Automatic bandwidth adjusting system and resolver-to-digital converter

Abstract

The invention discloses an automatic bandwidth adjustment system and a rotary transformer digital converter, and relates to the technical field of rotary transformer digital converters, and the system comprises an angle error calculation module, a tracking loop module and an automatic bandwidth adjustment module. The angle error calculation module is used for outputting a first angle error signal and a second angle error signal to the tracking loop module and the automatic bandwidth adjustment module; the tracking loop module is used for receiving the first angle error signal, performing phase tracking on the sine and cosine signals to obtain a second speed signal and a rotating phase signal, and sending the second speed signal to the automatic bandwidth adjusting module; the automatic bandwidth adjusting module is used for comparing the second angle error signal with a preset angle threshold value to obtain a first comparison signal, comparing the second speed signal with a preset speed threshold value to obtain a second comparison signal, and sending the first comparison signal and the second comparison signal to the tracking loop module. Therefore, different system bandwidth coefficients can be switched.

Description

Technical Field

[0001] This application relates to the field of resolver-to-digital converter technology, and in particular to an automatic bandwidth adjustment system and a resolver-to-digital converter. Background Technology

[0002] Because resolvers maintain high reliability and precision even in harsh environments, they are widely used in aerospace, railway, automotive, and robotics industries. A resolver-to-digital converter (RDC) acts as an interface between the resolver and the system microprocessor, providing the microprocessor with information such as motor angular position and speed.

[0003] The resolver excites the primary winding with an excitation signal provided by the resolver digital converter, thereby generating two differential output signals in the secondary winding through electromagnetic induction. The resolver digital converter processes the two differential signals output by the resolver to obtain information such as the angular position and speed of the motor.

[0004] Resolver-to-digital converters (RDBDCs) can typically achieve different resolutions and tracking speeds by setting different system bandwidth coefficients. Currently, RDBDCs on the market can only manually change the system bandwidth coefficient and cannot automatically change it online to adapt to different operating conditions. Therefore, how to achieve online automatic updating of the system bandwidth coefficient in RDBDCs is a problem that urgently needs to be solved. Summary of the Invention

[0005] The main objective of this application is to provide an automatic bandwidth adjustment system and a resolver-to-digital converter, which aims to solve the technical problem that existing resolver-to-digital converters cannot achieve online automatic updating of the system bandwidth coefficient.

[0006] To achieve the above objectives, this application proposes an automatic bandwidth adjustment system applied to a resolver-to-digital converter; The automatic bandwidth adjustment system includes: an angle error calculation module, a tracking loop module, and an automatic bandwidth adjustment module; The angle error calculation module is connected to the tracking loop module and the automatic bandwidth adjustment module, respectively, and the tracking loop module is connected to the automatic bandwidth adjustment module; The angle error calculation module is used to receive the rotation phase signal, sine input signal, and cosine input signal from the tracking loop module, perform logical operations, and output the first angle error signal and the second angle error signal to the tracking loop module and the automatic bandwidth adjustment module, respectively. The tracking loop module is used to receive the first angle error signal, perform phase tracking on the sine input signal and the cosine input signal to obtain the second velocity signal and the rotation phase signal, and send the second velocity signal to the automatic bandwidth adjustment module. The automatic bandwidth adjustment module is used to receive a second angle error signal and a second speed signal, compare the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compare the second speed signal with a preset speed threshold to obtain a second comparison signal, and send the first comparison signal and the second comparison signal to the tracking loop module to switch different system bandwidth coefficients.

[0007] Optionally, the angle error calculation module includes: a first multiplication unit, a first addition unit, a second multiplication unit, a first filter unit, and a sine / cosine generator unit; The first multiplication unit is connected to the sine and cosine generator unit and the first addition unit, respectively; the second multiplication unit is connected to the first addition unit and the first filter unit, respectively. The sine and cosine generator unit is used to receive the rotating phase signal and convert the rotating phase signal into a sine rotating phase signal and a cosine rotating phase signal; The first multiplication unit is used to perform multiplication operations on the sine input signal and the cosine rotating phase signal, and the cosine input signal and the sine rotating phase signal, respectively, to obtain the first operation signal and the second operation signal and output them to the first addition unit; The first addition unit is used to perform an addition operation on the first operation signal and the second operation signal to obtain a third operation signal and output it to the second multiplication unit; The second multiplication unit is used to perform a multiplication operation on the excitation signal and the third operation signal to obtain a first angle error signal, which is then sent to the first filter unit and the tracking loop module respectively. The first filter unit is used to filter the first angle error signal to obtain a second angle error signal, and send the second angle error signal to the automatic bandwidth adjustment module.

[0008] Optionally, the tracking loop module includes: a first integration unit, a phase margin compensation unit, a second integration unit, and a second filter unit; The phase margin compensation unit is connected to the first integration unit, the second integration unit, and the second filter unit, respectively. The first integration unit is used to perform integration on the first angle error signal to obtain a fourth operation signal and send it to the phase margin compensation unit. The phase margin compensation unit is used to adjust the phase margin of the system according to the fourth operation signal, and output the first speed signal to the second integration unit and the second filter unit respectively. The second integration unit is used to perform integration on the first velocity signal to obtain a rotation phase signal and send it to the angle error calculation module; The second filter unit is used to filter the first speed signal to obtain a second speed signal and send it to the automatic bandwidth adjustment module.

[0009] Optionally, the first integration unit includes: a third multiplication subunit, a second addition subunit, a fourth multiplication subunit, and a first delay subunit; The second addition subunit is connected to the third multiplication subunit and the fourth multiplication subunit, respectively, and the fourth multiplication subunit is connected to the first delay subunit.

[0010] Optionally, the phase margin compensation unit includes: a third addition subunit, a sixth multiplication subunit, a seventh multiplication subunit, and a second delay subunit; The seventh multiplication subunit is connected to the third addition subunit and the sixth multiplication subunit, the sixth multiplication subunit is connected to the second delay subunit, and the second delay subunit is connected to the third addition subunit.

[0011] Optionally, the phase margin compensation unit further includes: a fourth addition subunit, a fifth multiplication subunit, and an eighth multiplication subunit; The fifth multiplication subunit is connected to the third addition subunit and the fourth addition subunit, respectively, and the fourth addition subunit is connected to the eighth multiplication subunit.

[0012] Optionally, the automatic bandwidth adjustment module includes: a first comparator and a second comparator; The first comparator is connected to the angle error calculation module, the second comparator, and the tracking loop module, respectively. The first comparator is used to compare the second angle error signal with a preset angle threshold to obtain a first comparison signal and send it to the tracking loop module and the second comparator; The second comparator is used to compare the second speed signal with a preset speed threshold to obtain a second comparison signal and send it to the tracking loop module.

[0013] Optionally, the first comparator is further configured to send a first comparison signal to the tracking loop module when the second angle error signal is greater than the high threshold of the preset angle threshold, so as to control the module bandwidth of the tracking loop module to increase. The first comparator is further configured to send the first comparison signal to the second comparator when the second angle error signal is less than the lower angle error threshold in the preset angle threshold. The second comparator is further configured to output the second comparison signal to the tracking loop module when the first comparison signal is received, so as to control the bandwidth of the tracking loop module; The first comparator is further configured to maintain the module bandwidth of the tracking loop module unchanged when the second angle error signal is less than the high threshold of the preset angle error and greater than the low threshold of the preset angle error.

[0014] Optionally, the second comparator is further configured to send a second comparison signal to the tracking loop module when the second speed signal is greater than the high speed threshold in the preset speed threshold, so as to control the module bandwidth of the tracking loop module to increase; The second comparator is further configured to send a second comparison signal to the tracking loop module when the second speed signal is less than the low speed threshold in the preset speed threshold, so as to control the tracking loop module to reduce the module bandwidth; The second comparator is further configured to maintain the module bandwidth of the tracking loop module unchanged when the second speed signal is less than the high speed threshold in the preset speed threshold and greater than the low speed threshold in the preset speed threshold.

[0015] In addition, to achieve the above objectives, this application also proposes a resolver-to-digital converter, which includes the automatic bandwidth adjustment system as described above.

[0016] One or more technical solutions proposed in this application have at least the following effects: This application discloses an automatic bandwidth adjustment system and a resolver-to-digital converter. The automatic bandwidth adjustment system is applied to a resolver-to-digital converter. The automatic bandwidth adjustment system includes: an angle error calculation module, a tracking loop module, and an automatic bandwidth adjustment module. The angle error calculation module is connected to both the tracking loop module and the automatic bandwidth adjustment module, and the tracking loop module is connected to the automatic bandwidth adjustment module. The angle error calculation module receives the rotation phase signal, a sine input signal, and a cosine input signal from the tracking loop module, performs logical operations, and outputs a first angle error signal and a second angle error signal to the tracking loop module, respectively. The system comprises a path module and an automatic bandwidth adjustment module; the tracking loop module receives a first angle error signal, performs phase tracking on the sine and cosine input signals to obtain a second velocity signal and a rotational phase signal, and sends the second velocity signal to the automatic bandwidth adjustment module; the automatic bandwidth adjustment module receives the second angle error signal and the second velocity signal, compares the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compares the second velocity signal with a preset velocity threshold to obtain a second comparison signal, and sends the first comparison signal and the second comparison signal to the tracking loop module to switch between different system bandwidth coefficients. By automatically updating the system bandwidth coefficient online through a resolver-to-digital converter, it can adapt to different operating conditions, such as rapid acceleration and deceleration, ensuring the stability of the control system. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the structure of the first embodiment of the automatic bandwidth adjustment system proposed in this application; Figure 2 This is a schematic diagram of the first structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 3 This is a schematic diagram of the second structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 4 This is a schematic diagram of the third structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 5 This is a schematic diagram of the first structure of the third embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 6This is a schematic diagram of the second structure of the third embodiment of the automatic bandwidth adjustment system proposed in this application.

[0019] Explanation of icon numbers:

[0020] 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

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not intended to limit this application.

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0024] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0025] The main solution of this application embodiment is: the current bandwidth coefficient of the resolver-to-digital converter system is determined according to the speed and angle error, which can ensure that the resolver-to-digital converter system is always under the optimal system bandwidth. Secondly, the switching between different bandwidths has a fast and smooth switching process, which is mainly used to make the system fast and stable. The fast and smooth switching process mainly exists in the first integration unit and the phase margin unit.

[0026] This application provides a solution, disclosing an automatic bandwidth adjustment system and a resolver-to-digital converter. The automatic bandwidth adjustment system is applied to a resolver-to-digital converter. The automatic bandwidth adjustment system includes: an angle error calculation module 1, a tracking loop module 2, and an automatic bandwidth adjustment module. The angle error calculation module 1 is connected to both the tracking loop module 2 and the automatic bandwidth adjustment module, and the tracking loop module 2 is connected to the automatic bandwidth adjustment module. The angle error calculation module 1 receives the rotation phase signal, sine input signal, and cosine input signal from the tracking loop module 2, performs logical operations, and outputs a first angle error signal and a second angle error signal, respectively. The signal is sent to the tracking loop module 2 and the automatic bandwidth adjustment module. The tracking loop module 2 receives the first angle error signal, performs phase tracking on the sine and cosine input signals to obtain a second velocity signal and a rotation phase signal, and sends the second velocity signal to the automatic bandwidth adjustment module. The automatic bandwidth adjustment module receives the second angle error signal and the second velocity signal, compares the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compares the second velocity signal with a preset velocity threshold to obtain a second comparison signal, and sends the first comparison signal and the second comparison signal to the tracking loop module 2 to switch between different system bandwidth coefficients. By automatically updating the system bandwidth coefficient online through the resolver-to-digital converter (fast and smooth switching between different bandwidths), it can adapt to different operating conditions, such as rapid acceleration and rapid deceleration, and ensure the stability of the control system.

[0027] Based on this, embodiments of this application provide an automatic bandwidth adjustment system.

[0028] refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the first embodiment of the automatic bandwidth adjustment system proposed in this application.

[0029] Considering the technical problem that existing resolver-to-digital converters cannot achieve online automatic updating of the system bandwidth coefficient, such as... Figure 1 As shown, the automatic bandwidth adjustment system described in this embodiment is applied to a resolver-to-digital converter; The automatic bandwidth adjustment system includes: an angle error calculation module 1, a tracking loop module 2, and an automatic bandwidth adjustment module; The angle error calculation module 1 is connected to the tracking loop module 2 and the automatic bandwidth adjustment module respectively, and the tracking loop module 2 is connected to the automatic bandwidth adjustment module; The angle error calculation module 1 is used to receive the rotation phase signal, sine input signal, and cosine input signal from the tracking loop module 2, perform logical operations, and output the first angle error signal and the second angle error signal to the tracking loop module 2 and the automatic bandwidth adjustment module, respectively. The tracking loop module 2 is used to receive the first angle error signal, perform phase tracking on the sine input signal and the cosine input signal to obtain the second velocity signal and the rotation phase signal, and send the second velocity signal to the automatic bandwidth adjustment module. The automatic bandwidth adjustment module is used to receive the second angle error signal and the second speed signal, compare the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compare the second speed signal with a preset speed threshold to obtain a second comparison signal, and send the first comparison signal and the second comparison signal to the tracking loop module 2 to switch different system bandwidth coefficients.

[0030] It should be noted that the tracking loop module 2 is a type 2 tracking loop module 2, but it can also be configured according to actual conditions; this embodiment does not impose any restrictions. The type 2 tracking loop module 2 provides speed information (second speed signal) to the automatic bandwidth adjustment module 3. The angle error calculation module 1 provides angle error information (second angle error signal) to the automatic bandwidth adjustment module 3. The automatic bandwidth adjustment module 3 adjusts the type 2 tracking loop module 2 to the optimal system bandwidth state based on the speed (second speed signal) and the angle error information (second angle error signal). It is worth noting that the type 2 tracking loop module 2 has a fast and smooth switching process when switching between different bandwidth coefficients to ensure rapid and stable operation.

[0031] In a specific implementation, the angle error calculation module 1 is used to receive the rotation phase signal, sine input signal, and cosine input signal from the tracking loop module 2, perform logical operations, and output a first angle error signal and a second angle error signal to the tracking loop module 2 and the automatic bandwidth adjustment module, respectively. The tracking loop module 2 is used to receive the first angle error signal, perform phase tracking on the sine input signal and cosine input signal to obtain a second velocity signal and a rotation phase signal, and send the second velocity signal to the automatic bandwidth adjustment module. The automatic bandwidth adjustment module is used to receive the second angle error signal and the second velocity signal, compare the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compare the second velocity signal with a preset velocity threshold to obtain a second comparison signal, and send the first comparison signal and the second comparison signal to the tracking loop module 2 to switch different system bandwidth coefficients. Through close collaboration among the modules, the bandwidth coefficient of the resolver-to-digital converter system is automatically updated online, enhancing the system's adaptability to different operating conditions (such as rapid acceleration and deceleration), effectively ensuring the stability of the control system, while improving the system's dynamic response performance and control accuracy, and ensuring the accurate acquisition and transmission of motor angular position and speed information.

[0032] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 3 and Figure 4 , Figure 2 This is a schematic diagram of the first structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 3 This is a schematic diagram of the second structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 4 This is a schematic diagram of the third structure of the second embodiment of the automatic bandwidth adjustment system proposed in this application.

[0033] Considering the process by which angle error calculation module 1 calculates the first angle error signal and the second angle error signal. For example... Figure 2 As shown, the angle error calculation module 1 in this embodiment includes: a first multiplication unit 11, a first addition unit 12, a second multiplication unit 13, a first filter unit 14, and a sine / cosine generator unit 15; The first multiplication unit 11 is connected to the sine and cosine generator unit 15 and the first addition unit 12, respectively; the second multiplication unit 13 is connected to the first addition unit 12 and the first filter unit 14, respectively. The sine and cosine generator unit 15 is used to receive the rotating phase signal and convert the rotating phase signal into a sine rotating phase signal and a cosine rotating phase; The first multiplication unit 11 is used to perform multiplication operations on the sine input signal and the cosine rotating phase signal, and the cosine input signal and the sine rotating phase signal, respectively, to obtain the first operation signal and the second operation signal and output them to the first addition unit 12; The first addition unit 12 is used to perform an addition operation on the first operation signal and the second operation signal to obtain a third operation signal and output it to the second multiplication unit 13; The second multiplication unit 13 is used to perform multiplication on the excitation signal and the third operation signal to obtain the first angle error signal and send it to the first filter unit 14 and the tracking loop module 2 respectively. The first filter unit 14 is used to filter the first angle error signal to obtain a second angle error signal, and send the second angle error signal to the automatic bandwidth adjustment module.

[0034] It should be noted that the rotating phase signal is a digital quantity, and the sine and cosine generator unit 15 can be implemented by sine and cosine functions. It can also be set according to the actual situation. This embodiment does not impose any restrictions.

[0035] It is understandable that since the first angle error signal contains high-frequency noise and high-frequency components, it cannot be directly used as the input of the automatic bandwidth adjustment module 3. Therefore, it is necessary to filter out the high-frequency components and high-frequency noise in the first angle error signal through the first filter unit 14 to obtain the second angle error signal that can be used as the input of the automatic bandwidth adjustment module 3. The first filter unit 14 can be composed of CIC (comb filter) and HB (notch filter), and can also be set according to the actual situation. This embodiment does not impose any restrictions.

[0036] In its implementation, the arrangement and cooperation of the sine / cosine generator unit 15, multiplication unit, addition unit, and filter unit improve the accuracy of angle error calculation and dynamic response capability. The sine / cosine generator unit 15 converts the rotational phase signal into sine and cosine signals, multiplies them with the input signal, and superimposes them, providing an accurate signal basis for subsequent processing. The second angle error signal obtained after processing by the filter unit can more accurately reflect the motor's angular position and speed information, thereby effectively improving the overall performance and reliability of the resolver-to-digital converter.

[0037] Furthermore, the tracking loop module 2 includes: a first integration unit 21, a phase margin compensation unit 22, a second integration unit 23, and a second filter unit 24; The phase margin compensation unit 22 is connected to the first integration unit 21, the second integration unit 23, and the second filter unit 24, respectively. The first integration unit 21 is used to perform integration on the first angle error signal to obtain a fourth operation signal and send it to the phase margin compensation unit 22. The phase margin compensation unit 22 is used to adjust the phase margin of the system according to the fourth operation signal, and output the first speed signal to the second integration unit 23 and the second filter unit 24 respectively. The second integration unit 23 is used to perform integration on the first velocity signal to obtain a rotation phase signal and send it to the angle error calculation module 1; The second filter unit 24 is used to filter the first speed signal to obtain a second speed signal and send it to the automatic bandwidth adjustment module.

[0038] It should be noted that the phase margin compensation unit 22 is used to adjust the phase margin of the system and output the first velocity signal.

[0039] Understandably, since the first velocity signal contains high-frequency noise and high-frequency components, it cannot be directly used as the input to the automatic bandwidth adjustment module 3. Therefore, it needs to be filtered out by the second filter unit 24 to obtain the second velocity signal that can be used as the input to the automatic bandwidth adjustment module 3. The second filter unit 24 can be composed of a CIC (comb filter) and an HB (notch filter), and can also be configured according to actual conditions. This embodiment does not impose any restrictions. In addition, the tracking loop module 2 receives the first comparison signal and the second comparison signal output by the automatic bandwidth adjustment module 3 to determine the bandwidth coefficient of the tracking loop module 2, so that the tracking loop module 2 is in the optimal bandwidth state.

[0040] In its implementation, the arrangement and cooperation of the first integrator 21, the phase margin compensation unit 22, the second integrator 23, and the second filter unit 24 effectively improve the system's phase margin and enhance its stability. The first integrator 21, through integration of the first angle error signal, obtains a fourth operational signal, providing a crucial input to the phase margin compensation unit 22. This allows the unit to accurately adjust the system's phase margin based on the fourth operational signal, ensuring good phase characteristics under different operating conditions and preventing system oscillations due to insufficient phase margin. The second integrator 23, through integration of the first speed signal, obtains a rotational phase signal, achieving accurate tracking of the motor's angular position. The second filter unit 24 filters the first speed signal to obtain a second speed signal, providing accurate speed information to the automatic bandwidth adjustment module, enabling it to reasonably adjust the system bandwidth coefficient based on speed changes. The entire process achieves precise signal processing and effective transmission, improving the system's dynamic response performance and control accuracy, thereby effectively ensuring the stability of the control system. Especially under complex conditions such as rapid acceleration and deceleration, it ensures that the resolver-to-digital converter can accurately provide motor angular position and speed information to meet the control requirements of different application scenarios.

[0041] Furthermore, the automatic bandwidth adjustment module includes: a first comparator 31 and a second comparator 32; The first comparator 31 is connected to the angle error calculation module 1, the second comparator 32 and the tracking loop module 2 respectively; The first comparator 31 is used to compare the second angle error signal with a preset angle threshold to obtain a first comparison signal and send it to the tracking loop module 2 and the second comparator; The second comparator 32 is used to compare the second speed signal with a preset speed threshold to obtain a second comparison signal and send it to the tracking loop module 2.

[0042] It should be noted that the preset angle thresholds include a low angle error threshold and a high angle error threshold. These thresholds can be set according to actual conditions, and this embodiment does not impose any restrictions. Similarly, the preset speed thresholds include a low speed threshold and a high speed threshold. These thresholds can be set according to actual conditions, and this embodiment does not impose any restrictions.

[0043] In its implementation, the first comparator 31 and the second comparator 32 accurately determine the current system bandwidth status by comparing the second angle error signal with preset angle thresholds (including low and high thresholds for angle error) and the second speed signal with preset speed thresholds (including low and high thresholds for speed). They then generate corresponding comparison signals and send them to the tracking loop module 2, enabling real-time updates to the system bandwidth coefficient. This process effectively improves the resolver-to-digital converter's adaptability to different operating conditions (such as rapid acceleration and deceleration), ensures the stability of the control system, optimizes the system's dynamic response performance and control accuracy, and ensures accurate acquisition and transmission of motor angular position and speed information.

[0044] Furthermore, the first comparator 31 is also used to send a first comparison signal to the tracking loop module when the second angle error signal is greater than the high threshold of the preset angle threshold, so as to control the tracking loop module 2 to increase the module bandwidth; The first comparator 31 is further configured to send the first comparison signal to the second comparator 32 when the second angle error signal is less than the lower angle error threshold in the preset angle threshold. The second comparator 32 is further configured to output the second comparison signal to the tracking loop module 2 when the first comparison signal is received, so as to control the bandwidth of the tracking loop module 2; The first comparator 31 is also used to keep the module bandwidth of the tracking loop module 2 unchanged when the second angle error signal is less than the high threshold of the preset angle error and greater than the low threshold of the preset angle error.

[0045] It should be noted that the first comparator 31 includes an angle error high threshold register and an angle error low threshold register. The angle error high threshold in the preset angle threshold is stored in the angle error high threshold register, and the angle error low threshold in the preset angle threshold is stored in the angle error low threshold register.

[0046] In specific implementation, when the second angle error signal is greater than the high threshold of the preset angle threshold (angle error high threshold register), it indicates that the current bandwidth of the tracking loop module 2 is too small. At this time, the first comparator 31 outputs the first comparison signal to control the tracking loop module 2 to switch the module bandwidth to the next level with a larger bandwidth. When the second angle error signal is between the high threshold of the preset angle threshold (angle error high threshold register) and the low threshold of the preset angle threshold (angle error low threshold register), it indicates that the current bandwidth of the tracking loop module 2 is appropriate. At this time, the first comparator 31 outputs the first comparison signal to control the tracking loop module 2 to maintain the current bandwidth unchanged. When the second angle error signal is less than the low threshold of the preset angle threshold (angle error low threshold register), it indicates that the current bandwidth of the tracking loop module 2 is excessive. At this time, the second comparator 32 receives the first comparison signal output by the first comparator 31 module and controls the bandwidth of the tracking loop module 2 by the second comparison signal output by the second comparator 32.

[0047] Furthermore, the second comparator 32 is also used to send a second comparison signal to the tracking loop module 2 when the first comparator 31 detects that the second angle error signal is less than the low angle error threshold in the preset angle threshold, so as to control the bandwidth of the tracking loop module 2; The second comparator 32 is further configured to send a second comparison signal to the tracking loop module 2 when the second speed signal is greater than the high speed threshold in the preset speed threshold, so as to control the tracking loop module 2 to increase the module bandwidth; The second comparator 32 is further configured to send a second comparison signal to the tracking loop module when the second speed signal is less than the low speed threshold in the preset speed threshold, so as to control the tracking loop module 2 to reduce the module bandwidth; The second comparator 32 is also used to keep the module bandwidth of the tracking loop module 2 unchanged when the second speed signal is less than the high speed threshold in the preset speed threshold and greater than the low speed threshold in the preset speed threshold.

[0048] It should be noted that the second comparator 32 includes a high-speed threshold register and a low-speed threshold register. The low-speed threshold of the preset speed threshold is stored in the high-speed threshold register, and the low-speed threshold of the preset speed threshold is stored in the low-speed threshold register. Only when the first comparator detects that the second angle error signal is less than the low-angle error threshold of the preset angle threshold will the second comparison signal output by the second comparator control the bandwidth of the tracking loop module.

[0049] In the specific implementation, when the second speed signal is greater than the high speed threshold (high speed threshold register) in the preset speed threshold, the second comparator 32 outputs the second comparison signal to control the tracking loop module 2 to switch to the next level with a larger bandwidth; when the second speed signal is between the high speed threshold (high speed threshold register) and the low speed threshold (low speed threshold register) in the preset speed threshold, the second comparator 32 outputs the second comparison signal to control the tracking loop module 2 to maintain the current bandwidth unchanged; when the second speed signal is less than the low speed threshold (low speed threshold register) in the preset speed threshold, the second comparator 32 outputs the second comparison signal to control the tracking loop module 2 to switch to the previous level with a smaller bandwidth.

[0050] Based on the second embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to the second embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of the first structure of the third embodiment of the automatic bandwidth adjustment system proposed in this application. Figure 6 This is a schematic diagram of the second structure of the third embodiment of the automatic bandwidth adjustment system proposed in this application.

[0051] like Figure 3 As shown, the first integration unit 21 in this embodiment includes: a third multiplication subunit 211, a second addition subunit 212, a fourth multiplication subunit 214, and a first delay subunit 213; The second addition subunit 212 is connected to the third multiplication subunit 211 and the fourth multiplication subunit 214 respectively, and the fourth multiplication subunit 214 is connected to the first delay subunit 213.

[0052] It should be noted that the first delay subunit 213 is a unit delay unit in the digital system, through which the previous clock data of the current data can be obtained.

[0053] Furthermore, the phase margin compensation unit 22 includes: a third addition subunit 221, a sixth multiplication subunit 224, a seventh multiplication subunit 225, and a second delay subunit 223; The seventh multiplication subunit 225 is connected to the third addition subunit 221 and the sixth multiplication subunit 224 respectively. The sixth multiplication subunit 224 is connected to the second delay subunit 223, and the second delay subunit 223 is connected to the third addition subunit 221.

[0054] It should be noted that the second delay subunit 223 is a unit delay unit in the digital system, through which the previous clock data of the current data can be obtained.

[0055] Furthermore, the phase margin compensation unit 22 also includes: a fourth addition subunit 226, a fifth multiplication subunit 222, and an eighth multiplication subunit; The fifth multiplication subunit 222 is connected to the third addition subunit 221 and the fourth addition subunit 226, respectively, and the fourth addition subunit 226 is connected to the eighth multiplication subunit.

[0056] In its implementation, when the tracking loop module 2 switches between different bandwidth levels, the first integral state value signal of the first integration unit 21 and the second integral state value signal of the phase margin compensation unit 22 have different stable states under different bandwidths. To ensure the stability of the tracking loop module 2 and prevent oscillations during bandwidth switching, the tracking loop module 2 needs to perform a multiplication operation between the first integral state value signal and the first integral state coefficient through the fourth multiplication module, and a multiplication operation between the second integral state value signal and the second integral state coefficient through the sixth multiplication module, when switching between different bandwidth levels. This ensures that the first and second integral state value signals quickly reach a stable state under the current bandwidth, ensuring smooth switching between different bandwidth levels. It should be noted that when the bandwidth of each level is determined, the first and second integral state coefficients are also determined accordingly.

[0057] In addition, to achieve the above objectives, this application also proposes a resolver-to-digital converter, which includes the automatic bandwidth adjustment system as described above.

[0058] The above are merely preferred embodiments of this application and do not limit the scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the protection scope of this application.

Claims

1. An automatic bandwidth adjustment system, characterized in that, The automatic bandwidth adjustment system is applied to the resolver-to-digital converter; The automatic bandwidth adjustment system includes: an angle error calculation module, a tracking loop module, and an automatic bandwidth adjustment module; The angle error calculation module is connected to the tracking loop module and the automatic bandwidth adjustment module, respectively, and the tracking loop module is connected to the automatic bandwidth adjustment module; The angle error calculation module is used to receive the rotation phase signal, sine input signal, and cosine input signal from the tracking loop module, perform logical operations, and output the first angle error signal and the second angle error signal to the tracking loop module and the automatic bandwidth adjustment module, respectively. The tracking loop module is used to receive the first angle error signal, perform phase tracking on the sine input signal and the cosine input signal to obtain the second velocity signal and the rotation phase signal, and send the second velocity signal to the automatic bandwidth adjustment module. The automatic bandwidth adjustment module is used to receive a second angle error signal and a second speed signal, compare the second angle error signal with a preset angle threshold to obtain a first comparison signal, and compare the second speed signal with a preset speed threshold to obtain a second comparison signal, and send the first comparison signal and the second comparison signal to the tracking loop module to switch different system bandwidth coefficients.

2. The automatic bandwidth adjustment system as described in claim 1, characterized in that, The angle error calculation module includes: a first multiplication unit, a first addition unit, a second multiplication unit, a first filter unit, and a sine / cosine generator unit; The first multiplication unit is connected to the sine and cosine generator unit and the first addition unit, respectively; the second multiplication unit is connected to the first addition unit and the first filter unit, respectively. The sine and cosine generator unit is used to receive the rotating phase signal and convert the rotating phase signal into a sine rotating phase signal and a cosine rotating phase signal; The first multiplication unit is used to perform multiplication operations on the sine input signal and the cosine rotating phase signal, and the cosine input signal and the sine rotating phase signal, respectively, to obtain the first operation signal and the second operation signal and output them to the first addition unit; The first addition unit is used to perform an addition operation on the first operation signal and the second operation signal to obtain a third operation signal and output it to the second multiplication unit; The second multiplication unit is used to perform a multiplication operation on the excitation signal and the third operation signal to obtain a first angle error signal, which is then sent to the first filter unit and the tracking loop module respectively. The first filter unit is used to filter the first angle error signal to obtain a second angle error signal, and send the second angle error signal to the automatic bandwidth adjustment module.

3. The automatic bandwidth adjustment system as described in claim 1, characterized in that, The tracking loop module includes: a first integration unit, a phase margin compensation unit, a second integration unit, and a second filter unit; The phase margin compensation unit is connected to the first integration unit, the second integration unit, and the second filter unit, respectively. The first integration unit is used to perform integration on the first angle error signal to obtain a fourth operation signal and send it to the phase margin compensation unit. The phase margin compensation unit is used to adjust the phase margin of the system according to the fourth operation signal, and output the first speed signal to the second integration unit and the second filter unit respectively. The second integration unit is used to perform integration on the first velocity signal to obtain a rotation phase signal and send it to the angle error calculation module; The second filter unit is used to filter the first speed signal to obtain a second speed signal and send it to the automatic bandwidth adjustment module.

4. The automatic bandwidth adjustment system as described in claim 3, characterized in that, The first integration unit includes: a third multiplication subunit, a second addition subunit, a fourth multiplication subunit, and a first delay subunit; The second addition subunit is connected to the third multiplication subunit and the fourth multiplication subunit, respectively, and the fourth multiplication subunit is connected to the first delay subunit.

5. The automatic bandwidth adjustment system as described in claim 3, characterized in that, The phase margin compensation unit includes: a third addition subunit, a sixth multiplication subunit, a seventh multiplication subunit, and a second delay subunit; The seventh multiplication subunit is connected to the third addition subunit and the sixth multiplication subunit, the sixth multiplication subunit is connected to the second delay subunit, and the second delay subunit is connected to the third addition subunit.

6. The automatic bandwidth adjustment system as described in claim 5, characterized in that, The phase margin compensation unit further includes: a fourth addition subunit, a fifth multiplication subunit, and an eighth multiplication subunit; The fifth multiplication subunit is connected to the third addition subunit and the fourth addition subunit, respectively, and the fourth addition subunit is connected to the eighth multiplication subunit.

7. The automatic bandwidth adjustment system as described in claim 1, characterized in that, The automatic bandwidth adjustment module includes: a first comparator and a second comparator; The first comparator is connected to the angle error calculation module, the second comparator, and the tracking loop module, respectively. The first comparator is used to compare the second angle error signal with a preset angle threshold to obtain a first comparison signal and send it to the tracking loop module and the second comparator; The second comparator is used to compare the second speed signal with a preset speed threshold to obtain a second comparison signal and send it to the tracking loop module.

8. The automatic bandwidth adjustment system as described in claim 7, characterized in that, The first comparator is further configured to send a first comparison signal to the tracking loop module when the second angle error signal is greater than the high threshold of the preset angle threshold, so as to control the module bandwidth of the tracking loop module to increase. The first comparator is further configured to send the first comparison signal to the second comparator when the second angle error signal is less than the lower angle error threshold in the preset angle threshold. The second comparator is further configured to output the second comparison signal to the tracking loop module when the first comparison signal is received, so as to control the bandwidth of the tracking loop module; The first comparator is further configured to maintain the module bandwidth of the tracking loop module unchanged when the second angle error signal is less than the high threshold of the preset angle error and greater than the low threshold of the preset angle error.

9. The automatic bandwidth adjustment system as described in claim 7, characterized in that, The second comparator is further configured to send a second comparison signal to the tracking loop module when the second speed signal is greater than the high speed threshold in the preset speed threshold, so as to control the module bandwidth of the tracking loop module to increase; The second comparator is further configured to send a second comparison signal to the tracking loop module when the second speed signal is less than the low speed threshold in the preset speed threshold, so as to control the tracking loop module to reduce the module bandwidth; The second comparator is further configured to maintain the module bandwidth of the tracking loop module unchanged when the second speed signal is less than the high speed threshold in the preset speed threshold and greater than the low speed threshold in the preset speed threshold.

10. A resolver-to-digital converter, characterized in that, The resolver-to-digital converter includes the automatic bandwidth adjustment system as described in any one of claims 1 to 9.

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