072] 72. Second square root module; 73. Second gain module; 74. Second arctangent module.
[0073] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0074] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.
[0075] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.
[0076] Because rotary transformers maintain high reliability and precision even in harsh environments, they are widely used in aerospace, railway, automotive, and robotics fields. For traditional or eddy current rotary transformers, since the excitation signal is a high-frequency signal, it can easily couple to the secondary winding through the capacitors on the rotary transformer. This coupling amount is called the excitation residual of the rotary transformer.
[0077] In the output signal of a resolver, the excitation residual quantity is either in phase or out of phase with the sinusoidal or cosine output signal. When the excitation residual quantity is in phase with the sinusoidal or cosine output signal, the amplitude of the signal increases due to the superposition of the excitation residual quantity. When the excitation residual quantity is out of phase with the sinusoidal or cosine output signal, the amplitude of the signal decreases. Therefore, during one rotation cycle of the resolver, the sinusoidal or cosine output signal of the resolver will exhibit large and small waves. Furthermore, if there is a phase shift between the excitation residual quantity and the sinusoidal or cosine output signal, the sinusoidal and cosine output signals of the resolver will also suffer from unclean zero-crossing. Therefore, how to extract the excitation residual quantity from the output signal of the resolver and thus solve the problems of large and small waves and unclean zero-crossing caused by the excitation residual quantity is a pressing technical challenge that needs to be addressed.
[0078] Therefore, this application provides a technique for extracting the excitation residual quantity of a rotary transformer, which can solve the problems of large and small waves and unclean zero crossings in the output signal of traditional rotary transformers or eddy current rotary transformers, and effectively improve the accuracy of rotary transformers.
[0079] It should be noted that the executing entity in this embodiment can be a computing service device with data calculation, signal processing, and program execution functions, such as a computer, or an electronic device capable of performing the above functions. The following description uses a signal processing device as an example to illustrate this embodiment and the subsequent embodiments.
[0080] Based on this, embodiments of this application provide an output signal calibration method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the output signal calibration method of this application.
[0081] In this embodiment, the output signal calibration method includes:
[0082] Step S10: Obtain the sinusoidal output signal and cosine output signal of the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity.
[0083] It should be noted that a resolver is a precision electromagnetic induction element that operates based on the principle of electromagnetic induction. Its core structure typically includes a primary winding (excitation winding) and a secondary winding (output winding), through which signals are transmitted via electromagnetic coupling. Sine and cosine excitation signals are applied to the primary winding of the resolver; these are usually high-frequency signals used to excite the resolver to generate electromagnetic induction and output signals carrying angle information. The sine and cosine output signals are two signals output from the secondary winding of the resolver, ideally related to the sine and cosine values of the measured angle, respectively. Because the excitation signal is a high-frequency signal, the excitation residual is the amount of coupling to the secondary winding through the capacitance between the resolver windings; this is the interference component in the actual output signal that deviates from the ideal signal.
[0084] It is understandable that the excitation residual quantity and the sine or cosine output signal can be in phase or out of phase, and there may also be a phase shift, resulting in the zero crossing point of the sine or cosine output signal being unclean. When the excitation residual quantity and the sine or cosine output signal are in phase, the amplitude of the signal will increase due to the superposition of the excitation residual quantity. When the excitation residual quantity and the sine or cosine output signal are out of phase, the amplitude of the signal will decrease.
[0085] In one example, reference Figure 2 , Figure 2 This is a schematic diagram of the rotary transformer of this application. The sinusoidal excitation residual R is calculated. s_err Amplitude A s and phase For example, under the action of a sinusoidal excitation signal sin(wt), the rotary transformer will output two signals, namely a sinusoidal output signal R. s and cosine output signal R c Ideally, the two output signals of the resolver would be as follows:
[0086]
[0087] However, for traditional resolvers or eddy current resolvers, since the excitation signal is a high-frequency signal, it can easily couple into the resolver's output signal through the capacitors on the resolver. This coupling amount is called the resolver's excitation residual. If coupling occurs in the resolver's output signal, it can be expressed by the following equation:
[0088]
[0089] The excitation residuals in the above formulas are R s_err and R c_err ,as follows:
[0090]
[0091] Furthermore, in order to generate and apply compliant sine and cosine excitation signals before acquiring the output signal, it is possible to ensure that the rotary transformer operates under stable and standard excitation conditions, reducing output signal errors caused by frequency and phase deviations of the excitation signal itself. Before step S10, the procedure further includes:
[0092] A sinusoidal excitation signal and a cosine excitation signal are generated according to a preset frequency, wherein the phase of the cosine excitation signal lags behind that of the sinusoidal excitation signal; the sinusoidal excitation signal is applied to the primary winding of the rotary transformer to control the rotary transformer to generate a sinusoidal output signal and a cosine output signal.
[0093] It should be noted that the preset frequency refers to the pre-set operating frequency of the excitation signal, which must be matched with the design parameters of the rotary transformer to ensure its stable operation. The primary winding is the winding in the rotary transformer that receives the excitation signal and provides the excitation source for electromagnetic induction.
[0094] It should be understood that a sinusoidal excitation signal sin(wt) with a corresponding frequency and a cosine excitation signal cos(wt) with a phase lag of 90 degrees are generated by a signal generator to ensure the frequency consistency and phase orthogonality of the two excitation signals. The sinusoidal excitation signal is then applied to the primary winding of the rotary transformer, and the secondary winding is excited by the principle of electromagnetic induction. This causes the rotary transformer to generate a sinusoidal output signal and a cosine output signal containing angle information according to the measured angle, ensuring that the output signal can accurately reflect the angle information.
[0095] Step S20: Perform signal processing on the sine output signal and the cosine output signal according to the sine excitation signal and the corresponding cosine excitation signal respectively to obtain the target sine detection signal and the target cosine detection signal.
[0096] It should be noted that the target sine detection signal and the target cosine detection signal are intermediate signals that reflect the characteristics of their excitation residual quantity, obtained by processing the sine output signal and the cosine output signal, respectively.
[0097] Specifically, taking the target sinusoidal detection signal as an example, the sinusoidal output signal is multiplied by the sinusoidal excitation signal and the cosine excitation signal respectively to obtain a product signal containing angle information and excitation residual quantity components. The product signal is then filtered by a low-pass filter to remove high-frequency components and retain low-frequency components that reflect the characteristics of excitation residual quantity, resulting in the first sinusoidal detection signal and the second sinusoidal detection signal. Through the above processing, the angle-related components and excitation residual quantity components in the output signal can be separated, providing an effective intermediate signal for the subsequent extraction of the amplitude and phase of the residual quantity.
[0098] Step S30: Based on the target sine detection signal, determine the first amplitude and first phase of the excitation residual quantity in the sine output signal, and based on the target cosine detection signal, determine the second amplitude and second phase of the excitation residual quantity in the cosine output signal.
[0099] It should be noted that the first amplitude and the first phase are the amplitude and phase parameters of the excitation residual in the sinusoidal output signal, respectively, while the second amplitude and the second phase are the amplitude and phase parameters of the excitation residual in the cosine output signal.
[0100] Step S40: Construct an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and correct the sine output signal and the cosine output signal based on the inverse residual.
[0101] It should be noted that the reverse residual quantity refers to a compensation signal with the same amplitude but opposite phase as the excitation residual quantity, used to cancel out interference components in the output signal. It may include a first reverse residual quantity (opposite phase to the excitation residual quantity in the sinusoidal output signal), expressed as follows: The second reverse residual (opposite in phase to the excitation residual in the cosine output signal) is expressed as follows: By superimposing the inverse residual, the original output signal can be corrected.
[0102] In one example, based on the extracted sinusoidal excitation residual R s_err Amplitude A s and phase φ s Therefore, a sinusoidal output signal R can be used. s_act Superimposed inverse sinusoidal excitation residual To cancel the sinusoidal output signal R s_act The sinusoidal excitation residual quantity in the sinusoidal output signal R is thus resolved. s_act The issues of wave size and unclean zero crossings are addressed. Similarly, the amplitude A of the cosine excitation residual is extracted using the same method. c and phase This cancels out the cosine output signal R c_act The cosine excitation residual in the cosine signal is used to solve the problem of the cosine output signal R. c_act The issues of large and small wave sizes and unclean zero-crossing points.
[0103] Furthermore, in order to verify the calibration effect, the excitation signal parameters can be dynamically adjusted when the angle error exceeds the limit, effectively addressing error changes under different operating conditions. Following step S40, the procedure further includes:
[0104] The calibrated sine and cosine output signals are normalized to obtain the processed signal; the angular position information of the rotary transformer is calculated based on the processed signal.
[0105] It should be understood that the sum of the squares of the amplitudes of the target sine and cosine output signals is adjusted to a constant value through normalization processing to eliminate the influence of signal amplitude fluctuations on angle calculation. Based on the normalized sine and cosine signals, the actual angle value of the rotary transformer is calculated through the arctangent function. The difference between the calculated angle position information and the preset reference angle reflects the degree of deviation in angle measurement.
[0106] Understandably, when the signal approaches zero, the sum of squares may approach zero, requiring the addition of a very small constant to avoid the anomaly of division by zero. Simultaneously, the principal value range of the arctangent function needs to be addressed, extending to the complete 360° range by judging the signs of the sine and cosine signals. Frequency adjustment should use small steps (e.g., 0.1% of the current frequency) to avoid over-adjustment leading to system oscillation, and a maximum adjustment range should be set to prevent runaway. During adjustment, dynamic response speed and steady-state accuracy need to be balanced. PID control algorithms can be used to optimize the adjustment process. After each adjustment, multiple sampling verifications are required to ensure the angle error remains stable within the threshold, avoiding misjudgments caused by random errors from single sampling.
[0107] In this embodiment, by extracting the excitation residual quantity in the output signal of the rotary transformer and constructing a reverse residual quantity based on the amplitude and phase of the residual quantity for correction, the problems of large and small wave sizes and unclean zero crossings in the output signal caused by the excitation residual quantity of traditional rotary transformers can be effectively solved, and the accuracy and stability of the output signal of the rotary transformer can be significantly improved.
[0108] Reference Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the output signal calibration method of this application. Based on the first embodiment described above, a second embodiment of the output signal calibration method of this application is proposed.
[0109] In the second embodiment, step S20 includes:
[0110] Step S201: Perform multiplication and filtering operations on the sinusoidal output signal according to the sinusoidal excitation signal and the cosine excitation signal respectively to obtain the first initial sinusoidal detection signal and the second initial sinusoidal detection signal.
[0111] It should be noted that the first initial sine detection signal and the second initial sine detection signal are obtained by multiplying the sine output signal with the sine excitation signal and the cosine excitation signal and then filtering them, respectively, reflecting the amplitude and phase information of the sine residual quantity.
[0112] In one example, for the sinusoidal output signal Rs_act The cosine excitation signal cos(wt) is multiplied to output the first sinusoidal detection signal R. s1 We can obtain the following equation:
[0113]
[0114] Next, the first sinusoidal detection signal R... s1 A filtering operation is performed to remove high-frequency components from the first sinusoidal detection signal, resulting in the second sinusoidal detection signal R. s2 We can obtain the following equation:
[0115]
[0116] At the same time, the sinusoidal output signal R s_act The sinusoidal excitation signal sin(wt) is multiplied to output the fourth sinusoidal detection signal R. s4 We can obtain the following equation:
[0117]
[0118] For the fourth sinusoidal detection signal R s4 A filtering operation is performed to remove high-frequency components from the fourth sinusoidal detection signal, resulting in the fifth sinusoidal detection signal R. s5 We can obtain the following equation:
[0119]
[0120] The second sinusoidal detection signal R in the above formula s2 and the fifth sine detection signal R s5 These are the first initial sine wave detection signal and the second initial sine wave detection signal.
[0121] Step S202: Perform multiplication and filtering operations on the cosine output signal according to the sinusoidal excitation signal and the cosine excitation signal respectively to obtain the first initial cosine detection signal and the second initial cosine detection signal.
[0122] It should be noted that the first initial cosine detection signal and the second initial cosine detection signal are obtained by multiplying the cosine output signal with the sine excitation signal and the cosine excitation signal respectively and then filtering them, reflecting the amplitude and phase information of the cosine residual quantity.
[0123] It should be understood that, based on the above example, the cosine output signal can be multiplied and filtered by the sine excitation signal and the cosine excitation signal respectively to obtain the first initial cosine detection signal and the second initial cosine detection signal.
[0124] Step S203: Determine the target sine detection signal corresponding to the sine output signal based on the first initial sine detection signal and the second initial sine detection signal.
[0125] Furthermore, to effectively eliminate the interference of angle changes on the detection signal, the targeting and accuracy of residual quantity extraction are improved. The target sine detection signal includes a first target sine detection signal and a second target sine detection signal, and the target cosine detection signal includes a first target cosine detection signal and a second target cosine detection signal; step S203 may include:
[0126] The rotary transformer is rotated by a preset angle based on a preset period to obtain an adjusted rotary transformer; the maximum and minimum sine values of the first initial sine detection signal and the second initial sine detection signal are obtained based on the adjusted rotary transformer; the first target sine detection signal and the second target sine detection signal are determined by averaging the maximum and minimum sine values.
[0127] Accordingly, the step of detecting the target cosine signal corresponding to the output signal may include:
[0128] The maximum and minimum cosine values of the first and second initial cosine detection signals are obtained from the adjusted rotary transformer; the maximum and minimum cosine values are averaged to determine the first and second target cosine detection signals.
[0129] It should be noted that the preset cycle refers to the time it takes for the rotary transformer to complete one full angular rotation, which must match the operating speed of the rotary transformer; the preset angle is usually 360° to ensure that it covers the full angular range of the rotary transformer, so that the angle-related signal completes a full cycle change, and the adjusted rotary transformer refers to the state of the rotary transformer after completing the preset angle rotation.
[0130] Specifically, by controlling the rotary transformer to rotate 360°, the angle-dependent AC component (which varies with the angle sine) in the first initial sinusoidal detection signal exhibits periodic fluctuations within the rotation period. The maximum and minimum values of this signal are collected, and the average value is calculated to eliminate the angle-dependent component, resulting in a first target sinusoidal detection signal containing only the excitation residual quantity characteristics. Similarly, the maximum and minimum values of the second initial sinusoidal detection signal are collected within the rotation period, and the average value is calculated to eliminate the angle-dependent component, resulting in a second target sinusoidal detection signal. The first and second target sinusoidal detection signals together constitute the sinusoidal detection signal corresponding to the sinusoidal output signal, providing a direct basis for extracting the residual quantity parameters. Correspondingly, the first and second target cosine detection signals can be obtained by performing the same processing on the first and second initial cosine detection signals.
[0131] In one example, reference Figure 4 and Figure 5 , Figure 4 This is a schematic diagram illustrating the specific implementation of the first detection module for sinusoidal excitation residual quantity in this application. Figure 5 This is a schematic diagram illustrating the specific implementation of the second detection module for sinusoidal excitation residual quantity in this application.
[0132] First, the first multiplier module 21 outputs a sinusoidal signal R. s_act The cosine excitation signal cos(wt) is multiplied to output the first sinusoidal detection signal R. s1 The first filter module 22 detects the first sinusoidal signal R. s1 A filtering operation is performed to remove high-frequency components from the first sinusoidal detection signal, resulting in the second sinusoidal detection signal R. s2 The first filter module 22 can be implemented by a second-order low-pass filter. The first rotating module 23 rotates the rotary transformer 360°, thereby obtaining the second sine detection signal R. s2 The maximum value R s2_max and the minimum value R s2_min ; For R s2_max R s2_min By performing an averaging operation, the third sinusoidal detection signal R can be obtained. s3 ,as follows:
[0133]
[0134] Next, the second multiplier module 31 outputs a sinusoidal signal R. s_act The sinusoidal excitation signal sin(wt) is multiplied to output the fourth sinusoidal detection signal R. s4 The second filter module 32 detects the fourth sine wave signal R. s4 A filtering operation is performed to remove high-frequency components from the fourth sinusoidal detection signal, resulting in the fifth sinusoidal detection signal R. s5 The second filter module 32 can be implemented using a second-order low-pass filter. The second rotation module 33 rotates the rotary transformer 360°, thereby obtaining the fifth sine detection signal R. s5 The maximum value R s5_max and the minimum value R s5_min , for R s5_max R s5_max By performing an averaging operation, the sixth sinusoidal detection signal R can be obtained. s6 ,as follows:
[0135]
[0136] Wherein, the third sine detection signal R in the above formula s3 and the sixth sine detection signal Rs6 These are the first target sine wave detection signal and the second target sine wave detection signal in this embodiment.
[0137] Step S204: Determine the target cosine detection signal corresponding to the cosine output signal based on the first initial cosine detection signal and the second initial cosine detection signal.
[0138] Understandably, based on the above example, the same method can be used to control the rotary transformer to rotate 360°, causing the angle-related AC component (which varies with the angle cosine) in the first initial cosine detection signal to exhibit a complete periodic fluctuation within the rotation period. The maximum and minimum values of this signal are collected, and the average value is calculated. Since the average value of the angle-related component within 360° is zero, the average value only retains the DC component related to the excitation residual, thus obtaining the first target cosine detection signal. Similarly, the maximum and minimum values of the second initial cosine detection signal within the rotation period are collected, and the average value is calculated to eliminate the angle-related component, thus obtaining the first target cosine detection signal. The first and second cosine detection signals together constitute the target cosine detection signal corresponding to the cosine output signal.
[0139] In one example, reference Figure 6 and Figure 7 , Figure 6 This is a schematic diagram illustrating the specific implementation of the first detection module for cosine excitation residual quantity in this application. Figure 7 This is a schematic diagram illustrating the specific implementation of the second detection module for cosine excitation residual quantity in this application.
[0140] First, the third multiplier module 51 outputs the cosine signal R. c_act The cosine excitation signal cos(wt) is multiplied to output the first cosine detection signal R. c1 The third filter module 52 detects the first cosine signal R. c1 A filtering operation is performed to remove high-frequency components from the first cosine detection signal, resulting in the second cosine detection signal R. c2 The third filter module 52 can be implemented using a second-order low-pass filter. The third rotation module 53 rotates the rotary transformer 360°, thereby obtaining the second cosine detection signal R. c2 The maximum value R c2_max and the minimum value R c2_min ; For R c2_max R c2_min By performing an averaging operation, the third cosine detection signal R can be obtained. c3 .
[0141] Next, the fourth multiplier module 61 outputs the cosine signal R. c_act The sinusoidal excitation signal sin(wt) is multiplied to output the fourth cosine detection signal R. c4The fourth filter module 62 detects the fourth cosine signal R. c4 A filtering operation is performed to remove high-frequency components from the fourth cosine detection signal, resulting in the fifth cosine detection signal R. c5 The fourth filter module 62 can be implemented using a second-order low-pass filter. The fourth rotation module 63 rotates the rotary transformer 360°, thereby obtaining the fifth cosine detection signal R. c5 The maximum value R c5_max and the minimum value R c5_min , for R c5_max R c5_max By performing an averaging operation, the sixth cosine detection signal R can be obtained. c6 .
[0142] Wherein, the third cosine detection signal R in the above formula c3 and the sixth cosine detection signal R c6 These are the first target cosine detection signal and the second target cosine detection signal in this embodiment.
[0143] In this embodiment, a method is disclosed to perform multiplication and filtering operations on the sinusoidal output signal based on the sinusoidal excitation signal and the cosine excitation signal, respectively, to obtain a first initial sinusoidal detection signal and a second initial sinusoidal detection signal; to perform multiplication and filtering operations on the cosine output signal based on the sinusoidal excitation signal and the cosine excitation signal, respectively, to obtain a first initial cosine detection signal and a second initial cosine detection signal; a target sinusoidal detection signal corresponding to the sinusoidal output signal is determined based on the first initial sinusoidal detection signal and the second initial sinusoidal detection signal; and a target cosine detection signal corresponding to the cosine output signal is determined based on the first initial cosine detection signal and the second initial cosine detection signal. By using the sinusoidal excitation signal and the cosine excitation signal to perform multiplication and filtering operations on the sinusoidal and cosine output signals, the angle information and excitation residual component in the output signal can be accurately separated, ensuring that the obtained sinusoidal and cosine detection signals accurately reflect the residual characteristics.
[0144] Reference Figure 8 , Figure 8 This is a flowchart illustrating the third embodiment of the output signal calibration method of this application. Based on the above embodiments, a third embodiment of the output signal calibration method of this application is proposed.
[0145] In the third embodiment, step S30 includes:
[0146] Step S301: Take the square root of the sum of the squares of the first target sinusoidal detection signal and the second target sinusoidal detection signal, and multiply it by a preset gain coefficient to obtain the first amplitude.
[0147] It should be noted that the first target sinusoidal detection signal is obtained by removing angle-related components from the first initial sinusoidal detection signal, and only reflects the sinusoidal characteristics of the excitation residual phase in the sinusoidal output signal. The second target sinusoidal detection signal is obtained by removing angle-related components from the second initial sinusoidal detection signal, and only reflects the cosine characteristics of the residual phase. The preset gain coefficient is a parameter that adjusts the coefficients in the first amplitude.
[0148] It should be understood that the first target sinusoidal detection signal and the second target sinusoidal detection signal are proportional to the sine and cosine values of the phase of the sinusoidal excitation residual quantity, respectively. Squaring both signals and using the formula for the sum of squares of trigonometric functions, the square root of the sum of squares is taken and multiplied by 2 (a preset gain coefficient) to obtain the first amplitude, as follows:
[0149]
[0150] Among them, R s3 For the first target sinusoidal detection signal (the third sinusoidal detection signal), R s6 The second target sinusoidal detection signal (sixth sinusoidal detection signal).
[0151] Step S302: Determine the first phase based on the arctangent of the ratio of the first target sinusoidal detection signal and the second target sinusoidal detection signal.
[0152] In one example, reference Figure 9 , Figure 9 This is a schematic diagram illustrating the specific implementation of the third detection module for sinusoidal excitation residual quantity in this application. The third detection module detects the third sinusoidal signal R. s3 By processing the sixth sinusoidal detection signal, the sinusoidal excitation residual R can be obtained. s_err Amplitude A s and phase Specifically, the third sine wave detection signal R is processed through the first sum of squares module 41, the first square root module 42, and the first gain module 43. s3 The sum of squares of the sixth sinusoidal detection signal is taken as the square root and multiplied by 2 (preset gain coefficient) to obtain the first amplitude, which is the amplitude A of the sinusoidal excitation residual quantity. s Simultaneously, the phase of the sinusoidal excitation residual is obtained through the first arctangent module 44. The specific steps are as follows:
[0153]
[0154] At this point, the residual sinusoidal excitation quantity R has been extracted. s_err Amplitude A s and phase Therefore, a sinusoidal output signal R can be used. s_actAn inverted sinusoidal excitation residual is superimposed to cancel the sinusoidal output signal R. s_act The residual amount of sinusoidal excitation in the sample.
[0155] Step S303: Take the square root of the sum of the squares of the first target cosine detection signal and the second target cosine detection signal, and multiply it by the preset gain coefficient to obtain the second amplitude.
[0156] Step S304: Determine the second phase based on the arctangent value of the ratio of the first target cosine detection signal and the second target cosine detection signal.
[0157] In one example, reference Figure 10 , Figure 10 This is a schematic diagram illustrating the specific implementation of the third detection module for cosine excitation residual quantity in this application. The third detection module detects the third cosine signal R. c3 By processing the sixth cosine detection signal, the cosine excitation residual R can be obtained. c_err Amplitude A c and phase Specifically, the second amplitude, i.e., the cosine excitation residual amplitude A, is obtained by taking the square root of the sum of squares of the third cosine detection signal and the sixth cosine detection signal through the second sum of squares module 71, the second square root module 72, and the second gain module 73. c Simultaneously, the phase of the cosine excitation residual is obtained through the second arctangent module 74. The specific steps are as follows:
[0158]
[0159] At this point, the residual cosine excitation quantity R has been extracted. c_err Amplitude A and phase Therefore, the cosine output signal R can be used. c_act An inverted cosine excitation residual is superimposed to cancel the sinusoidal output signal R. c_act The residual cosine excitation in the middle.
[0160] In the third embodiment, step S40 includes:
[0161] Step S401: Based on the first amplitude and the first phase, generate a first reverse residual quantity that is in phase with the excitation residual quantity in the sinusoidal output signal.
[0162] It should be noted that the first reverse residual quantity is a compensation signal generated based on the first amplitude and the first phase, which is opposite in phase to the excitation residual quantity in the sinusoidal output signal. It is used to cancel residual interference in the original signal. The amplitude of this signal is equal to that of the original residual quantity, but the phase is opposite. By superimposing it onto the sinusoidal output signal, effective cancellation of the excitation residual quantity can be achieved.
[0163] Step S402: Based on the second amplitude and the second phase, generate a second reverse residual quantity that is in phase with the excitation residual quantity in the cosine output signal.
[0164] Understandably, the second reverse residual is a compensation signal generated based on the second amplitude and the second phase, which is out of phase with the excitation residual in the cosine output signal, for example...
[0165] Step S403: The first inverse residual is superimposed on the sine output signal, and the second inverse residual is superimposed on the cosine output signal to obtain the corrected target sine output signal and target cosine output signal.
[0166] Understandably, the superposition process must ensure that the inverse residual quantity is synchronized with the original output signal in time to avoid incomplete cancellation due to phase delay; the amplitude accuracy of the inverse residual quantity must be strictly controlled, as any deviation from the amplitude of the original residual quantity will leave uncancelled interference components; and a low-noise signal superposition circuit should be used to prevent the superposition process from introducing new noise.
[0167] In this embodiment, a first amplitude is obtained by taking the square root of the sum of the squares of the first and second target sinusoidal detection signals and multiplying it by a preset gain coefficient; a first phase is determined based on the arctangent of the ratio of the first and second target sinusoidal detection signals; a second amplitude is obtained by taking the square root of the sum of the squares of the first and second target cosine detection signals and multiplying it by the preset gain coefficient; and a second phase is determined based on the arctangent of the ratio of the first and second target cosine detection signals. By generating an inverse residual quantity with the opposite phase to the excitation residual quantity and superimposing it on the original output signal, the excitation residual quantity in the output signal can be directly canceled, significantly improving the waveform quality of the output signal.
[0168] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the output signal calibration method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.
[0169] This application also provides an output signal calibration device, please refer to... Figure 11 The output signal calibration device includes:
[0170] Signal output module 10 is used to acquire the sinusoidal output signal and cosine output signal output by the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity;
[0171] Signal processing module 20 is used to perform signal processing on the sinusoidal output signal and the cosine output signal according to the sinusoidal excitation signal and the corresponding cosine excitation signal, respectively, to obtain the target sinusoidal detection signal and the target cosine detection signal;
[0172] The residual quantity extraction module 30 is used to determine the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal based on the target sinusoidal detection signal, and to determine the second amplitude and second phase of the excitation residual quantity in the cosine output signal based on the target cosine detection signal.
[0173] The signal calibration module 40 is used to construct an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and to correct the sine output signal and the cosine output signal based on the inverse residual.
[0174] The output signal calibration device provided in this application, employing the output signal calibration method described in the above embodiments, can solve the technical problems of how to extract the excitation residual quantity in the output signal of the rotary transformer, and thus handle the large and small waves and unclean zero-crossing points caused by the excitation residual quantity. Compared with the prior art, the beneficial effects of the output signal calibration device provided in this application are the same as those of the output signal calibration method provided in the above embodiments, and other technical features in the output signal calibration device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.
[0175] This application provides an output signal calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the output signal calibration method in Embodiment 1 above.
[0176] The following is for reference. Figure 12The diagram illustrates a structural schematic suitable for implementing the output signal calibration device in the embodiments of this application. The output signal calibration device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 12 The output signal calibration device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0177] like Figure 12 As shown, the output signal calibration device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in the read-only memory 1002 or a program loaded from the storage device 1003 into the random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the output signal calibration device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication device 1009 allows the output signal calibration device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show output signal calibration devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.
[0178] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.
[0179] The output signal calibration device provided in this application, employing the output signal calibration method described in the above embodiments, can solve the technical problems of how to extract the excitation residual quantity in the output signal of the rotary transformer, and thus handle the large and small waves and unclean zero-crossing points caused by the excitation residual quantity. Compared with the prior art, the beneficial effects of the output signal calibration device provided in this application are the same as those of the output signal calibration method provided in the above embodiments, and other technical features of this output signal calibration device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.
[0180] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.
[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0182] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the output signal calibration method in the above embodiments.
[0183] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.
[0184] The aforementioned computer-readable storage medium may be included in the output signal calibration device; or it may exist independently and not assembled into the output signal calibration device.
[0185] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the output signal calibration device, cause the output signal calibration device to perform the output signal calibration method described above.
[0186] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, and C++, as well as conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0187] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.
[0188] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described output signal calibration method. This program can solve the technical problems of how to extract the excitation residual quantity from the output signal of the rotary transformer, and thus handle the large and small waves and unclean zero-crossing points caused by the excitation residual quantity. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the output signal calibration method provided in the above embodiments, and will not be repeated here.
[0189] The above description is only a part of the embodiments of this application and does not limit the scope of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of this application.
Claims
1. An output signal calibration method, characterized in that, The output signal calibration method includes: Obtain the sinusoidal output signal and cosine output signal of the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity; The sinusoidal output signal and the cosine output signal are processed according to the sinusoidal excitation signal and the corresponding cosine excitation signal, respectively, to obtain the target sinusoidal detection signal and the target cosine detection signal. Based on the target sinusoidal detection signal, the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal are determined, and based on the target cosine detection signal, the second amplitude and second phase of the excitation residual quantity in the cosine output signal are determined. An inverse residual is constructed based on the first amplitude, the first phase, the second amplitude, and the second phase, and the sine output signal and the cosine output signal are corrected based on the inverse residual.
2. The output signal calibration method as described in claim 1, characterized in that, The step of processing the sinusoidal output signal and the cosine output signal according to the sinusoidal excitation signal and the corresponding cosine excitation signal respectively to obtain the target sinusoidal detection signal and the target cosine detection signal includes: The sinusoidal output signal is multiplied and filtered according to the sinusoidal excitation signal and the cosine excitation signal respectively to obtain the first initial sinusoidal detection signal and the second initial sinusoidal detection signal. The cosine output signal is multiplied and filtered according to the sinusoidal excitation signal and the cosine excitation signal, respectively, to obtain the first initial cosine detection signal and the second initial cosine detection signal. The target sine detection signal corresponding to the sine output signal is determined based on the first initial sine detection signal and the second initial sine detection signal; The target cosine detection signal corresponding to the cosine output signal is determined based on the first initial cosine detection signal and the second initial cosine detection signal.
3. The output signal calibration method as described in claim 2, characterized in that, The target sine detection signal includes a first target sine detection signal and a second target sine detection signal, and the target cosine detection signal includes a first target cosine detection signal and a second target cosine detection signal; The step of determining the target sine detection signal corresponding to the sine output signal based on the first initial sine detection signal and the second initial sine detection signal includes: The rotary transformer is rotated by a preset angle based on a preset cycle to obtain the adjusted rotary transformer; The maximum and minimum sine values of the first and second initial sine detection signals are obtained based on the adjusted rotary transformer. The first target sinusoidal detection signal and the second target sinusoidal detection signal are determined by averaging the maximum and minimum sinusoidal values. Accordingly, the step of determining the target cosine detection signal corresponding to the cosine output signal based on the first initial cosine detection signal and the second initial cosine detection signal includes: The maximum and minimum cosine values of the first and second initial cosine detection signals are obtained based on the adjusted rotary transformer. The first target cosine detection signal and the second target cosine detection signal are determined by averaging the maximum and minimum cosine values.
4. The output signal calibration method according to any one of claims 1 to 3, characterized in that, The steps of determining the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal based on the target sinusoidal detection signal, and determining the second amplitude and second phase of the excitation residual quantity in the cosine output signal based on the target cosine detection signal, include: The square root of the sum of the squares of the first target sinusoidal detection signal and the second target sinusoidal detection signal is multiplied by a preset gain coefficient to obtain the first amplitude. The first phase is determined based on the arctangent of the ratio of the first target sinusoidal detection signal and the second target sinusoidal detection signal; The square root of the sum of the squares of the first target cosine detection signal and the second target cosine detection signal is taken and multiplied by the preset gain coefficient to obtain the second amplitude. The second phase is determined based on the arctangent of the ratio of the first target cosine detection signal and the second target cosine detection signal.
5. The output signal calibration method according to any one of claims 1 to 3, characterized in that, The step of constructing an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and correcting the sine output signal and the cosine output signal based on the inverse residual, includes: Based on the first amplitude and the first phase, a first reverse residual quantity is generated that is opposite in phase to the excitation residual quantity in the sinusoidal output signal; Based on the second amplitude and the second phase, a second reverse residual quantity is generated that is opposite in phase to the excitation residual quantity in the cosine output signal; The first inverse residual is superimposed on the sine output signal, and the second inverse residual is superimposed on the cosine output signal to obtain the corrected target sine output signal and target cosine output signal.
6. The output signal calibration method according to any one of claims 1 to 3, characterized in that, Before the step of obtaining the sinusoidal output signal and cosine output signal of the rotary transformer under the action of a sinusoidal excitation signal, the method further includes: A sinusoidal excitation signal and a cosine excitation signal are generated according to a preset frequency, wherein the phase of the cosine excitation signal lags behind that of the sinusoidal excitation signal. The sinusoidal excitation signal is applied to the primary winding of the rotary transformer to control the rotary transformer to generate a sinusoidal output signal and a cosine output signal.
7. The output signal calibration method according to any one of claims 1 to 3, characterized in that, After the step of constructing an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and correcting the sine output signal and the cosine output signal based on the inverse residual, the method further includes: The calibrated sine and cosine output signals are normalized to obtain the processed signal. The angular position information of the rotary transformer is calculated based on the processed signal.
8. An output signal calibration device, characterized in that, The device includes: The signal output module is used to acquire the sinusoidal output signal and the cosine output signal output by the rotary transformer under the action of a sinusoidal excitation signal, wherein the sinusoidal output signal and the cosine output signal contain excitation residual quantity; The signal processing module is used to perform signal processing on the sinusoidal output signal and the cosine output signal according to the sinusoidal excitation signal and the corresponding cosine excitation signal, respectively, to obtain the target sinusoidal detection signal and the target cosine detection signal; The residual quantity extraction module is used to determine the first amplitude and first phase of the excitation residual quantity in the sinusoidal output signal based on the target sinusoidal detection signal, and to determine the second amplitude and second phase of the excitation residual quantity in the cosine output signal based on the target cosine detection signal. The signal calibration module is used to construct an inverse residual based on the first amplitude, the first phase, the second amplitude, and the second phase, and to correct the sine output signal and the cosine output signal based on the inverse residual.
9. An output signal calibration device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the output signal calibration method as described in any one of claims 1 to 7.
10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the output signal calibration method as described in any one of claims 1 to 7.