Method and device for diagnosing resolver, electronic equipment and storage medium

Abstract

The application provides a diagnosis method and device of a rotary transformer, electronic equipment and a storage medium. The diagnosis method comprises the following steps: collecting diagnosis data which is predefined during a soft decoding process of the rotary transformer; performing real-time verification on the diagnosis data; obtaining a test result corresponding to each fault category; and finally generating a diagnosis result of the rotary transformer according to the test result corresponding to all fault categories, so as to realize acquisition of the entire rotary transformer signal and monitoring of the soft decoding process.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a diagnostic method, apparatus, electronic device, and storage medium for a rotary transformer. Background Technology

[0002] In the field of electric vehicles, accurate acquisition of the motor rotor position angle is a crucial prerequisite for achieving high-performance control of permanent magnet synchronous motor drive systems. Currently, in electric drive systems, a rotary transformer, known for its high reliability, structural stability, and strong anti-interference capabilities, is commonly chosen to observe the motor rotor position angle. The rotary transformer outputs sine and cosine winding signals containing rotor position angle information, which need to be decoded to obtain the rotor angular velocity and rotor position angle.

[0003] Currently available decoding schemes include two categories: hardware decoding and software decoding. Software decoding refers to the direct transmission of sine and cosine winding signals back to the main control chip, where envelope extraction and angle decoding are performed via software settings to obtain the rotor position angle. Considering that software decoding does not require additional decoding chips and peripheral circuits, and can reduce development costs while ensuring control performance, existing electric vehicle drive systems generally choose software decoding for angle decoding.

[0004] However, in practical applications, soft decoding schemes based on rotary transformers may also encounter faults. For example, various non-ideal external factors may cause the excitation input signal to be lost, the winding signal output by the rotary transformer to have an unbalanced amplitude, the signal to be biased, the sine and cosine signals to be incompletely orthogonal, the decoding angle to be offset, etc., which will lead to deviations in the observed position angle, thereby reducing the system control accuracy, and in severe cases, even causing the control system to collapse. Summary of the Invention

[0005] In view of this, the present invention provides a diagnostic method, apparatus, electronic device and storage medium for a rotary transformer, which analyzes the acquired diagnostic data during the soft decoding process of the rotary transformer to achieve the acquisition of the entire rotary transformer signal and the monitoring of the soft decoding process.

[0006] The first aspect of this invention provides a diagnostic method for a rotary transformer, comprising:

[0007] During the soft decoding of the rotary transformer, diagnostic data is collected; wherein, the diagnostic data includes: a first excitation signal, a second excitation signal, a timestamp collected in each scheduling cycle, a sine winding signal, and a cosine winding signal; the first excitation signal is the excitation signal collected from the hardware circuit; the second excitation signal is the excitation signal output by the main chip;

[0008] Verification results are generated based on the diagnostic data; wherein, the verification results include a first verification result, a second verification result, a third verification result, and a fourth verification result; the first verification result includes the excitation signal fault level, which is obtained by verifying the first excitation signal and the second excitation signal; the second verification result includes the timestamp sequence fault level, which is obtained by verifying the timestamps collected in each scheduling cycle; the third verification result includes the sine and cosine signal square sum fault level and the sine and cosine signal amplitude fault level, which is obtained by verifying the sine winding signal and the cosine winding signal; the fourth verification result includes the angle difference fault level, the speed difference fault level, and the lock-out error fault level, which is obtained by verifying the angle decoding algorithm based on the angle difference, the speed difference, and the lock-out error; the angle difference, the speed difference, and the lock-out error are obtained by tracking and observing the sine winding signal and the cosine winding signal.

[0009] Based on the first verification result, the second verification result, the third verification result, and the fourth verification result, a diagnostic result for the rotary transformer is generated; wherein, the diagnostic result for the rotary transformer includes the currently existing fault type and the corresponding fault level.

[0010] Optionally, the verification based on the first excitation signal and the second excitation signal includes:

[0011] Extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency;

[0012] Extract the amplitude and frequency of the second excitation signal to obtain the second amplitude and the second frequency;

[0013] The fault level of the excitation signal is determined based on the amplitude difference and the amplitude threshold; wherein, the amplitude difference is the difference between the first amplitude and the second amplitude.

[0014] The excitation signal fault level is determined based on the frequency difference and the frequency threshold; wherein the frequency difference is the difference between the first frequency and the second frequency.

[0015] Optionally, the verification based on the timestamps collected in each scheduling cycle includes:

[0016] The second verification result is determined based on the difference between the timestamps collected in each scheduling cycle and the time difference threshold.

[0017] Optionally, the verification based on the sine winding signal and the cosine winding signal includes:

[0018] The sinusoidal signal information of the sinusoidal winding signal is extracted; wherein, the sinusoidal signal information includes: the amplitude of the sinusoidal signal;

[0019] The cosine signal information of the cosine winding signal is extracted; wherein, the cosine signal information includes: cosine signal amplitude;

[0020] The fault level of the sine and cosine signal amplitudes is determined based on the sine signal amplitude, the cosine signal amplitude, and the preset amplitude range.

[0021] The fault level of the sine and cosine signal square sum is determined based on the sum of squares of the sine and cosine signal amplitudes and a preset range of the sum of squares.

[0022] Optionally, if the sine and cosine signals exhibit bias, attenuation, or imbalance, the sine signal information further includes a sine signal bias, and the cosine signal information further includes a cosine signal bias. The verification based on the sine winding signal and the cosine winding signal includes:

[0023] Determine the target angle based on the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset;

[0024] Based on the target angle, the current sine signal amplitude, current cosine signal amplitude, current sine signal offset, and current cosine signal offset are processed to obtain the processed sine signal amplitude, processed cosine signal amplitude, processed sine signal offset, and processed cosine signal offset.

[0025] The fault level of the sine and cosine signal bias is determined based on the difference between the processed sine signal bias and the processed cosine signal bias.

[0026] The fault level of the sine-cosine signal amplitude ratio is determined based on the ratio of the processed cosine signal amplitude to the processed sine signal amplitude.

[0027] Optionally, the tracking and observation of the sinusoidal winding signal and the cosine winding signal includes:

[0028] Signal processing is performed on the sine and cosine signals to obtain the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude; wherein the sine signal is extracted from the sine winding signal; and the cosine signal is extracted from the cosine winding signal.

[0029] The sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude are input into the arctangent function to obtain the first rotational speed and the first angle.

[0030] The first rotational speed, the first angle, the sine signal, and the cosine signal are input into the phase-locked loop, and the second rotational speed, the second angle, and the loss-of-lock error are output.

[0031] Optionally, the step of verifying the angle decoding algorithm based on the angle difference, rotational speed difference, and lock-out error includes:

[0032] The angle difference fault level is determined based on the angle difference and the angle difference threshold; wherein, the angle difference is the difference between the second angle and the first angle;

[0033] The speed difference fault level is determined based on the speed difference and the speed difference threshold; wherein, the speed difference is the difference between the second speed and the first speed;

[0034] The level of the unlocking error is determined based on the unlocking error and the unlocking error threshold.

[0035] A second aspect of the present invention provides a diagnostic device for a rotary transformer, comprising:

[0036] The acquisition unit is used to acquire diagnostic data during the soft decoding process of the rotary transformer; wherein, the diagnostic data includes: a first excitation signal, a second excitation signal, a timestamp acquired in each scheduling cycle, a sine winding signal, and a cosine winding signal; the first excitation signal is the excitation signal acquired from the hardware circuit; the second excitation signal is the excitation signal output by the main chip;

[0037] A diagnostic unit is used to generate verification results based on the diagnostic data; wherein, the verification results include a first verification result, a second verification result, a third verification result, and a fourth verification result; the first verification result includes an excitation signal fault level, which is obtained by verifying the first excitation signal and the second excitation signal; the second verification result includes a timestamp sequence fault level, which is obtained by verifying the timestamps collected in each scheduling cycle; the third verification result includes a sine / cosine signal square sum fault level and a sine / cosine signal amplitude fault level, which is obtained by verifying the sine winding signal and the cosine winding signal; the fourth verification result includes an angle difference fault level, a speed difference fault level, and a lock-out error fault level, which is obtained by verifying the angle decoding algorithm based on the angle difference, speed difference, and lock-out error; the angle difference, the speed difference, and the lock-out error are obtained by tracking and observing the sine winding signal and the cosine winding signal.

[0038] The diagnostic result generation unit is used to generate a diagnostic result for the rotary transformer based on the first verification result, the second verification result, the third verification result, and the fourth verification result; wherein the diagnostic result for the rotary transformer includes the currently existing fault type and the corresponding fault level.

[0039] Optionally, the diagnostic unit includes:

[0040] The first extraction unit is used to extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency.

[0041] The first extraction unit is further configured to extract the amplitude and frequency of the second excitation signal to obtain a second amplitude and a second frequency;

[0042] An excitation signal fault level determination unit is used to determine the excitation signal fault level based on the amplitude difference and the amplitude threshold; wherein the amplitude difference is the difference between a first amplitude and a second amplitude.

[0043] The excitation signal fault level determination unit is further configured to determine the excitation signal fault level based on the frequency difference and the frequency threshold; wherein the frequency difference is the difference between the first frequency and the second frequency.

[0044] Optionally, the diagnostic unit includes:

[0045] The second diagnostic subunit is used to determine the second verification result based on the difference between the timestamps collected in each scheduling cycle and the time difference threshold.

[0046] Optionally, the diagnostic unit includes:

[0047] The second extraction unit is used to extract the sinusoidal signal information of the sinusoidal winding signal; wherein, the sinusoidal signal information includes: the amplitude of the sinusoidal signal;

[0048] The second extraction unit is further configured to extract cosine signal information of the cosine winding signal; wherein the cosine signal information includes: cosine signal amplitude;

[0049] The cosine signal amplitude fault level determination unit is used to determine the fault level of the sine and cosine signal amplitudes based on the sine signal amplitude, the cosine signal amplitude, and a preset amplitude range.

[0050] The sine and cosine signal sum of squares level determination unit is used to determine the fault level of the sine and cosine signal sum of squares based on the sum of squares of the amplitude of the sine signal and the amplitude of the cosine signal, as well as a preset range of sum of squares.

[0051] Optionally, if the sine and cosine signals exhibit bias, attenuation, or imbalance, the sine signal information further includes a sine signal bias, and the cosine signal information further includes a cosine signal bias. The diagnostic unit includes:

[0052] The target angle determination unit is used to determine the target angle based on the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset.

[0053] The processing unit is used to process the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset based on the target angle, so as to obtain the processed sine signal amplitude, the processed cosine signal amplitude, the processed sine signal offset, and the processed cosine signal offset.

[0054] The bias fault level determination unit is used to determine the sine and cosine signal bias fault levels based on the difference between the processed sine signal bias and the processed cosine signal bias.

[0055] The sine-cosine signal amplitude ratio fault level determination unit is used to determine the sine-cosine signal amplitude ratio fault level based on the ratio of the processed cosine signal amplitude to the processed sine signal amplitude.

[0056] Optionally, the diagnostic device for the rotary transformer further includes:

[0057] The signal processing unit is used to process the sine and cosine signals to obtain the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude; wherein the sine signal is extracted from the sine winding signal; and the cosine signal is extracted from the cosine winding signal.

[0058] The arctangent function processing unit is used to input the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude into the arctangent function, and output the first rotational speed and the first angle.

[0059] The phase-locked loop processing unit is used to input the first rotational speed, the first angle, the sine signal, and the cosine signal into the phase-locked loop, and output the second rotational speed, the second angle, and the loss-of-lock error.

[0060] Optionally, the diagnostic unit includes:

[0061] Angle difference fault level determination unit is used to determine the angle difference fault level based on the angle difference and the angle difference threshold; wherein, the angle difference is the difference between the second angle and the first angle;

[0062] A speed difference fault level determination unit is used to determine the speed difference fault level based on the speed difference and the speed difference threshold; wherein, the speed difference is the difference between the second speed and the first speed;

[0063] The unlocking error fault level determination unit is used to determine the unlocking error fault level based on the unlocking error and the unlocking error threshold.

[0064] A third aspect of the present invention provides an electronic device, comprising:

[0065] One or more processors;

[0066] A storage device on which one or more programs are stored;

[0067] When the one or more programs are executed by the one or more processors, the one or more processors implement the diagnostic method for a rotary transformer as described in any one of the first aspects.

[0068] A fourth aspect of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the diagnostic method for a rotary transformer as described in any one of the first aspects.

[0069] As can be seen from the above scheme, the present invention provides a diagnostic method, device, electronic device, and storage medium for a rotary transformer. By collecting pre-defined diagnostic data during the soft decoding process of the rotary transformer and verifying the diagnostic data in real time, the test results corresponding to each fault category are obtained. Finally, the diagnostic results of the rotary transformer are generated based on the test results corresponding to all fault categories, realizing the acquisition of the entire rotary transformer signal and monitoring of the soft decoding process. Compared with the prior art, the present invention does not require additional speed or angle sensors during the fault diagnosis process, saving costs; the diagnostic process does not require the use of a Delta-Sigma Analog-to-Digital Converter (DSADC) module to implement the angle decoding of sine and cosine signals, reducing the dependence on the DSADC module; the algorithm provides corresponding hierarchical fault diagnosis for signals at each stage of the rotary transformer soft decoding, providing corresponding warnings for general faults and timely protective actions in the event of serious faults. Furthermore, during the diagnostic process, the fault type, location, and severity can be quickly determined based on the output fault diagnosis signal. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0071] Figure 1 A detailed flowchart of a diagnostic method for a rotary transformer provided in an embodiment of the present invention;

[0072] Figure 2 A schematic diagram of a diagnostic method for a rotary transformer based on a software decoding scheme, provided in another embodiment of the present invention;

[0073] Figure 3 A schematic diagram of an angle tracking observer provided in another embodiment of the present invention;

[0074] Figure 4 A detailed flowchart of a first verification method provided in another embodiment of the present invention;

[0075] Figure 5 A detailed flowchart of a third verification method provided in another embodiment of the present invention;

[0076] Figure 6 A detailed flowchart of a third verification method (when sine and cosine signals are biased, attenuated, or unbalanced) provided in another embodiment of the present invention;

[0077] Figure 7 This is a schematic diagram of the simulation results for excitation signal loss verification provided in another embodiment of the present invention;

[0078] Figure 8 A schematic diagram of a sine and cosine signal fault verification simulation result provided in another embodiment of the present invention;

[0079] Figure 9 A schematic diagram of the simulation results for fault verification of an angle decoding algorithm provided in another embodiment of the present invention;

[0080] Figure 10 A schematic diagram of a diagnostic device for a rotary transformer according to another embodiment of the present invention;

[0081] Figure 11 This is a schematic diagram of an electronic device for implementing a diagnostic method for a rotary transformer, as provided in another embodiment of the present invention. Detailed Implementation

[0082] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0084] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0085] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0086] This invention provides a diagnostic method for a rotary transformer, such as... Figure 1 As shown, the specific steps include:

[0087] S101. During the soft decoding of the rotary transformer, diagnostic data is collected.

[0088] The diagnostic data includes, but is not limited to: the first excitation signal, the second excitation signal, the timestamp collected in each scheduling cycle, the sine winding signal, and the cosine winding signal; the first excitation signal is the excitation signal collected from the hardware circuit; the second excitation signal is the excitation signal output by the main chip.

[0089] like Figure 2 The diagram shown is a schematic of a diagnostic method for a rotary transformer based on a soft decoding scheme provided by an embodiment of the present invention. It can be seen that the present invention is based on the observation process of the entire motor rotor position angle.

[0090] The observation process for the rotor position angle is as follows:

[0091] The first step is for the main chip to inject an excitation signal of a certain frequency into the rotary transformer. When the motor rotates, the rotary transformer outputs sine and cosine winding signals containing position information. The commonly used injection frequency is between 1kHz and 20kHz. The specific setting depends on the application requirements and performance. Generally speaking, high-frequency excitation can reduce electrical errors.

[0092] The second step is to extract the signal envelope from the winding signal through hardware circuits that include sampling, filtering, shaping and integration functions, and output sine and cosine signals. Specifically, this can be achieved by differential amplification, bandpass filtering, synchronous demodulation and low-pass filtering of the sine / cosine winding signal of the rotary transformer, and then outputting sine / cosine signals.

[0093] The third step is for the angle tracking observer to calculate the motor rotor angular velocity (second speed) and rotor position angle (second angle) based on the sine and cosine signals. Specifically, this can be achieved by subtracting the product 'a' of the sine signal and the cosine value of the phase-locked loop output angle and the product 'b' of the cosine signal and the sine value of the phase-locked loop output angle. The difference is then used by the PI controller to output the angle value, i.e., the second angle. The second speed is obtained by differentiating the second angle.

[0094] like Figure 3 As shown, the sine and cosine signals, along with related information obtained after signal processing (sine and cosine signals), are used to calculate the motor rotor angular velocity (first rotational speed) and position angle (first angle) using the arctangent function. Specifically, the angle value θ can be obtained by, but is not limited to, using the input sine signal sinθ and the cosine signal cosθ to obtain the tangent signal tanθ = sinθ / cosθ, and then using the arctangent function arctanθ. The rotational speed is obtained by differentiating the angle.

[0095] The outputs of the sine and cosine signals and the arctangent function are used as inputs to the PLL (Phase Locked Logic). The first rotational speed and first angle of the first cycle serve as initial values ​​for the PLL's angle tracking module, yielding a second rotational speed and second angle that more closely approximate the actual motor speed and rotor position angle. Specifically, the difference between the product 'a' of the sine signal and the cosine of the PLL output angle and the product 'b' of the cosine of the cosine and the sine of the PLL output angle is used to output the angle value (the second angle) through a PI controller. The derivative of the second angle yields the second rotational speed. Based on this, the first rotational speed and first angle serve as the initial values ​​for the PLL output, with an unlocking error of 'ab'.

[0096] In the existing technology, the faults that occur during the above-mentioned soft decoding process mainly include the following four categories: the excitation signal output by the main chip is lost, making it impossible for the rotary transformer to output a signal containing rotor information; the soft decoding process does not run normally; the rotary transformer and hardware circuit cannot correctly extract the envelope of sine and cosine signals, resulting in loss, attenuation or distortion of sine and cosine signals; and the angle decoding process is erroneous, making it impossible to correctly decode the motor rotor angle based on the sine and cosine signals.

[0097] Therefore, the comprehensive diagnostic scheme proposed in this invention designs corresponding diagnostic methods for the above four types of faults, generates verification results based on diagnostic data, and realizes the acquisition of the entire rotary transformer signal and the monitoring of the soft decoding process. For details, see steps S102 to S105.

[0098] S102. Verify based on the first excitation signal and the second excitation signal to obtain the first verification result.

[0099] The first verification result includes the excitation signal fault level.

[0100] Optionally, in another embodiment of the present invention, one implementation of step S102 is as follows: Figure 4 As shown, it includes:

[0101] S401. Extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency.

[0102] In the actual application of this invention, the amplitude and frequency of the first excitation signal can be extracted directly from the chip to obtain the first amplitude and the first frequency, but this is not limited to that.

[0103] S402. Extract the amplitude and frequency of the second excitation signal to obtain the second amplitude and the second frequency.

[0104] It should be noted that the excitation signal injected into the rotary transformer is a sinusoidal signal. r The rotary transformer outputs mutually perpendicular sine and cosine winding signals. s1 and c1 The relationship is as follows:

[0105] r =U o *sinωt; s1 =k*U o *sinωt*sinθ; c1 =k*U o *sinωt*cosθ;

[0106] Among them, U o ω is the amplitude of the excitation signal, k is the angular frequency of the excitation signal, θ is the turns ratio of the primary and secondary windings, and θ is the angle between the cosine winding axis and the rotor axis, which is the rotor position angle of the motor. If the excitation signal injected into the rotary transformer is lost, the output winding signal will be 0, and the angle cannot be correctly decoded.

[0107] Therefore, the diagnostic method for excitation signal loss in this invention is as follows: the input excitation signal (first excitation signal) of the rotary transformer is retrieved, and it is determined whether the amplitude and frequency of the retrieved excitation signal (first excitation signal) are consistent with the excitation signal (second excitation signal) output by the main chip. If a large difference is found, it is considered that the excitation signal is lost or attenuated, and it is determined that the soft decoding process of the rotary transformer has failed.

[0108] S403. Determine the excitation signal fault level based on the amplitude difference and amplitude threshold.

[0109] The amplitude difference is the difference between the first amplitude and the second amplitude. The amplitude threshold is preset by experts or authorized technical personnel and is not specified here.

[0110] In the specific implementation of this invention, the amplitude threshold can be in multiple ranges, such as 0~5% representing no fault, 5~10% representing a first-level fault, 10~15% representing a second-level fault, and more than 15% representing a third-level fault. No limitation is made here.

[0111] S404. Determine the excitation signal fault level based on the frequency difference and frequency threshold.

[0112] The frequency difference is the difference between the first frequency and the second frequency. The frequency threshold is preset by experts or authorized technical personnel and is not specified here. For example, 0-5% represents no fault, 5-10% represents a level one fault, 10-15% represents a level two fault, and more than 15% represents a level three fault; this is not specified here.

[0113] In the practical application of this invention, since the main chip outputs two square wave signals to ground, these signals are converted into sinusoidal excitation signals through a rotary transformer circuit. The excitation feedback is performed on these two square wave signals, and the feedback information mainly includes the operating period and duty cycle of the square waves. The period and duty cycle determine the amplitude and frequency of the output excitation signal. Therefore, by checking the operating period and duty cycle of these two square waves, the excitation signal can also be diagnosed; this is not limited here.

[0114] S103. Verify the timestamps collected in each scheduling cycle to obtain the second verification result.

[0115] The second verification result includes the fault level of the timestamp sequence.

[0116] Optionally, in another embodiment of the present invention, one implementation of step S103 includes:

[0117] The second verification result is determined based on the difference between the timestamps collected in each scheduling cycle and the time difference threshold.

[0118] The time difference threshold is preset by experts and authorized technical personnel, and is not limited here.

[0119] It is understandable that the software decoding algorithm runs once within a fixed period. Therefore, if it does not run according to the schedule, it means that the decoded information is unreliable.

[0120] In the specific implementation of this invention, a timestamp sequence can be output through the configuration register. Each time the soft decoding algorithm is run, a timestamp is collected. Since the time between two runs is fixed, the difference between the collected timestamps should also be a fixed value. Therefore, the timestamp difference is used to determine whether the run is successful or not. If the time difference threshold is exceeded, it is considered that the soft decoding process of the rotary transformer has failed and the output angle is unreliable.

[0121] In this invention, the timestamp sequence is a register count value. For example, during normal operation, the scheduling cycle of the software decoding algorithm is 102.4 µs. At the beginning of each cycle, a register value is sampled, which is called a timestamp. The algorithm's running cycle is fixed, so the difference between the timestamp of the current cycle and the timestamp of the previous cycle should be fixed at 102.4 µs. The register timestamps every 0.01 µs, and the timestamp difference is 10240. To ensure stable operation, a certain margin can be taken. For example, a deviation of no more than 10 is considered fault-free, a deviation between 10 and 20 is considered a level one fault, and a deviation greater than 20 is considered a level three fault. No limit is set here.

[0122] S104. Verify based on the sine winding signal and the cosine winding signal to obtain the third verification result.

[0123] The third verification result includes: the fault level of the sum of squares of sine and cosine signals and the fault level of the amplitude of sine and cosine signals.

[0124] Optionally, in another embodiment of the present invention, one implementation of step S104 is as follows: Figure 5 As shown, it includes:

[0125] S501. Extract the sinusoidal signal information of the obtained sinusoidal winding signal.

[0126] The sinusoidal signal information includes, but is not limited to, the amplitude of the sinusoidal signal, which is not specified here.

[0127] S502. Extract the cosine signal information of the obtained cosine winding signal.

[0128] The cosine signal information includes, but is not limited to, the cosine signal amplitude, which is not specified here.

[0129] Understandably, the envelope (sine and cosine signals) containing rotor information is extracted from the sine and cosine winding signals. s and cosine signal c As shown below:

[0130] s =U m *sinθ+ΔU1; c =l*U m *cosθ+ΔU2;

[0131] Where Um is the amplitude of the sine and cosine signals, ΔU1 is the sine signal bias, ΔU2 is the cosine signal bias, and l is the ratio of the cosine signal amplitude to the sine signal amplitude.

[0132] S503. Determine the fault level of the sine and cosine signal amplitudes based on the amplitude of the sine signal, the amplitude of the cosine signal, and the preset amplitude range.

[0133] The preset amplitude range is pre-set by experts and relevant authorized technical personnel, and is not limited here.

[0134] Specifically, the amplitudes of the sine and cosine signals are compared with preset amplitude ranges to obtain the fault levels of the sine and cosine signal amplitudes.

[0135] S504. Determine the fault level of the sum of squares of the sine and cosine signals based on the sum of squares of the sine and cosine signal amplitudes and the preset range of the sum of squares.

[0136] The preset range of the sum of squares is pre-set by experts and relevant authorized technical personnel, and is not limited here.

[0137] In the practical application of this invention, when the sine and cosine signals are biased, attenuated, or unbalanced, it will cause a deviation in the output angle. Therefore, in another embodiment of this invention, one implementation of step S104 is as follows: Figure 6 As shown, it also includes:

[0138] S601. Determine the target angle based on the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset.

[0139] In the practical application of this invention, the target angle φ can be calculated using the following formula, which is not limited here:

[0140] φ=arctan((U m *sinθ+ΔU1) / (l*U m *cosθ+ΔU2)).

[0141] S602. Based on the target angle, process the current sine signal amplitude, current cosine signal amplitude, current sine signal bias, and current cosine signal bias to obtain the processed sine signal amplitude, processed cosine signal amplitude, processed sine signal bias, and processed cosine signal bias.

[0142] In the practical application of this invention, step S602 can be implemented using the following formula, which is not limited here:

[0143] (U m *sinθ+ΔU1)*cosφ-(l*U m *cosθ+ΔU2)*sinφ=0.

[0144] S603. Determine the fault level of the sine and cosine signal biases based on the difference between the processed sine signal bias and the processed cosine signal bias.

[0145] Specifically, a bias threshold can be preset to determine whether a bias fault has occurred and its level. For example, 0-5% represents no fault, 5-10% represents a level 1 fault, 10-15% represents a level 2 fault, and more than 15% represents a level 3 fault. No limit is set here.

[0146] S604. Determine the fault level of the sine-cosine signal amplitude ratio based on the ratio of the processed cosine signal amplitude to the processed sine signal amplitude.

[0147] Specifically, a threshold for the amplitude ratio of sine and cosine signals can be preset to determine whether an offset fault has occurred and the fault level. For example, 0~5% represents no fault, 5~10% represents a level 1 fault, 10~15% represents a level 2 fault, and more than 15% represents a level 3 fault. No limit is set here.

[0148] S105. The angle decoding algorithm is verified based on the angle difference, rotational speed difference, and loss of lock error to obtain the fourth verification result.

[0149] The fourth verification result includes: angle difference fault level, speed difference fault level, and lockout error fault level.

[0150] In the practical application of this invention, the angle difference, speed difference, and unlocking error can be obtained by tracking and observing the sine winding signal and the cosine winding signal, specifically including the following steps:

[0151] First, the sine and cosine signals are processed to obtain the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude. Then, the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude are input into the arctangent function to obtain the first rotational speed and the first angle. Finally, the first rotational speed, the first angle, the sine signal, and the cosine signal are input into the phase-locked loop to obtain the second rotational speed, the second angle, and the loss-of-lock error.

[0152] The sine signal is extracted from the sine winding signal; the cosine signal is extracted from the cosine winding signal.

[0153] Optionally, in another embodiment of the present invention, one implementation of step S105 includes:

[0154] The fault level of angle difference is determined based on the angle difference and the angle difference threshold; the fault level of speed difference is determined based on the speed difference and the speed difference threshold; and the fault level of lockout error is determined based on the lockout error and the lockout error threshold.

[0155] Wherein, the angle difference is the difference between the second angle and the first angle; the rotational speed difference is the difference between the second rotational speed and the first rotational speed.

[0156] Among them, the angle difference threshold, speed difference threshold, and lockout error are preset by experts and relevant authorized technical personnel, and are not limited here.

[0157] S106. Based on the first verification result, the second verification result, the third verification result, and the fourth verification result, generate the diagnostic result of the rotary transformer.

[0158] The diagnostic results for the rotary transformer include the current fault types and their corresponding fault levels.

[0159] In practical applications of this invention, different faults correspond to different signal names. For example, the timestamp fault signal name is DSADCTimeStampFltLevel, and the output variable is 1, indicating that the timestamp verification reports a level one fault. This signal is transmitted to the host computer, enabling independent monitoring of different faults to quickly determine the fault type. Once a serious fault occurs, the controller automatically shuts down, reduces its rating, or issues a warning.

[0160] Optionally, in another embodiment of the present invention, the diagnostic results of the rotary transformer may further include the comprehensive fault level of the rotary transformer; wherein, the comprehensive fault level of the rotary transformer is the highest level of the fault level corresponding to the currently existing fault type.

[0161] The technical solution of the present invention is tested by building a model through a simulation platform. By introducing different deviations into the process, the feasibility of the present invention is judged by whether the output results can reflect the fault type and fault level.

[0162] Specifically, the excitation signal is set to a lost state, and the output is as follows: Figure 7 As shown, when the excitation feedback signal (ExcBack) is 0, and the frequency (ElecFrqIn) and angle (ThetaIn) are input normally, the winding signal output by the resolver does not carry angle information. The sine and cosine signals (dsadc_sinoutput, dsadc_cosoutput) sampled by the DSADC module are also 0, similarly lacking angle information. The decoded rotational speed (ElecFrqObsvr_Hz) and angle (ThetaObsvr_rad) are 0, the excitation signal fault level (excLossFltLevel) is the highest level, and the overall fault level of the resolver (RslvFdbFltLevel) is also the highest level. Simulation results show that once the excitation signal is lost, the overall fault level is immediately output at the highest level, and the monitoring of the excitation signal displays the highest fault level. The loss of the excitation signal can be determined based on the fault diagnosis results.

[0163] Given a sine-cosine amplitude ratio (RatioReal), and a large cosine signal bias, the output is as follows: Figure 8 As shown, the sine and cosine signals (dsadc_sinoutput, dsadc_cosoutput) acquired by the DSADC module reflect the above situation. The output angle (ThetaObsvr_rad) and input angle (ThetaIn) are compared as follows: Figure 8As shown in the second image from the left, the input-output angle difference (ThetaObsvr_Err) is shown in the third image from the left. It can be seen that when the amplitude ratio of the sine and cosine signals changes and there is bias, the decoded output angle has a large error compared to the input angle. At this time, the overall fault level of the output rotary transformer is 3, indicating that the current observed angle is unreliable. The amplitude ratio fault level (SinCosRatioFltLevel) is 3, indicating that the amplitude ratio of the sine and cosine signals exceeds the threshold. The bias fault level (SinCosOfsFltLevel) is 3, indicating that the bias of the sine and cosine signals exceeds the threshold. The amplitude range fault level (SinCosRangeFltLevel) of the sine and cosine signals is changing, serving as reference information for judging the bias and amplitude ratio of the sine and cosine signals. The excitation signal has no fault, confirming that the problem with the sine and cosine signals is caused by the rotary transformer or hardware circuitry, and the judgment result is consistent with the given fault.

[0164] If a fault occurs at any point in the application layer algorithm, the sine and cosine signals (dsadc_sinoutput, dsadc_cosoutput) input to the algorithm will be as follows: Figure 9 As shown, the output angle observation error (ThetaObsvr_Err) is very large, and the output state is also as shown. Figure 9 As shown in the figure, the overall fault level of the rotary transformer is 3, meaning the decoded output angle is unreliable. The corresponding amplitude over-limit fault level is 0, the bias fault level is 0, and the signal amplitude ratio fault level is 0. Therefore, it can be assumed that the input to the current decoding algorithm is not faulty, and the fault location can be determined to be in the angle decoding algorithm section. Furthermore, according to... Figure 9 As shown, the fault levels of the angle error (ThetaChkFltLevel) and rotational speed error (SpdChkFltLevel) output by the algorithm are 3, further confirming that the fault occurred in the soft decoding algorithm module, and the judgment result is consistent with the given fault location.

[0165] As can be seen from the above scheme, this invention provides a diagnostic method for a rotary transformer. By collecting pre-defined diagnostic data during the soft decoding process of the rotary transformer and verifying the diagnostic data in real time, the method obtains the test results corresponding to each fault category. Finally, based on the test results corresponding to all fault categories, it generates the diagnostic results of the rotary transformer, realizing the acquisition of the entire rotary transformer signal and monitoring of the soft decoding process. Compared with existing technologies, this invention does not require additional speed or angle sensors during the fault diagnosis process, saving costs; the diagnostic process does not require the use of a DSADC module to implement angle decoding of sine and cosine signals, reducing dependence on the DSADC module; the algorithm provides corresponding graded fault diagnosis for signals at each stage of the rotary transformer soft decoding, providing corresponding warnings for general faults and timely protective actions for serious faults. Furthermore, during the diagnostic process, it can quickly determine the fault type, the location of the fault, and the severity of the fault based on the output fault diagnosis signal.

[0166] Another embodiment of the present invention provides a diagnostic device for a rotary transformer, such as... Figure 10 As shown, it specifically includes:

[0167] The acquisition unit 1001 is used to acquire diagnostic data during the soft decoding of the rotary transformer.

[0168] The diagnostic data includes: a first excitation signal, a second excitation signal, a timestamp collected in each scheduling cycle, a sine winding signal, and a cosine winding signal; the first excitation signal is the excitation signal collected from the hardware circuit; the second excitation signal is the excitation signal output by the main chip.

[0169] The diagnostic unit 1002 is used to generate verification results based on diagnostic data.

[0170] The verification results include a first verification result, a second verification result, a third verification result, and a fourth verification result. The first verification result includes the excitation signal fault level, which is obtained by verifying the first and second excitation signals. The second verification result includes the timestamp sequence fault level, which is obtained by verifying the timestamps collected in each scheduling cycle. The third verification result includes the fault levels of the sum of squares of sine and cosine signals and the amplitude of sine and cosine signals, which are obtained by verifying the sine winding signal and the cosine winding signal. The fourth verification result includes the angle difference fault level, the speed difference fault level, and the unlocking error fault level, which are obtained by verifying the angle decoding algorithm based on the angle difference, speed difference, and unlocking error. The angle difference, speed difference, and unlocking error are obtained by tracking and observing the sine winding signal and the cosine winding signal.

[0171] Optionally, in another embodiment of the present invention, one implementation of the diagnostic unit 1002 includes:

[0172] The first extraction unit is used to extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency.

[0173] The first extraction unit is also used to extract the amplitude and frequency of the second excitation signal to obtain the second amplitude and the second frequency.

[0174] The excitation signal fault level determination unit is used to determine the excitation signal fault level based on the amplitude difference and amplitude threshold.

[0175] The amplitude difference is the difference between the first amplitude and the second amplitude.

[0176] The excitation signal fault level determination unit is also used to determine the excitation signal fault level based on the frequency difference and frequency threshold.

[0177] The frequency difference is the difference between the first frequency and the second frequency.

[0178] For details on the specific operation of the units disclosed in the above embodiments of the present invention, please refer to the corresponding method embodiments, such as... Figure 4 As shown, it will not be elaborated further here.

[0179] Optionally, in another embodiment of the present invention, one implementation of the diagnostic unit 1002 includes:

[0180] The second diagnostic subunit is used to determine the second verification result based on the difference between the timestamps collected in each scheduling cycle and the time difference threshold.

[0181] The specific working process of the units disclosed in the above embodiments of the present invention can be found in the corresponding method embodiments, and will not be repeated here.

[0182] Optionally, in another embodiment of the present invention, one implementation of the diagnostic unit 1002 includes:

[0183] The second extraction unit is used to extract the sinusoidal signal information of the sinusoidal winding signal.

[0184] The sinusoidal signal information includes: the amplitude of the sinusoidal signal.

[0185] The second extraction unit is also used to extract the cosine signal information of the cosine winding signal.

[0186] The cosine signal information includes: the amplitude of the cosine signal.

[0187] The cosine signal amplitude fault level determination unit is used to determine the fault level of sine and cosine signal amplitudes based on the sine signal amplitude, cosine signal amplitude, and a preset amplitude range.

[0188] The sine and cosine signal sum of squares level determination unit is used to determine the fault level of the sine and cosine signal sum of squares based on the sum of the squares of the sine and cosine signal amplitudes and a preset sum of squares range.

[0189] For details on the specific operation of the units disclosed in the above embodiments of the present invention, please refer to the corresponding method embodiments, such as... Figure 5 As shown, it will not be elaborated further here.

[0190] Optionally, if the sine and cosine signals exhibit bias, attenuation, or imbalance, the sine signal information further includes the sine signal bias, and the cosine signal information further includes the cosine signal bias. One embodiment of the diagnostic unit 1002 includes:

[0191] The target angle determination unit is used to determine the target angle based on the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset.

[0192] The processing unit is used to process the current sine signal amplitude, current cosine signal amplitude, current sine signal bias, and current cosine signal bias based on the target angle, so as to obtain the processed sine signal amplitude, processed cosine signal amplitude, processed sine signal bias, and processed cosine signal bias.

[0193] The bias fault level determination unit is used to determine the bias fault level of sine and cosine signals based on the difference between the bias of the processed sine signal and the bias of the processed cosine signal.

[0194] The sine-cosine signal amplitude ratio fault level determination unit is used to determine the sine-cosine signal amplitude ratio fault level based on the ratio of the processed cosine signal amplitude to the processed sine signal amplitude.

[0195] For details on the specific operation of the units disclosed in the above embodiments of the present invention, please refer to the corresponding method embodiments, such as... Figure 6 As shown, it will not be elaborated further here.

[0196] Optionally, in another embodiment of the present invention, one implementation of the diagnostic device for the rotary transformer further includes:

[0197] The signal processing unit is used to process sine and cosine signals to obtain the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude.

[0198] The sine signal is extracted from the sine winding signal; the cosine signal is extracted from the cosine winding signal.

[0199] The arctangent function processing unit is used to input the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude into the arctangent function, and output the first rotational speed and the first angle.

[0200] The phase-locked loop processing unit is used to input the first rotational speed, the first angle, the sine signal, and the cosine signal into the phase-locked loop, and output the second rotational speed, the second angle, and the loss-of-lock error.

[0201] Optionally, in another embodiment of the present invention, one implementation of the diagnostic unit 1002 includes:

[0202] Angle difference fault level determination unit is used to determine the angle difference fault level based on the angle difference and the angle difference threshold.

[0203] The angle difference is the difference between the second angle and the first angle.

[0204] The speed difference fault level determination unit is used to determine the speed difference fault level based on the speed difference and the speed difference threshold.

[0205] The speed difference is the difference between the second speed and the first speed.

[0206] The unlocking error fault level determination unit is used to determine the unlocking error fault level based on the unlocking error and the unlocking error threshold.

[0207] The specific working process of the units disclosed in the above embodiments of the present invention can be found in the corresponding method embodiments, and will not be repeated here.

[0208] The diagnostic result generation unit 1003 is used to generate diagnostic results for the rotary transformer based on the first verification result, the second verification result, the third verification result, and the fourth verification result.

[0209] The diagnostic results for the rotary transformer include the current fault types and their corresponding fault levels.

[0210] For details on the specific operation of the units disclosed in the above embodiments of the present invention, please refer to the corresponding method embodiments, such as... Figure 1 As shown, it will not be elaborated further here.

[0211] As can be seen from the above scheme, the present invention provides a diagnostic device for a rotary transformer. By collecting pre-defined diagnostic data during the soft decoding process of the rotary transformer and verifying the diagnostic data in real time, the device obtains the test results corresponding to each fault category. Finally, based on the test results corresponding to all fault categories, the device generates the diagnostic results for the rotary transformer, realizing the acquisition of the entire rotary transformer signal and monitoring of the soft decoding process. Compared with existing technologies, the present invention does not require additional speed or angle sensors during the fault diagnosis process, saving costs; the diagnostic process does not require the use of a DSADC module to implement angle decoding of sine and cosine signals, reducing dependence on the DSADC module; the algorithm provides corresponding graded fault diagnosis for signals at each stage of the rotary transformer soft decoding, providing corresponding warnings for general faults and timely protective actions for serious faults. Furthermore, during the diagnostic process, the device can quickly determine the fault type, location, and severity based on the output fault diagnosis signal.

[0212] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0213] Another embodiment of the present invention provides an electronic device, such as... Figure 11 As shown, it includes:

[0214] One or more processors 1101.

[0215] Storage device 1102, on which one or more programs are stored.

[0216] When the one or more programs are executed by the one or more processors 1101, the one or more processors 1101 implement the rotary transformer diagnostic method as described in the above embodiments.

[0217] Another embodiment of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the diagnostic method for a rotary transformer as described in the above embodiments.

[0218] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on 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 of the foregoing.

[0219] It should be noted that the computer-readable medium described above in this invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0220] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0221] Another embodiment of the present invention provides a computer program product, which, when executed, is used to perform the above-described diagnostic method for a rotary transformer.

[0222] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory 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 a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined in the methods of the embodiments of the present invention.

[0223] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in this invention is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely exemplary forms for implementing the invention.

[0224] While several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of the invention. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0225] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with technical features of the present invention (but not limited to) that have similar functions.

Claims

1. A diagnostic method for a rotary transformer, characterized in that, include: During the soft decoding of the rotary transformer, diagnostic data is collected; wherein, the diagnostic data includes: a first excitation signal, a second excitation signal, a timestamp collected in each scheduling cycle, a sine winding signal, and a cosine winding signal; the first excitation signal is the excitation signal collected from the hardware circuit; the second excitation signal is the excitation signal output by the main chip; Verification results are generated based on the diagnostic data; wherein, the verification results include a first verification result, a second verification result, a third verification result, and a fourth verification result; the first verification result includes the excitation signal fault level, which is obtained by verifying the first excitation signal and the second excitation signal; the second verification result includes the timestamp sequence fault level, which is obtained by verifying the timestamps collected in each scheduling cycle; the third verification result includes the sine and cosine signal square sum fault level and the sine and cosine signal amplitude fault level, which is obtained by verifying the sine winding signal and the cosine winding signal; the fourth verification result includes the angle difference fault level, the speed difference fault level, and the lockout error fault level, which is obtained by verifying the angle decoding algorithm based on the angle difference, the speed difference, and the lockout error; the angle difference, the speed difference, and the lockout error are obtained by tracking and observing the sine winding signal and the cosine winding signal. Based on the first verification result, the second verification result, the third verification result, and the fourth verification result, a diagnostic result for the rotary transformer is generated; wherein, the diagnostic result for the rotary transformer includes the currently existing fault type and the corresponding fault level; The verification based on the first excitation signal and the second excitation signal includes: Extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency; Extract the amplitude and frequency of the second excitation signal to obtain the second amplitude and the second frequency; The fault level of the excitation signal is determined based on the amplitude difference and the amplitude threshold; wherein, the amplitude difference is the difference between the first amplitude and the second amplitude. The excitation signal fault level is determined based on the frequency difference and the frequency threshold; wherein the frequency difference is the difference between the first frequency and the second frequency.

2. The diagnostic method for a rotary transformer according to claim 1, characterized in that, The verification based on the timestamps collected in each scheduling cycle includes: The second verification result is determined based on the difference between the timestamps collected in each scheduling cycle and the time difference threshold.

3. The diagnostic method for a rotary transformer according to claim 1, characterized in that, The verification based on the sine winding signal and the cosine winding signal includes: The sinusoidal signal information of the sinusoidal winding signal is extracted; wherein, the sinusoidal signal information includes: the amplitude of the sinusoidal signal; The cosine signal information of the cosine winding signal is extracted; wherein, the cosine signal information includes: cosine signal amplitude; The fault level of the sine and cosine signal amplitudes is determined based on the sine signal amplitude, the cosine signal amplitude, and the preset amplitude range. The fault level of the sine and cosine signal square sum is determined based on the sum of squares of the sine and cosine signal amplitudes and a preset range of the sum of squares.

4. The diagnostic method for a rotary transformer according to claim 3, characterized in that, If the sine and cosine signals exhibit bias, attenuation, or imbalance, the sine signal information further includes sine signal bias, and the cosine signal information further includes cosine signal bias. The verification based on the sine winding signal and the cosine winding signal includes: Determine the target angle based on the current sine signal amplitude, the current cosine signal amplitude, the current sine signal offset, and the current cosine signal offset; Based on the target angle, the current sine signal amplitude, current cosine signal amplitude, current sine signal offset, and current cosine signal offset are processed to obtain the processed sine signal amplitude, processed cosine signal amplitude, processed sine signal offset, and processed cosine signal offset. The fault level of the sine and cosine signal bias is determined based on the difference between the processed sine signal bias and the processed cosine signal bias. The fault level of the sine-cosine signal amplitude ratio is determined based on the ratio of the processed cosine signal amplitude to the processed sine signal amplitude.

5. The diagnostic method for a rotary transformer according to claim 1, characterized in that, The tracking and observation of the sinusoidal winding signal and the cosine winding signal includes: Signal processing is performed on the sine and cosine signals to obtain the sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude; wherein the sine signal is extracted from the sine winding signal; and the cosine signal is extracted from the cosine winding signal. The sine signal bias, cosine signal bias, and the ratio of the cosine signal amplitude to the sine signal amplitude are input into the arctangent function to obtain the first rotational speed and the first angle. The first rotational speed, the first angle, the sine signal, and the cosine signal are input into the phase-locked loop, and the second rotational speed, the second angle, and the loss-of-lock error are output.

6. The diagnostic method for a rotary transformer according to claim 5, characterized in that, The verification of the angle decoding algorithm based on angle difference, rotational speed difference, and lock-out error includes: The angle difference fault level is determined based on the angle difference and the angle difference threshold; wherein, the angle difference is the difference between the second angle and the first angle; The speed difference fault level is determined based on the speed difference and the speed difference threshold; wherein, the speed difference is the difference between the second speed and the first speed; The level of the unlocking error is determined based on the unlocking error and the unlocking error threshold.

7. A diagnostic device for a rotary transformer, characterized in that, include: The acquisition unit is used to acquire diagnostic data during the soft decoding process of the rotary transformer; wherein, the diagnostic data includes: a first excitation signal, a second excitation signal, a timestamp acquired in each scheduling cycle, a sine winding signal, and a cosine winding signal; the first excitation signal is the excitation signal acquired from the hardware circuit; the second excitation signal is the excitation signal output by the main chip; A diagnostic unit is used to generate verification results based on the diagnostic data; wherein, the verification results include a first verification result, a second verification result, a third verification result, and a fourth verification result; the first verification result includes an excitation signal fault level, which is obtained by verifying the first excitation signal and the second excitation signal; the second verification result includes a timestamp sequence fault level, which is obtained by verifying the timestamps collected in each scheduling cycle; the third verification result includes a sine / cosine signal square sum fault level and a sine / cosine signal amplitude fault level, which is obtained by verifying the sine winding signal and the cosine winding signal; the fourth verification result includes an angle difference fault level, a speed difference fault level, and a lock-out error fault level, which is obtained by verifying the angle decoding algorithm based on the angle difference, speed difference, and lock-out error; the angle difference, the speed difference, and the lock-out error are obtained by tracking and observing the sine winding signal and the cosine winding signal. The diagnostic result generation unit is used to generate a diagnostic result for the rotary transformer based on the first verification result, the second verification result, the third verification result, and the fourth verification result; wherein, the diagnostic result for the rotary transformer includes the currently existing fault type and the corresponding fault level; The diagnostic unit includes: The first extraction unit is used to extract the amplitude and frequency of the first excitation signal to obtain the first amplitude and the first frequency. The first extraction unit is further configured to extract the amplitude and frequency of the second excitation signal to obtain the second amplitude and the second frequency; An excitation signal fault level determination unit is used to determine the excitation signal fault level based on the amplitude difference and the amplitude threshold; wherein the amplitude difference is the difference between a first amplitude and a second amplitude. The excitation signal fault level determination unit is further configured to determine the excitation signal fault level based on the frequency difference and the frequency threshold; wherein the frequency difference is the difference between the first frequency and the second frequency.

8. An electronic device, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the diagnostic method for a rotary transformer as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, It stores a computer program, wherein the computer program, when executed by a processor, implements the diagnostic method for a rotary transformer as described in any one of claims 1 to 6.

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