Resolver decoding method, system, device, and storage medium

Abstract

To provide a resolver decoding method, a system, a device, and a storage medium regarding the resolver technical field.SOLUTION: This resolver decoding method comprises: a step of generating a first sine reference signal and a first cosine reference signal; a step of calculating a difference between the first sine reference signal and a real time sine signal of a resolver to acquire a first difference signal and calculating a difference between the first cosine reference signal and a real time cosine signal of the resolver to acquire a second difference signal; a step of inputting the first and second difference signals to a preset error model to acquire an overall error; a step of repeating the step of generating first sine and cosine reference signals when it is detected that the overall error is larger than an error threshold value; and a step of setting an angle output from the resolver as a decoding result when it is detected that the overall error is smaller than or equal to the preset error threshold value. This method improves the decoding accuracy of the resolver.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to the technical field of resolvers, and more particularly to resolver decoding methods, systems, devices and storage media. [Background technology]

[0002] A resolver is an electromagnetic sensor and a small AC motor for measuring angles. However, the manufacturing process of resolvers limits the two signal windings of the resolver to be completely orthogonal, which results in poor decoding accuracy of the resolver.

[0003] Therefore, how to improve the decoding accuracy of the resolver is a technical problem that has yet to be solved by those skilled in the art.

[0004] The above content is intended only to aid in understanding the technical solution of the present application, and is not an admission that the above content is prior art. Summary of the Invention [Problem to be solved by the invention]

[0005] The main object of the present application is to provide a resolver decoding method, system, device, and storage medium that aim to solve the technical problem of how to improve the accuracy of resolver decoding. [Means for solving the problem]

[0006] In order to achieve the above object, the present application proposes a resolver decoding method, the method comprising: generating a first sine reference signal and a first cosine reference signal based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; obtaining a difference between the first sine reference signal and a real-time sine signal of a resolver to obtain a first difference signal, and obtaining a difference between the first cosine reference signal and a real-time cosine signal of the resolver to obtain a second difference signal; inputting the first difference signal and the second difference signal into a predetermined error model to obtain an overall error; repeatedly performing a step of regenerating a first sine reference signal and a first cosine reference signal with an amplitude value and a phase corresponding to the total error when detecting that the total error is greater than a predetermined error threshold; and when it is detected that the total error is equal to or less than the error threshold, determining the angle output by the resolver as the decoding result.

[0007] In one embodiment, after the step of regenerating the first sine reference signal and the first cosine reference signal with amplitude values ​​and phases corresponding to the total error, The method further includes recording the number of iterations, and when the number of iterations is equal to a preset number of iterations to stop, determining the angle output by the resolver as the decoding result.

[0008] In one embodiment, before the step of generating the first sine reference signal and the first cosine reference signal based on the predetermined amplitude value, the predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, the predetermined phase difference between the sine and cosine winding signals, and the predetermined phase of the initial positioning angle, performing zero-crossing detection on the excitation signal, sine signal, and cosine signal of the resolver to obtain zero-crossing detection results corresponding to the excitation signal, the sine signal, and the cosine signal, respectively, and obtaining a quadrant where the current rotor position is located based on each of the zero-crossing detection results, wherein the zero-crossing detection results characterize the positive / negative relationship after the signal passes through the zero point; generating a second sine reference signal and a second cosine reference signal according to the phase corresponding to the quadrant, and inputting the sine signal, the cosine signal, the excitation signal, the second sine reference signal and the second cosine reference signal into a predetermined difference signal calculation model to obtain a third difference signal; The method further includes a step of setting the angle of the resolver as an initial positioning angle when it is detected that the third differential signal is equal to or smaller than a preset phase tolerance.

[0009] In one embodiment, after inputting the sine signal, the cosine signal, the excitation signal, the second sine reference signal, and the second cosine reference signal into a predetermined difference signal calculation model to obtain a third difference signal, If it is detected that the third difference signal is greater than the phase tolerance, the method further includes repeatedly performing the steps of accumulating phases corresponding to the quadrants by a preset angle step value to obtain a new phase until the obtained third difference signal becomes equal to or less than the phase tolerance, and generating a new second sine reference signal and a new second cosine reference signal based on the new phase.

[0010] In one embodiment, the step of obtaining a quadrant in which the current rotor position is located based on each of the zero-crossing detection results comprises: comparing the zero-crossing detection result of the excitation signal with the zero-crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located; Or, The method includes a step of comparing the zero crossing detection result of the excitation signal with the zero crossing detection result of the cosine signal to obtain the quadrant in which the current rotor position is located.

[0011] In one embodiment, the step of comparing the zero crossing detection result of the excitation signal with the zero crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located comprises: determining that the quadrant in which the rotor position is currently located is the first or second quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point and the zero-crossing detection result of the sine signal is characterized as the signal being positive after passing through the zero point; determining that the quadrant in which the rotor position is currently located is the first or second quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point and the zero-crossing detection result of the sine signal is characterized as the signal being negative after passing through the zero point; determining that the quadrant in which the rotor position is currently located is the third or fourth quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point and the zero-crossing detection result of the sine signal is characterized as the signal being negative after passing through the zero point; and determining that the quadrants in which the rotor position currently resides are the third and fourth quadrants when the zero-crossing detection result of the excitation signal characterizes the signal as being negative after passing through the zero point and the zero-crossing detection result of the sine signal characterizes the signal as being positive after passing through the zero point.

[0012] In one embodiment, the step of comparing the zero crossing detection result of the excitation signal with the zero crossing detection result of the cosine signal to obtain the quadrant in which the current rotor position is located comprises: determining that the quadrant in which the rotor position is currently located is the first or fourth quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point and the zero-crossing detection result of the cosine signal is characterized as the signal being positive after passing through the zero point; determining that the quadrant in which the rotor position is currently located is the first or fourth quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point; determining that the quadrant in which the rotor position is currently located is the second or third quadrant when the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point; and determining that the quadrant in which the rotor position currently resides is the second or third quadrant when the zero-crossing detection result of the excitation signal characterizes the signal as being negative after passing through the zero point and the zero-crossing detection result of the cosine signal characterizes the signal as being positive after passing through the zero point.

[0013] In order to achieve the above object, the present application further proposes a resolver decoding system, which comprises: a first reference signal generating module for generating a first sine reference signal and a first cosine reference signal according to a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; a differential signal calculation module for calculating a difference between the first sine reference signal and a real-time sine signal of a resolver to obtain a first differential signal, and for calculating a difference between the first cosine reference signal and the real-time cosine signal of the resolver to obtain a second differential signal; an error calculation module for inputting the first difference signal and the second difference signal into a predetermined error model to obtain an overall error; a repeating module for repeatedly performing the step of regenerating a first sine reference signal and a first cosine reference signal with an amplitude value and a phase corresponding to the overall error when detecting that the overall error is greater than a predetermined error threshold; and a decoding result output module for outputting the angle output by the resolver as a decoding result when it is detected that the total error is equal to or less than the error threshold value.

[0014] In order to achieve the above object, the present application further proposes a resolver decoding apparatus, the apparatus comprising a memory, a processor and a computer program stored in the memory and runnable on the processor, the computer program being arranged to implement the steps of the resolver decoding method as described above.

[0015] In order to achieve the above object, the present application further proposes a storage medium, which is a computer-readable storage medium, and which stores a computer program, and when the computer program is executed by a processor, realizes the steps of the resolver decoding method described above. [Effects of the Invention]

[0016] One or more technical solutions of the present application have at least the following technical effects: The present invention generates a first sine reference signal and a first cosine reference signal based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of an initial positioning angle. The reference signals are generated based on the proportion and phase difference of the amplitude values ​​of the sine and cosine windings of the resolver. That is, the proportion and phase difference of the amplitude values ​​of the sine and cosine windings can be used in decoding calculations, thereby avoiding the influence on decoding caused by the resolver's sine and cosine windings not being completely orthogonal. The first difference signal is obtained by calculating the difference between the first sine reference signal and the real-time sine signal of the resolver, and the second difference signal is obtained by calculating the difference between the first cosine reference signal and the real-time cosine signal of the resolver, thereby obtaining the differences between the reference signals and the real-time sine signals and cosine signals actually output during the resolver's operation. The first and second difference signals are input into a preset error model to obtain an overall error, and if it is detected that the overall error is greater than an error threshold, the steps of regenerating a first sine reference signal and a first cosine reference signal according to an amplitude value and a phase corresponding to the overall error are repeatedly performed. If it is detected that the overall error is equal to or less than the preset error threshold, the angle output by the resolver is the decoding result. If it is detected that the error between the actual signal and the reference signal is within the error threshold, it is determined that the angle output by the current resolver is a decoded angle that is not affected by the resolver manufacturing process, thereby improving the accuracy of resolver decoding.

[0017] The drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application, and together with the specification serve to explain the principles of the present application. In order to more clearly explain the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces drawings that need to be used in the description of the embodiments or the prior art, and it is obvious that those skilled in the art can obtain other drawings based on these drawings without paying creative effort. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a flow diagram of a first embodiment of a resolver decoding method of the present application; [Figure 2] 1 is a flowchart illustrating a method for calculating an initial positioning angle according to an embodiment of a resolver decoding method of the present application. [Figure 3] FIG. 2 is a schematic diagram of a decoding flow of the resolver decoding method of the present application. [Figure 4] FIG. 2 is a schematic diagram of the module structure of a resolver decoding system according to an embodiment of the present application; [Figure 5] FIG. 1 is a schematic diagram of the hardware structure of a hardware running environment for a resolver decoding method according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0019] The realization of the object, functions, features and advantages of the present application will be further explained in conjunction with the embodiments with reference to the drawings. It should be understood that the specific embodiments described herein are merely for interpreting the technical solution of the present application, and are not used to limit the present application.

[0020] In order to better understand the technical solution of the present application, the following detailed description is given in conjunction with the drawings and specific embodiments of the present application.

[0021] The main solution of the embodiment of the present application is as follows: a first sine reference signal and a first cosine reference signal are generated based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of an initial positioning angle; a first difference signal is obtained by calculating a difference between the first sine reference signal and a real-time sine signal of a resolver; and a second difference signal is obtained by calculating a difference between the first cosine reference signal and the real-time cosine signal of the resolver; the first difference signal and the second difference signal are input into a predetermined error model to obtain an overall error; if it is detected that the overall error is greater than an error threshold, the steps of regenerating the first sine reference signal and the first cosine reference signal according to the amplitude value and phase corresponding to the overall error are repeatedly performed; if it is detected that the overall error is equal to or less than the predetermined error threshold, the angle output by the resolver is the decoding result.

[0022] Conventional resolver decoding algorithms generally use the arctangent of the sine and cosine signals output by the resolver to obtain a position signal, but the resolver output signal is affected by various errors during the manufacture of the resolver itself (for example, the two signal windings of the resolver cannot be perfectly orthogonal), and the accuracy of the angle decoded by the conventional decoding method is poor.

[0023] The present application provides a solution whereby the angle decoded by the resolver is not affected by the resolver's own tolerances during its manufacture, thereby improving the resolver's decoding accuracy.

[0024] As can be seen from the above embodiment, the present application performs decoding calculation using the proportional and overall errors of the amplitude values ​​of the sine and cosine windings that are preset, thereby eliminating the influence of the error of the resolver itself on the decoding result, and thereby improving the accuracy of the resolver decoding.

[0025] It should be noted that the subject of the present application may be a computing service device, such as a tablet computer, a personal computer, etc., having functions of data processing, network communication, and program running, or may be an electronic device capable of realizing the above functions. Hereinafter, this embodiment and the following embodiments will be described using an electronic device as an example.

[0026] Based on this, an embodiment of the present application provides a resolver decoding method, and refer to FIG. 1, which is a flow diagram of a first embodiment of the resolver decoding method of the present application.

[0027] In this embodiment, the resolver decoding method includes steps S10 to S50.

[0028] Step S10 generates a first sine reference signal and a first cosine reference signal based on a preset amplitude value, a preset proportion of the amplitude values ​​of the sine and cosine winding signals, a preset phase difference between the sine and cosine signals, and a preset phase of the initial positioning angle.

[0029] It should be noted that the "preset amplitude value" refers to a value close to the amplitude value of the sine signal output by the resolver or close to the amplitude value of the cosine signal output by the resolver. In one possible embodiment, if it is detected that the difference in amplitude between the sine signal and the cosine signal output by the resolver is small, the amplitude value of the sine signal or the amplitude value of the cosine signal can be set to a preset amplitude value. The "preset proportionality of the amplitude values ​​of the sine and cosine winding signals" refers to the proportionality between the amplitude values ​​of the induced electromotive forces generated by the sine winding and the cosine winding of the resolver, respectively. The "preset phase difference between the sine and cosine" refers to the preset phase difference when the sine winding and the cosine winding generate the induced electromotive forces. The "initial positioning angle" refers to a preset rotor angle, and in one possible embodiment, the initial positioning angle may be preset based on experience.

[0030] In this embodiment, one sine signal and one cosine signal are first randomly generated, and then the sine signal and the cosine signal are adjusted based on a preset amplitude value, a preset proportion of the amplitude values ​​of the sine and cosine winding signals, a preset phase difference between the sine and cosine signals, and a preset phase of the initial positioning angle. The adjusted sine signal can be used as the first sine reference signal, and the adjusted cosine signal can be used as the first cosine reference signal.

[0031] Step S20 calculates the difference between the first sine reference signal and the real-time sine signal of the resolver to obtain a first difference signal, and calculates the difference between the first cosine reference signal and the real-time cosine signal of the resolver to obtain a second difference signal.

[0032] It should be explained that the real-time sine signal refers to the sine signal output by the resolver in real time after applying an excitation signal to the resolver, and accordingly, the real-time cosine signal refers to the cosine signal output by the resolver in real time. It should be further explained that at the same time, the resolver simultaneously outputs a sine signal and a cosine signal, and the real-time sine signal and real-time cosine signal proposed in this application refer to signals corresponding to the same time. As the excitation signal is applied, the resolver outputs a sine signal and a cosine signal in real time.

[0033] In this embodiment, after applying the excitation signal, the first difference signal is obtained by calculating the difference between the sine signal output by the resolver in real time and the first sine reference signal, and the second difference signal is obtained by calculating the difference between the cosine signal output by the resolver in real time and the first cosine reference signal. As can be seen, one first difference signal and one second difference signal are obtained at each time after applying the excitation signal.

[0034] Step S30 inputs the first difference signal and the second difference signal into a preset error model to obtain a total error.

[0035] It should be noted that the error model refers to a model for statistically calculating the overall error, for example, the error model may be a formula for calculating the sum of squares, where the sum of squares of the first difference signal and the second difference signal is the overall error. In another possible embodiment, the error model may be a formula for calculating the phase difference, where the phase difference is the overall error.

[0036] As an example, if U represents the first difference signal, V represents the second difference signal, and the error model is a formula for calculating the sum of squares, the sum of squares se may be expressed as follows:

[0037]

number

[0038] Step S40 repeatedly executes the step of regenerating the first sine reference signal and the first cosine reference signal with the amplitude value and phase corresponding to the total error if it is detected that the total error is greater than a preset error threshold.

[0039] It should be noted that the error threshold is a threshold that is predetermined based on experience or the error of the resolver itself. The steps for calculating the amplitude and phase corresponding to the overall error are as follows: Differentiate the amplitude of the first sinusoidal reference signal with an equation corresponding to the error model, differentiate the phase of the initial positioning angle with an equation corresponding to the error model, and set the two equations after differentiation to zero. Then, use Newton iteration to solve the two equations equal to zero, thereby obtaining a set of new amplitude and phase values. The condition for Newton iteration to stop iteration is that the difference between the phases obtained two consecutive times is less than or equal to a predetermined threshold. The new amplitude and phase values ​​are the latest amplitude and phase values ​​solved by Newton iteration.

[0040] In this embodiment, if it is detected that the overall error is greater than the error threshold, the steps of differentiating the error model, setting the derivative after differentiation to zero, and solving are repeated to obtain new amplitude values ​​and phases, and then regenerating the first sine reference signal and the first cosine reference signal based on the new amplitude values ​​and phases, and then calculating the first difference signal and the second difference signal and calculating the overall error are performed.

[0041] In step S50, if it is detected that the total error is equal to or less than the error threshold, the angle output by the resolver is set as the decoding result.

[0042] In this embodiment, if it is detected that the overall error is equal to or less than a preset error threshold, the angle output by the resolver is used as the decoding result, and if it is detected that the overall error is still greater than the error threshold, the process returns to step S40.

[0043] Exemplarily, the equations for the first differential signal U and the second differential signal V may be as follows:

[0044]

number

[0045] Then the sum of the squares of U and V, Se, is calculated.

[0046]

number

[0047] Then, Bs and y0 are differentiated by the sum of squares Se of the two difference signals of sine and cosine, respectively, and the values ​​are set to zero. The formula is as follows:

number

number

number

[0048] In this embodiment, a first sine reference signal and a first cosine reference signal are generated based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle. The reference signal can be generated based on the proportion and phase difference of the amplitude values ​​of the sine and cosine windings of the resolver. That is, the proportion and phase difference of the amplitude values ​​of the sine and cosine windings can be used in the decoding calculation, thereby avoiding the influence on decoding caused by the resolver sine and cosine windings not being completely orthogonal. The difference between the first sine reference signal and the real-time sine signal of the resolver is calculated to obtain a first difference signal. The difference between the first cosine reference signal and the real-time cosine signal of the resolver is calculated to obtain a second difference signal. This allows the differences between the real-time sine signal and the real-time cosine signal actually output by the resolver during operation to be obtained. The first and second differential signals are then input into a preset error model to obtain an overall error, and if it is detected that the overall error is greater than an error threshold, the steps of regenerating a first sine reference signal and a first cosine reference signal according to an amplitude value and phase corresponding to the overall error are repeatedly performed. If it is detected that the overall error is equal to or less than the preset error threshold, the angle output by the resolver is the decoding result. If it is detected that the error between the actual signal and the reference signal is within the error threshold, it is determined that the angle output by the current resolver is a decoded angle that is not affected by the resolver manufacturing process, thereby improving the accuracy of resolver decoding.

[0049] Based on the first embodiment of the present application, the second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above introduction and will not be described further. Then, after the step S40, the method: The method further includes step S60 of recording the number of iterations, and if the number of iterations is equal to a preset number of iterations to stop, taking the angle output by the resolver as the decoding result.

[0050] It should be noted that the number of iterations refers to the total number of times the first sine reference signal and the first cosine reference signal are regenerated.

[0051] In this embodiment, in order to reduce the time required for decoding, the number of iteration stops may be set in advance, and when it is detected that the number of iterations is equal to the number of iteration stops, the angle output by the resolver may be used as the decoding result.

[0052] Based on the first or second embodiment of the present invention, the third embodiment of the present invention is proposed. The same or similar content as the above embodiments will not be further described in this embodiment.

[0053] In this embodiment, before step S10, the method includes: The method further includes step S70 of performing zero-crossing detection on the excitation signal, sine signal, and cosine signal of the resolver, obtaining zero-crossing detection results corresponding to the excitation signal, the sine signal, and the cosine signal, respectively, and obtaining the quadrant in which the current rotor position is located based on each of the zero-crossing detection results, wherein the zero-crossing detection result characterizes the positive / negative relationship after the signal passes through the zero point.

[0054] It should be noted that the zero-crossing detection refers to detecting the zero point of an AC signal (e.g., a sine wave) (i.e., the point where the waveform passes through the zero position when it is transformed from a positive half cycle to a negative half cycle or from a negative half cycle to a positive half cycle). In this embodiment, the zero-crossing detection result is determined based on the first value after the signal passes through the zero point.

[0055] In this embodiment, after applying an excitation signal to the resolver and the resolver outputs a sine signal and a cosine signal, the zero-crossing detection result can be obtained based on the first value after the sine signal, excitation signal, and cosine signal pass through the zero point, and the quadrant in which the current rotor position is located can be obtained based on each zero-crossing detection result.

[0056] In one possible embodiment, the above step S70 further includes step S701 or step S702.

[0057] Step S701 compares the zero-crossing detection result of the excitation signal with the zero-crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located.

[0058] It should be noted that the zero-crossing detection result characterizes the positive and negative status of the first value after the signal passes through the zero point, so in this embodiment, the quadrant in which the current rotor position is located can be determined by comparing the positive and negative status of the first value after the excitation signal passes through the zero point with the positive and negative status of the first value after the sine signal passes through the zero point.

[0059] In one possible embodiment, the above step S701 is Step S7011: determining that the quadrant in which the rotor position is currently located is the first or second quadrant if the zero-crossing detection result of the excitation signal is characterized as being positive after the signal passes through the zero point and the zero-crossing detection result of the sine signal is characterized as being positive after the signal passes through the zero point; Step S7012: determining that the quadrant in which the rotor position is currently located is the first or second quadrant if the zero-crossing detection result of the excitation signal is characterized as being negative after the signal passes through the zero point and the zero-crossing detection result of the sine signal is characterized as being negative after the signal passes through the zero point; Step S7013: if the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point, and the zero-crossing detection result of the sine signal is characterized as the signal being negative after passing through the zero point, determine that the quadrant in which the rotor position is currently located is the third or fourth quadrant; and step S7014 of determining that the quadrant in which the rotor position currently resides is the third or fourth quadrant when the zero-crossing detection result of the excitation signal characterizes the signal as being negative after passing through the zero point and the zero-crossing detection result of the sine signal characterizes the signal as being positive after passing through the zero point.

[0060] In this embodiment, compared to the conventional method of determining the quadrant of the rotor position angle based on the sine and cosine signals, it is only necessary to pay attention to the zero crossing points of the excitation signal and the sine signal, so that it is possible to respond more quickly to changes in the rotor position and thereby obtain the accurate quadrant in which the rotor position is located.

[0061] Step S702 compares the zero-crossing detection result of the excitation signal with the zero-crossing detection result of the cosine signal to obtain the quadrant in which the current rotor position is located.

[0062] In this embodiment, the quadrant in which the current rotor position is located may be determined by comparing the positive and negative status of the first numerical value after the excitation signal passes through the zero point with the positive and negative status of the first numerical value after the cosine signal passes through the zero point.

[0063] In one possible embodiment, the above step S702 is Step S7021: if the zero-crossing detection result of the excitation signal is characterized as being positive after the signal passes through the zero point, and the zero-crossing detection result of the cosine signal is characterized as being positive after the signal passes through the zero point, determine that the quadrant in which the rotor position is currently located is the first or fourth quadrant; Step S7022: if the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point, determine that the quadrant in which the rotor position is currently located is the first or fourth quadrant; Step S7023: if the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point, determine that the quadrant in which the rotor position is currently located is the second or third quadrant; The method further includes step S7024 of determining that the quadrant in which the rotor position currently resides is the second or third quadrant when the zero-crossing detection result of the excitation signal characterizes that the signal is negative after passing through the zero point and the zero-crossing detection result of the cosine signal characterizes that the signal is positive after passing through the zero point.

[0064] In this embodiment, we can focus only on the zero crossing points of the excitation and cosine signals and respond more quickly to changes in rotor position, thereby obtaining the exact quadrant in which the rotor position is located.

[0065] Step S80 generates a second sine reference signal and a second cosine reference signal based on the phase corresponding to the quadrant, and inputs the sine signal, cosine signal, excitation signal, second sine reference signal, and second cosine reference signal into a preset difference signal calculation model to obtain a third difference signal.

[0066] It should be noted that the differential signal calculation model refers to a model that can comprehensively consider the differences between the sine and cosine signals and the second sine reference signal and the second cosine reference signal.

[0067] In this embodiment, before generating the second sine reference signal and the second cosine reference signal, a reference phase is preset for each quadrant, and a phase offset is obtained by subtracting the reference phase of the corresponding quadrant from the current rotor angle. Based on the phase offset, the pre-generated base sine signal and base cosine signal with a fixed frequency are adjusted, and the adjusted base sine signal is used as the second sine reference signal, and the adjusted base cosine signal is used as the second cosine reference signal.

[0068] For example, after obtaining the sine signal, the cosine signal, the excitation signal, the second sine reference signal and the second cosine reference signal, the obtained signals may be input into the following difference signal calculation model to calculate the third difference signal UC:

[0069]

number

[0070] In step S90, when it is detected that the third differential signal is equal to or smaller than a preset phase tolerance, the angle of the resolver is set as an initial positioning angle.

[0071] In this embodiment, when it is detected that the third differential signal is equal to or smaller than a preset phase tolerance, the rotor angle of the resolver is set as the initial positioning angle.

[0072] In one possible embodiment, after step S80, the method further comprises: If it is detected that the third difference signal is greater than the phase tolerance, the method further includes step S100 of repeatedly accumulating the phase corresponding to the quadrant by a preset angle step value to obtain a new phase until the obtained third difference signal becomes equal to or less than the phase tolerance, and generating a new second sine reference signal and a new second cosine reference signal based on the new phase.

[0073] Referring to FIG. 2, FIG. 2 is a flowchart illustrating a method for calculating an initial positioning angle according to an embodiment of the resolver decoding method of the present application. After inputting the proportion K of the sine and cosine amplitude values, the phase error a, and the phase tolerance Δe, the zero-crossing point is detected and the phase is determined for the signal, thereby generating a reference signal (the reference signal in FIG. 2 refers to the second sine reference signal and the second cosine reference signal). The phase of the reference signal is adjusted according to the angle step value. When the difference value error (third difference signal) between the reference signal and the resolver signal becomes smaller than the phase tolerance, the resolver rotor position is set as the initial positioning angle.

[0074] In this embodiment, the present invention uses a method of overlapping phases corresponding to quadrants according to angle step values, so that the error of the resolver itself can be gradually calibrated according to the angle step values, thereby improving the accuracy of the obtained initial positioning angle.

[0075] According to the above-described embodiments of the resolver decoding method of the present application, one specific embodiment of the resolver decoding method of the present application is proposed.

[0076] In this embodiment, the steps are as follows:

[0077] The DA is used to generate a high frequency excitation signal for exciting the resolver signal.

[0078] The two output signals of the resolver, sine and cosine, are collected.

[0079] The zero crossing point is detected for the excitation signal and the two sine and cosine signals, and the first value after passing through the zero point is taken and compared, and the quadrant in which the current rotor position angle is located is determined based on the positive / negative relationship after the excitation signal and the two sine and cosine signals pass through the zero point.

[0080] Based on the determined quadrant, reference signals (a second sine reference signal and a second cosine reference signal) that do not include the sine and cosine signals of the excitation signal are generated.

[0081] The reference signal is multiplied by the excitation signal and then differentially processed with the resolver signal to form a third differential signal.

[0082] An "angle step value" and a "phase tolerance" are set, and the initial phase corresponding to the quadrant is used as the starting point. The "angle step value" is accumulated as an increment and updated to the phase of the reference signal. Each time, the new difference value is compared with the "phase tolerance." When the difference value becomes smaller than the "phase tolerance," the accumulation is stopped and the angle value obtained at this time is recognized as the initial positioning angle.

[0083] A DAC is used to generate sine and cosine reference signals (first sine reference signal and first cosine reference signal), and the proportion and phase difference of the amplitude values ​​of the sine and cosine winding signals of the resolver are substituted into the first sine reference signal and the first cosine reference signal.

[0084] The rotor position obtained during initial angle positioning is set as the initial phase y0 of the reference signals (first sine reference signal and first cosine reference signal), and a value close to the amplitude values ​​of the resolver's sine and cosine signals is selected as the amplitude value of the reference signals (first sine reference signal and first cosine reference signal). Two difference signals (first difference signal and second difference signal) are obtained by subtracting each of the sine and cosine reference signals from the resolver signal. The two difference signals are then collected and their square sums are calculated.

[0085] If the sum of squares is greater than the error threshold, the sum of squares is differentiated, and the equation after differentiation is set to 0, and solved by Newton iteration to obtain a set of new amplitude values ​​and phases. The steps of generating a first sine reference signal, a first cosine reference signal, and calculating the sum of squares are repeatedly performed until the sum of squares is less than or equal to the error threshold, and the angle output by the resolver is the decoding result.

[0086] Referring to FIG. 3, FIG. 3 is a schematic diagram of the decoding flow of the resolver decoding method of the present application, in which, after inputting the proportion K of the sine and cosine amplitude values, the iteration stop number, the iteration stop error, and the phase error, the initial positioning angle is used as the initial phase of the reference signal (hereinafter, the reference signal refers to the first sine reference signal and the first cosine reference signal), a reference signal is generated, and the difference between the two sine and cosine signals is calculated respectively, and the two difference signals are collected to obtain the variance. If the variance is greater than the error threshold, the variance (particularly meaning the sum of squares in FIG. 3) is differentiated and iteratively calculated, thereby obtaining the sine and cosine amplitude values ​​and phases of the reference signal. If the phase difference value of two consecutive iterations reaches the iteration stop error, and the newly calculated variance is less than the error threshold, or the number of iterations reaches the iteration stop number, the decoded angle is output.

[0087] In this embodiment, the present application uses a method of updating the amplitude value and phase by performing differentiation and solving using the Newton iteration method, which not only prevents the output decoded angle from being affected by the error of the resolver itself, but also makes it possible to control the differential signal value collected by the ADC within a small range, thereby reducing the dependency of the decoding accuracy on the ADC accuracy.

[0088] The present application further provides a resolver decoding system, and referring to FIG. 4, the resolver decoding system includes: a first reference signal generating module 10 for generating a first sine reference signal and a first cosine reference signal according to a preset amplitude value, a preset proportion of amplitude values ​​of sine and cosine winding signals, a preset phase difference between sine and cosine, and a preset phase of an initial positioning angle; a differential signal calculation module 20 for calculating a difference between the first sine reference signal and a real-time sine signal of a resolver to obtain a first differential signal, and for calculating a difference between the first cosine reference signal and a real-time cosine signal of the resolver to obtain a second differential signal; an error calculation module 30 for inputting the first difference signal and the second difference signal into a preset error model to obtain an overall error; a repeating module 40 for repeatedly performing the step of regenerating a first sine reference signal and a first cosine reference signal with an amplitude value and a phase corresponding to the total error when detecting that the total error is greater than a preset error threshold; and a decoding result output module 50 for setting the angle output by the resolver as the decoding result when it is detected that the total error is equal to or less than the error threshold.

[0089] In one embodiment, the resolver decoding system comprises: The apparatus further includes a number recording module for recording the number of iterations, and when the number of iterations is equal to a preset number of iterations stop, the angle output by the resolver is the decoding result.

[0090] In one embodiment, the resolver decoding system comprises: a quadrant identification module for performing zero-crossing detection on the excitation signal, the sine signal, and the cosine signal of the resolver, to obtain zero-crossing detection results corresponding to the excitation signal, the sine signal, and the cosine signal, respectively, and for obtaining a quadrant in which a current rotor position is located based on each of the zero-crossing detection results, wherein the zero-crossing detection results characterize the positive / negative relationship of the signal after passing through a zero point; a second difference calculation module for generating a second sine reference signal and a second cosine reference signal according to a phase corresponding to the quadrant, and inputting the sine signal, the cosine signal, the excitation signal, the second sine reference signal, and the second cosine reference signal into a predetermined difference signal calculation model to obtain a third difference signal; and an angle determination module that sets the angle of the resolver as an initial positioning angle when it detects that the third difference signal is equal to or smaller than a preset phase tolerance.

[0091] In one embodiment, the resolver decoding system comprises: The phase accumulation module further includes a phase accumulation module for repeatedly performing the steps of accumulating phases corresponding to the quadrants by a preset angle step value to obtain a new phase when it is detected that the third difference signal is greater than the phase tolerance, until the obtained third difference signal becomes equal to or smaller than the phase tolerance, and generating a new second sine reference signal and a new second cosine reference signal based on the new phase.

[0092] In one embodiment, the quadrant identification module further comprises: The zero crossing detection result of the excitation signal is compared with the zero crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located; The zero crossing detection result of the excitation signal and the zero crossing detection result of the cosine signal are compared to obtain the quadrant in which the current rotor position is located.

[0093] If the zero-crossing detection result of the excitation signal is characterized as being positive after passing through the zero point, and the zero-crossing detection result of the sine signal is characterized as being positive after passing through the zero point, the quadrant in which the rotor position is currently located is the first or second quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point, and the zero-crossing detection result of the sine signal is characterized as the signal being negative after passing through the zero point, the quadrant in which the rotor position is currently located is the first or second quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point, and the zero-crossing detection result of the sine signal is characterized as the signal being negative after passing through the zero point, the quadrant in which the rotor position is currently located is the third or fourth quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point, and the zero-crossing detection result of the sine signal is characterized as the signal being positive after passing through the zero point, it is determined that the quadrant in which the rotor position is currently located is the third or fourth quadrant.

[0094] If the zero-crossing detection result of the excitation signal is characterized as being positive after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as being positive after passing through the zero point, the quadrant in which the rotor position is currently located is the first or fourth quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point, the quadrant in which the rotor position is currently located is the first or fourth quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being positive after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as the signal being negative after passing through the zero point, the quadrant in which the rotor position is currently located is the second or third quadrant; If the zero-crossing detection result of the excitation signal is characterized as the signal being negative after passing through the zero point, and the zero-crossing detection result of the cosine signal is characterized as the signal being positive after passing through the zero point, it is determined that the quadrant in which the current rotor position is located is the second or third quadrant.

[0095] The resolver decoding system provided by the present application can solve the technical problem of how to improve the accuracy of resolver decoding by adopting the resolver decoding method in the above embodiment. Compared with the prior art, the beneficial effects of the resolver decoding system provided by the present application are the same as those of the resolver decoding method provided in the above embodiment, and other technical features of the resolver decoding system are the same as those disclosed in the method in the above embodiment, so further description will be omitted here.

[0096] The present application provides a resolver decoding device, which includes at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the at least one processor to perform the resolver decoding method in the above first embodiment.

[0097] Referring now to Figure 5, a structural schematic diagram suitable for realizing a resolver decoding device according to an embodiment of the present application is shown. The resolver decoding device according to the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The resolver decoding device shown in Figure 5 is merely an example and does not impose any limitations on the functions and scope of use of the embodiment of the present application.

[0098] 5, the resolver decoding device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) capable of performing various appropriate operations and processes in accordance with programs stored in a read only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 further stores various programs and data necessary for the operation of the resolver decoding device. The processing unit 1001, the ROM 1002, and the RAM 1004 are connected to one another via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, input devices 1007, including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyro, etc.; output devices 1008, including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003, including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009 may be connected to the I / O interface 1006. The communication devices 1009 may allow the resolver decoding device to communicate wirelessly or via wires with other devices to exchange data. While a resolver decoding device having various systems is illustrated, it should be understood that it need not implement or include all of the systems illustrated. Alternatively, more or fewer systems may be implemented or included.

[0099] In particular, according to embodiments disclosed herein, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, embodiments disclosed herein include a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for performing the methods shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communications device, installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, the functions described above, which are specific to the methods of the embodiments disclosed herein, are performed.

[0100] The resolver decoding device provided by the present application can solve the technical problem of how to improve the accuracy of resolver decoding by adopting the resolver decoding method in the above embodiment. Compared with the prior art, the beneficial effects of the resolver decoding device provided by the present application are the same as those of the resolver decoding method provided in the above embodiment, and other technical features of this resolver decoding device are the same as those disclosed in the method in the previous embodiment, so further description will be omitted here.

[0101] It should be understood that each element disclosed herein can be realized in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, the specific features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

[0102] The above are only specific embodiments of the present application, and the scope of protection of the present application is not limited thereto, and any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope of the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be in accordance with the scope of protection of the claims.

[0103] The present application provides a computer-readable storage medium having stored thereon computer-readable program instructions (ie, a computer program) for performing the resolver decoding method in the above-described embodiments.

[0104] The computer-readable storage medium provided herein may be, for example, a U-disk, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to, an electrical connection having one or more conductors, a portable computer magnetic disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) flash, an optical fiber, a portable compact magnetic disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in combination with an instruction execution system, system, or device. The program code contained in the computer readable storage medium may be transmitted over any suitable medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0105] The computer-readable storage medium may be included in the resolver decoding device, or may exist independently of the resolver decoding device.

[0106] The computer-readable storage medium carries one or more programs, and when the one or more programs are executed by the resolver decoding device, the resolver decoding device performs the following steps: generating a first sine reference signal and a first cosine reference signal based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; calculating a difference between the first sine reference signal and a real-time sine signal of the resolver to obtain a first difference signal, and calculating a difference between the first cosine reference signal and the real-time cosine signal of the resolver to obtain a second difference signal; inputting the first difference signal and the second difference signal into a predetermined error model to obtain an overall error; repeatedly performing the steps of regenerating the first sine reference signal and the first cosine reference signal according to the amplitude value and phase corresponding to the overall error when it is detected that the overall error is greater than the error threshold; and using the angle output by the resolver as the decoding result when it is detected that the overall error is equal to or less than the predetermined error threshold.

[0107] Computer program code for carrying out the operations of the present application may be compiled in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, etc., as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may run entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. When referring to a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet Service Provider).

[0108] The flowcharts and block diagrams in the figures illustrate possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams may represent a module, program segment, or portion of code, including one or more executable instructions for implementing a given logical function. It should be noted that in alternative implementations, the functions shown in the blocks may occur in a different order than the order shown in the figures. For example, two blocks shown in succession may actually be executed essentially in parallel, or may be executed in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in a dedicated hardware-based system that performs a given function or operation, or in a combination of dedicated hardware and computer instructions.

[0109] The modules described in the embodiments of the present application may be realized by software or hardware, but the names of the modules may not necessarily constitute limitations on the units themselves.

[0110] The computer-readable storage medium provided by the present application stores computer-readable program instructions (i.e., a computer program) for executing the resolver decoding method, which can solve the technical problem of how to improve the accuracy of resolver decoding. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the resolver decoding method provided by the above embodiment, and therefore will not be described here.

[0111] The above are only some of the embodiments of the present application, and do not limit the scope of the patent of the present application. The conversion of equivalent structures made using the contents of the specification and drawings of the present application under the technical concept of the present application, or direct / indirect operation in other related technical fields, are all included in the scope of patent protection of the present application.

Claims

1. 1. A resolver decoding method, comprising: generating a first sine reference signal and a first cosine reference signal based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; obtaining a difference between the first sine reference signal and a real-time sine signal of a resolver to obtain a first difference signal, and obtaining a difference between the first cosine reference signal and a real-time cosine signal of the resolver to obtain a second difference signal; inputting the first difference signal and the second difference signal into a predetermined error model to obtain an overall error; repeatedly performing a step of regenerating a first sine reference signal and a first cosine reference signal with an amplitude value and a phase corresponding to the total error when detecting that the total error is greater than a predetermined error threshold; and when it is detected that the total error is equal to or less than the error threshold, determining the angle output by the resolver as the decoding result.

2. After the step of regenerating the first sine reference signal and the first cosine reference signal with amplitude values ​​and phases corresponding to the total error, 2. The method of claim 1, further comprising the step of recording the number of iterations, and when the number of iterations is equal to a preset number of iterations stop, determining the angle output by the resolver as the decoding result.

3. before the step of generating a first sine reference signal and a first cosine reference signal based on a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; performing zero-crossing detection on the excitation signal, sine signal, and cosine signal of the resolver, obtaining zero-crossing detection results corresponding to the excitation signal, the sine signal, and the cosine signal, respectively, and obtaining a quadrant in which the current rotor position is located based on each of the zero-crossing detection results, wherein the zero-crossing detection results represent the positive / negative relationship of the signal after passing through the zero point; generating a second sine reference signal and a second cosine reference signal according to the phase corresponding to the quadrant, and inputting the sine signal, the cosine signal, the excitation signal, the second sine reference signal, and the second cosine reference signal into a predetermined difference signal calculation model to obtain a third difference signal; 2. The method according to claim 1, further comprising the step of: setting the angle of the resolver as an initial positioning angle when it is detected that the third difference signal is equal to or smaller than a preset phase tolerance.

4. inputting the sine signal, the cosine signal, the excitation signal, the second sine reference signal, and the second cosine reference signal into a predetermined difference signal calculation model to obtain a third difference signal; 4. The method of claim 3, further comprising: when detecting that the third difference signal is greater than the phase tolerance, repeatedly performing the steps of accumulating phases corresponding to the quadrants by a preset angle step value to obtain a new phase until the obtained third difference signal becomes equal to or smaller than the phase tolerance, and generating a new second sine reference signal and a new second cosine reference signal based on the new phase.

5. The step of obtaining a quadrant in which a current rotor position is located based on each of the zero-crossing detection results includes: comparing the zero-crossing detection result of the excitation signal with the zero-crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located; Or, 4. The method of claim 3, further comprising the step of comparing the zero-crossing detection results of the excitation signal and the zero-crossing detection results of the cosine signal to obtain the quadrant in which the current rotor position is located.

6. the step of comparing the zero crossing detection result of the excitation signal with the zero crossing detection result of the sine signal to obtain the quadrant in which the current rotor position is located, determining that the quadrant in which the rotor position currently exists is the first or second quadrant when the zero-crossing detection result of the excitation signal indicates that the signal exhibits a positive characteristic after passing through a zero point and the zero-crossing detection result of the sine signal indicates that the signal exhibits a positive characteristic after passing through a zero point; determining that the quadrant in which the rotor position currently exists is the first or second quadrant when the zero-crossing detection result of the excitation signal indicates that the signal has a negative characteristic after passing through a zero point and the zero-crossing detection result of the sine signal indicates that the signal has a negative characteristic after passing through a zero point; determining that the quadrant in which the rotor position currently exists is the third or fourth quadrant when the zero-crossing detection result of the excitation signal indicates that the signal is positive after passing through the zero point and the zero-crossing detection result of the sine signal indicates that the signal is negative after passing through the zero point; 6. The method of claim 5, further comprising the step of determining that the quadrant in which the rotor position currently resides is the third or fourth quadrant when it is detected that the zero-crossing detection result of the excitation signal indicates that the signal exhibits a negative characteristic after passing through the zero point and the zero-crossing detection result of the sine signal indicates that the signal exhibits a positive characteristic after passing through the zero point.

7. the step of comparing the zero crossing detection result of the excitation signal with the zero crossing detection result of the cosine signal to obtain the quadrant in which the current rotor position is located, determining that the quadrant in which the rotor position currently exists is the first or fourth quadrant when the zero-crossing detection result of the excitation signal indicates that the signal is positive after passing through the zero point and the zero-crossing detection result of the cosine signal indicates that the signal is positive after passing through the zero point; determining that the quadrant in which the rotor position currently exists is the first or fourth quadrant when the zero-crossing detection result of the excitation signal indicates that the signal exhibits a negative characteristic after passing through a zero point and the zero-crossing detection result of the cosine signal indicates that the signal exhibits a negative characteristic after passing through a zero point; determining that the quadrant in which the rotor position currently exists is the second or third quadrant when the zero-crossing detection result of the excitation signal indicates that the signal exhibits a positive characteristic after passing through the zero point and the zero-crossing detection result of the cosine signal indicates that the signal exhibits a negative characteristic after passing through the zero point; determining that the quadrants in which the rotor position currently resides are the second and third quadrants when it is detected that the zero-crossing detection result of the excitation signal indicates that the signal exhibits a negative characteristic after passing through the zero point and the zero-crossing detection result of the cosine signal indicates that the signal exhibits a positive characteristic after passing through the zero point.

8. 1. A resolver decoding system, comprising: a first reference signal generating module for generating a first sine reference signal and a first cosine reference signal according to a predetermined amplitude value, a predetermined proportion of the amplitude values ​​of the sine and cosine winding signals, a predetermined phase difference between the sine and cosine signals, and a predetermined phase of the initial positioning angle; a difference signal calculation module for determining a difference between the first sine reference signal and a real-time sine signal of a resolver to obtain a first difference signal, and for determining a difference between the first cosine reference signal and the real-time cosine signal of the resolver to obtain a second difference signal; an error calculation module for inputting the first difference signal and the second difference signal into a predetermined error model to obtain an overall error; a repeating module for repeatedly performing the step of regenerating a first sine reference signal and a first cosine reference signal with an amplitude value and a phase corresponding to the overall error when detecting that the overall error is greater than a predetermined error threshold; and a decoding result output module for setting the angle output by the resolver as a decoding result when it is detected that the overall error is equal to or less than the error threshold.

9. 8. A resolver decoding device comprising: a memory, a processor, and a computer program stored in the memory and runnable on the processor, the computer program being arranged to implement the steps of the resolver decoding method according to any one of claims 1 to 7.

10. A storage medium, wherein the storage medium is a computer-readable storage medium, a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the resolver decoding method according to any one of claims 1 to 7 are realized.

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