CN100470201C - Digital converter of rotary transformer - Google Patents

Digital converter of rotary transformer Download PDF

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CN100470201C
CN100470201C CNB2007101757822A CN200710175782A CN100470201C CN 100470201 C CN100470201 C CN 100470201C CN B2007101757822 A CNB2007101757822 A CN B2007101757822A CN 200710175782 A CN200710175782 A CN 200710175782A CN 100470201 C CN100470201 C CN 100470201C
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multiplier
angular velocity
output
intermediate quantity
generator
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CN101135573A (en
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吴忠
王朋
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Beihang University
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Beihang University
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Abstract

The invention is used for making an accurate demodulation for the revolver. It comprises: signal modulation module; phase sensitive detector; gain generator; and state observer. The signal modulation module is used for modulating the amplitude value of inputted signal, making D/A conversion, comparing the excitation the output of excitation signal generator with the zero cross and outputting voltage base value; the phase sensitive detector is used for generating an error signal comprising phase information according to the signal outputted by the revolver and the angle value outputted by the state observer; the gain generator is used for calculating the gain coefficient desired by the state observer according to the signal outputted by the signal modulation module; the state observer is used for demodulating the error signal and gain coefficient to get the detected angel and angular velocity.

Description

Digital converter of rotary transformer
Technical field
The present invention relates to a kind of digital quantizer, more particularly say, be meant a kind of demodulation that realizes rotary transformer device output signal, the rotary transformer of in servo-control system, using (position transducer) digital quantizer.
Background technology
Rotary transformer is made up of iron core, two stator coils and two rotor windings, is the sensor that is used to measure the anglec of rotation.Because of its antijamming capability and adaptive capacity to environment are strong, in rotor position detection, has irreplaceable status.
At present, digital converter of rotary transformer (RDC) is a lot of to the demodulation scheme of signal, is most widely used, precision is the highest is the following-up type conversion scheme.This scheme constitutes a signal by multiplier, amplifier, phase-sensitive demodulator, counter, voltage controlled oscillator etc. and estimates closed loop, in described closed loop by angle of rotor being estimated to obtain an estimated value, utilize phase sensitive detector to obtain the sine value of the difference of actual rotational angle value and estimated value, by judging the positive and negative estimated value of regulating of this sine value, make estimated value approach the actual rotational angle value gradually then.This scheme can only provide angle of rotor information, and precision is limited.
Summary of the invention
The purpose of this invention is to provide a kind of digital converter of rotary transformer, this digital converter of rotary transformer is by introducing the second order state observer, not only tested angle can be from the output signal of rotary transformer, demodulated in real time, and the angular velocity of tested whirligig can be obtained synchronously.RDC of the present invention can be implemented in the corner under the speed change situation, the accurate demodulation of rotating speed, and output accuracy has improved about 5 times than conventional RDC output accuracy.
The present invention is a kind of digital converter of rotary transformer, mainly includes signal condition module, phase sensitive detector, state observer and gain generator; Phase sensitive detector, state observer and gain generator adopt the software code compiling to realize, are stored on the processor chips.Phase sensitive detector calculates the error signal that comprises phase information according to tested angle estimated value and rotary transformer output signal, and state observer then goes out tested angle and rotating speed according to this signal and gain coefficient real-time monitored.After the signal condition module was carried out amplitude conditioning, analog to digital conversion with the output signal of rotary transformer, the excitation signal with excitation signal generator output carried out zero balancing, the output voltage base value simultaneously; Phase sensitive detector can generate the error signal that comprises phase information according to the angle value of rotary transformer output signal and state observer output; Gain generator calculates the required gain coefficient of state observer according to the output signal of signal condition module; State observer demodulates the tested angle and the angular velocity of rotor according to above-mentioned error signal and gain coefficient.
The advantage of digital converter of rotary transformer of the present invention is: (1) introduces the second order state observer, by rationally choosing gain coefficient, can obtain the angle of tested rotor in real time; When obtaining rotor angle, can obtain the angular velocity of tested rotor in real time; (2) by introducing the second order state observer, adopt processor chips and be programmed in software program on the processor chips, make digital quantizer demodulation accuracy height, antijamming capability is strong.
Description of drawings
Fig. 1 is the structural principle block diagram of rotary transformer-digital quantizer of the present invention.
Fig. 2 is the structured flowchart of signal condition module to signal Processing.
Fig. 3 is the structured flowchart of phase sensitive detector to signal Processing.
Fig. 4 is the structured flowchart of gain generator to signal Processing.
Fig. 5 is the structured flowchart of state observer to signal Processing.
Fig. 6 is the control flow chart of processor.
Among the figure: 1. motor 2. rotary transformers 3. signal condition modules 31. modulate circuits 32. analog-digital converters 33. zero-crossing comparators 4. phase sensitive detectors 41. cosine generators 42. forcing function generator 43.A multiplier 44.B multiplier 45.D adders 5. state observer 51.G multiplier 52.H multiplier 53.A adder 54.I multiplier 55.B adders 56. status register A57.J multiplier 58.C adders 59. status register B6. gain generators 61. quadratic sum arithmetic units 62. extracting operation devices 63. gain coefficient arithmetic unit 64.C multiplier 65.D multiplier 66.E multiplier 67.F multipliers 7. excitation signal generators
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Referring to shown in Figure 1, the present invention is a kind of digital converter of rotary transformer, and described digital converter of rotary transformer is that analog sine Vs (t) and simulation cosine Vc (t) that the corner information that motor 1 rotor of being gathered by rotary transformer 2 is exported converts to are carried out conversion process; And the simulation excitation signal Vref (t) that is produced by excitation signal generator 7 carried out conversion process.Digital converter of rotary transformer of the present invention mainly includes signal condition module 3, phase sensitive detector 4, state observer 5 and gain generator 6, and wherein phase sensitive detector 4, state observer 5 and gain generator 6 adopt the composing software code storage to go up and realize in processor chips (being about to the composing software code according to realizing that function is divided into phase sensitive detector 4, state observer 5 and gain generator 6).Described processor can be a dsp chip, as the TMS320 family chip; The control flow of processor.
In the present invention, rotary transformer 2 is used for converting the corner of motor 1 rotor output to analog sine V s(t), simulation cosine V c(t) output.
In the present invention, excitation signal generator 7 is used for output simulation excitation signal V Ref(t).
In the present invention, referring to shown in Figure 2, signal condition module 3 is made up of conditioner 31, A/D converter 32 and zero-crossing comparator 33.
Conditioner 31 in the signal condition module 3 and A/D converter 32 are used for the analog sine V that will receive s(t) carry out amplitude conditioning, analog to digital conversion, output digital sine V s(j);
Conditioner 31 in the signal condition module 3 and A/D converter 32 are used for the simulation cosine V that will receive c(t) carry out amplitude conditioning, analog to digital conversion, output digital cosine V c(j);
Zero-crossing comparator 33 in the signal condition module 3 is used for the simulation excitation signal V that will receive Ref(t) carried out zero balancing, output voltage base value S (j).
In the present invention, referring to shown in Figure 3, phase sensitive detector 4 is made up of forcing function generator 41, cosine generator 42, A multiplier 43, B multiplier 44, D totalizer 45;
Forcing function generator 41 in the phase sensitive detector 4 is used to produce the angle estimated value Sine value
Figure C200710175782D00062
Cosine generator 42 in the phase sensitive detector 4 is used to produce the angle estimated value
Figure C200710175782D00063
Cosine value
Figure C200710175782D00064
A multiplier 43 in the phase sensitive detector 4 is with the digital sine V that receives s(j) and cosine value
Figure C200710175782D00065
Multiply each other and obtain first intermediate quantity;
B multiplier 44 in the phase sensitive detector 4 is with the digital cosine V that receives c(j) and sine value
Figure C200710175782D00066
Multiply each other and obtain second intermediate quantity;
D totalizer 45 usefulness first intermediate quantity in the phase sensitive detector 4 deducts second intermediate quantity and obtains to measure error E (j) constantly at j.
In the present invention, referring to shown in Figure 4, gain generator 6 is divided from the function that realizes and is made up of quadratic sum arithmetical unit 61, extracting operation device 62, gain coefficient arithmetical unit 63, C multiplier 64, D multiplier 65, E multiplier 66, F multiplier 67;
Quadratic sum arithmetical unit 61 in the gain generator 6 is with the digital sine V that receives s(j), digital cosine V c(j) carry out the quadratic sum computing, output reference voltage quadratic sum M (j);
Extracting operation device 62 in the gain generator 6 with the reference voltage quadratic sum M (j) that receives through extracting operation, the output reference voltage absolute value | V r(j) |;
Gain coefficient arithmetical unit 63 in the gain generator 6 carries out [0,1] with the voltage base value S (j) that receives handles output [± 1] judgment value S1 (j);
C multiplier 64 in the gain generator 6 is with the reference voltage absolute value that receives | V r(j) | with [± 1] judgment value S 1(j) carry out multiplying, output reference voltage V r(j);
E multiplier 66 in the gain generator 6 is with the reference voltage V that receives r(j) with angular velocity observer constant β 2Multiply each other, export the 3rd intermediate quantity; Described angular velocity observer constant β 2For greater than zero constant;
F multiplier 67 in the gain generator 6 is with the reference voltage V that receives r(j) with angular observation device constant β 1Multiply each other output angle observer gain coefficient K 1(j); Described angular observation device constant β 1For greater than zero constant;
D multiplier 65 in the gain generator 6 multiplies each other output angle speed observer gain coefficient K with the reference voltage quadratic sum M (j) that receives with the 3rd intermediate quantity 2(j).
In the present invention, referring to shown in Figure 5, state observer 5 is divided from the function that realizes and is made up of angular velocity predictor module 501 and angle predictor module 502; Described angular velocity predictor module 501 includes G multiplier 51, H multiplier 52, A totalizer 53, status register A56; Described angle predictor module 502 includes I multiplier 54, B totalizer 55, J multiplier 57, C totalizer 58, status register B59; In the present invention, angular velocity predictor module 501 and angle predictor module 502 have constituted a second order state observer.
G multiplier 51 in the state observer 5 is with the error E (j) and angular velocity observer gain coefficient K that receive 2(j) multiply each other, export the 4th intermediate quantity;
The 4th intermediate quantity and sampling period T that H multiplier 52 in the state observer 5 will receive multiply each other, and export the 5th intermediate quantity;
A totalizer 53 in the state observer 5 is measured angular velocity estimated value constantly according to the j of status register A56 record
Figure C200710175782D00071
With the 5th intermediate quantity addition, export j+1 and measure angular velocity output valve constantly
Figure C200710175782D00072
I multiplier 54 in the state observer 5 is with the error E (j) and angular observation device gain coefficient K that receive 1(j) multiply each other, export the 6th intermediate quantity;
B totalizer 55 in the state observer 5 is according to j the angular velocity estimated value of measuring the moment of status register A56 record
Figure C200710175782D00073
With the 6th intermediate quantity addition, export the 7th intermediate quantity;
The 7th intermediate quantity and sampling period T that J multiplier 57 in the state observer 5 will receive multiply each other, and export the 8th intermediate quantity;
C totalizer 58 in the state observer 5 is according to j the angle estimated value of measuring the moment of status register B59 record
Figure C200710175782D00081
With the 8th intermediate quantity addition, export j+1 and measure angle output valve constantly
The mathematical form of each signal is expressed as follows in the digital converter of rotary transformer of the present invention (RDC):
The simulation excitation signal of excitation signal generator 7 outputs is designated as V Ref(t)=V eCos ω rT;
The analog sinus signals of rotary transformer 2 outputs is designated as V s(t)=K eV eSin θ cos ω rT, simulation cosine signal are designated as V c(t)=K eV eCos θ cos ω rT;
Analog sinus signals V when rotary transformer 2 outputs s(t), simulation cosine signal V c(t) in the entering signal conditioning module 3 after adjusting amplitude (finishing), mould/number conversion (finishing) by A/D converter 32 by conditioner 31, output digital sine V s(j)=V r(j) sin θ (j), digital cosine V c(j)=V r(j) cos θ (j).
The simulation excitation signal V of 33 pairs of receptions of zero-crossing comparator Ref(t)=V eCos (ω rT) judge through zero balancing after, obtain the voltage base value, described voltage base value is 0, ± 5V.
Referring to shown in Figure 3, the angle estimated value that forcing function generator 41, cosine generator 42 are exported according to state observer 5 Obtain the sine value of angle estimated value with lookup table mode
Figure C200710175782D00084
Cosine value In the present invention, the digital sine V of 43 pairs of receptions of A multiplier s(j) and cosine value
Figure C200710175782D00086
Multiply each other and obtain first intermediate quantity
Figure C200710175782D00087
The digital cosine V of 44 pairs of receptions of B multiplier c(j) and sine value
Figure C200710175782D00088
Multiply each other and obtain second intermediate quantity
Figure C200710175782D00089
Then, by 45 pairs first intermediate quantities of D totalizer
Figure C200710175782D000810
With second intermediate quantity
Figure C200710175782D000811
Differ from, finish long-pendingization and difference and obtain error output E ( j ) = V s ( j ) cos θ ^ ( j ) - V c ( j ) sin θ ^ ( j ) .
Referring to shown in Figure 4, gain generator 6 excitation signal of receiving that is used to achieve a butt joint carries out demodulation, thereby obtains required angle, the gain coefficient of angular velocity.Demodulation to excitation signal has following computing formula:
M ( j ) = V s 2 ( j ) + V c 2 ( j ) - - - ( 1 )
S 1 ( j ) = 2 × [ S ( j ) - 1 / 2 ] - - - ( 2 )
V r(j)＝S 1(j)×|V r(j)| (3)
Simultaneous according to above-mentioned three formulas obtains to measure excitation reference voltage V constantly at j r(j); Subsequently, finish multiplying by D, E, F multiplier and obtain angular observation device gain coefficient K 1(j)=β 1V r(j), angular velocity observer gain coefficient K 2 ( j ) = β 2 V r 3 ( j ) .
Referring to shown in Figure 5, the angle output valve of described angle predictor module 502 satisfies θ ^ ( j + 1 ) = θ ^ ( j ) + T [ ω ^ ( j ) + K 1 ( j ) E ( j ) ] , And K 1(j)=β 1V r(j); The angular velocity output valve of described angular velocity predictor module 501 satisfies ω ^ ( j + 1 ) = ω ^ ( j ) + T [ K 2 ( j ) E ( j ) ] , And K 2 ( j ) = β 2 V r 3 ( j ) .
Referring to shown in Figure 6, among the figure, processor is handled the accurate angle output valve of last output motor rotor to the coherent signal of rotary transformer 2, excitation signal generator 7 outputs to processor of the present invention successively under initialization condition to the Signal Processing flow process The angular velocity output valve
Figure C200710175782D00092
In the present invention, designed the second order state observer,, can from the rotary transformer output signal, demodulate tested angle, also can obtain the angular velocity of tested whirligig simultaneously by rationally choosing gain coefficient, and the demodulation accuracy height, antijamming capability is strong.
Embodiment:
Chosen 60BLA20-30 (ST) the model servomotor that Zhuhai Yunkong Electric Machine Co., Ltd. produces by measured motor, wherein, rotary transformer is chosen TS2620N21E11 model speed, the position transducer of the Japanese river company that rubs more.
Process chip is chosen TMS320 series DSP processor chips, the executive routine on the chip to information processing referring to shown in Figure 6.
When system normally moves, at first produce a simulation excitation signal V by excitation signal generator 7 Ref(t)=V eCos ω rT=7cos (2 π * 10000 * 20), wherein, simulation excitation signal V Ref(t) amplitude V eBe 7V, excitation signal angular frequency rBe 2 π * 10kHz.Rotor is with 1000r/min, and setting working time is 30s, and measurement time t is 20s.Described angular observation device constant β 1Be 400; Described angular velocity observer constant β 2 is 8,000.Sampling period T is 4 μ s.During system initialization, measure angular velocity estimated value constantly for j of status register A56 record
Figure C200710175782D00093
Be 0; Measure angle estimated value constantly for j of status register B59 record
Figure C200710175782D00094
Be 0.When each data information acquisition is to processor, the angle output valve of digital converter of rotary transformer of the present invention after demodulation
Figure C200710175782D00095
Be 2094.39424 radians, angular velocity output valve
Figure C200710175782D00096
Be 993.12684r/min; In this example, when 60BLA20-30 (ST) model servomotor adopts certain conventional RDC, the angle of output is 2094.39202 radians, and the angle that the rotor that adopts 19 photoelectric encoders to record as the calibration position sensor turns over is 2094.39510 radians.Angle and the error between the angle that the rotor that digital converter of rotary transformer demodulation of the present invention obtains turns over that the electronics rotor that 60BLA20-30 (ST) model servomotor adopts the calibration position sensor to record turns over are 0.00049 radian.Error between the angle that angle that the motor that 60BLA20-30 (ST) model servo motor rotor adopts the calibration position sensor to record turns over and the rotor that adopts certain conventional RDC demodulation to draw turn over is 0.00308 radian.By the contrast of parameter, digital converter of rotary transformer output accuracy of the present invention has improved about 5.28 times.
Among the present invention, the physical significance of quotation mark is as shown in the table:
Figure C200710175782D00111

Claims (5)

1, a kind of digital converter of rotary transformer, described digital converter of rotary transformer is used to finish motor (1) rotor-position sensor---and the output signal of rotary transformer (2) is handled, the simulation excitation signal V that this rotary transformer (2) produces excitation signal generator (7) Ref(t) excitation, and output analog sine V s(t) and simulation cosine V c(t), it is characterized in that: described digital converter of rotary transformer includes signal condition module (3), phase sensitive detector (4), state observer (5) and gain generator (6);
Described signal condition module (3) is made up of conditioner (31), A/D converter (32) and zero-crossing comparator (33); Wherein, conditioner (31) in the signal condition module (3) and A/D converter (32) are used for the analog sine V that will receive s(t) carry out amplitude conditioning, analog to digital conversion, output digital sine V s(j); Conditioner (31) in the signal condition module (3) and A/D converter (32) are used for the simulation cosine V that will receive c(t) carry out amplitude conditioning, analog to digital conversion, output digital cosine V c(j); Zero-crossing comparator (33) in the signal condition module (3) is used for the simulation excitation signal V that will receive Ref(t) carried out zero balancing, output voltage base value S (j);
Described phase sensitive detector (4) is made up of forcing function generator (41), cosine generator (42), A multiplier (43), B multiplier (44), D totalizer (45); Wherein, the forcing function generator (41) in the phase sensitive detector (4) is used to produce the angle estimated value
Figure C200710175782C00021
Sine value
Figure C200710175782C00022
Cosine generator (42) in the phase sensitive detector (4) is used to produce the angle estimated value Cosine value
Figure C200710175782C0002110340QIETU
A multiplier (43) in the phase sensitive detector (4) is with the digital sine V that receives s(j) and cosine value
Figure C200710175782C00025
Multiply each other and obtain first intermediate quantity; B multiplier (44) in the phase sensitive detector (4) is with the digital cosine V that receives c(j) and sine value Multiply each other and obtain second intermediate quantity; D totalizer (45) in the phase sensitive detector (4) deducts second intermediate quantity with first intermediate quantity and obtains to measure error E (j) constantly at j;
Described gain generator (6) is divided from the function that realizes and is made up of quadratic sum arithmetical unit (61), extracting operation device (62), gain coefficient arithmetical unit (63), C multiplier (64), D multiplier (65), E multiplier (66), F multiplier (67); Wherein, the quadratic sum arithmetical unit (61) in the gain generator (6) is with the digital sine V that receives s(j), digital cosine V c(j) carry out the quadratic sum computing, output reference voltage quadratic sum M (j); Extracting operation device (62) in the gain generator (6) with the reference voltage quadratic sum M (j) that receives through extracting operation, the output reference voltage absolute value | V r(j) |; Gain coefficient arithmetical unit (63) in the gain generator (6) carries out [0,1] with the voltage base value S (j) that receives handles output [± 1] judgment value S 1(j); C multiplier (64) in the gain generator (6) is with the reference voltage absolute value that receives | V r(j) | with [± 1] judgment value S 1(j) carry out multiplying, output reference voltage V r(j); E multiplier (66) in the gain generator (6) is with the reference voltage V that receives r(j) with angular velocity observer constant β 2Multiply each other, export the 3rd intermediate quantity; F multiplier (67) in the gain generator (6) is with the reference voltage V that receives r(j) with angular observation device constant β 1Multiply each other output angle observer gain coefficient K 1(j); D multiplier (65) in the gain generator (6) multiplies each other output angle speed observer gain coefficient K with the reference voltage quadratic sum M (j) that receives with the 3rd intermediate quantity 2(j);
Described state observer (5) is divided from the function that realizes and is made up of angular velocity predictor module (501) and angle predictor module (502); Described angular velocity predictor module (501) includes G multiplier (51), H multiplier (52), A totalizer (53), status register A (56); Described angle predictor module (502) includes I multiplier (54), B totalizer (55), J multiplier (57), C totalizer (58), status register B (59); Wherein, the G multiplier (51) in the state observer (5) is with the error E (j) and angular velocity observer gain coefficient K that receive 2(j) multiply each other, export the 4th intermediate quantity; The 4th intermediate quantity and sampling period T that H multiplier (52) in the state observer (5) will receive multiply each other, and export the 5th intermediate quantity; A totalizer (53) in the state observer (5) is measured angular velocity estimated value constantly according to the j of status register A (56) record
Figure C200710175782C00031
With the 5th intermediate quantity addition, export j+1 and measure angular velocity output valve constantly
Figure C200710175782C00032
I multiplier (54) in the state observer (5) is with the error E (j) and angular observation device gain coefficient K that receive 1(j) multiply each other, export the 6th intermediate quantity; B totalizer (55) in the state observer (5) is according to j the angular velocity estimated value of measuring the moment of status register A (56) record
Figure C200710175782C00033
With the 6th intermediate quantity addition, export the 7th intermediate quantity; The 7th intermediate quantity and sampling period T that J multiplier (57) in the state observer (5) will receive multiply each other, and export the 8th intermediate quantity; C totalizer (58) in the state observer (5) is according to j the angle estimated value of measuring the moment of status register B (59) record
Figure C200710175782C00034
With the 8th intermediate quantity addition, export j+1 and measure angle output valve constantly
Figure C200710175782C00035
Measure angle estimated value constantly for j
Figure C200710175782C00036
Be exactly j and measure angle output valve constantly; Measure angular velocity estimated value constantly for j
Figure C200710175782C00037
Be exactly j and measure angular velocity output valve constantly.
2, digital converter of rotary transformer according to claim 1 is characterized in that: phase sensitive detector (4), state observer (5) and gain generator (6) are realized by the software code compiling, are stored on the processor chips.
3, digital converter of rotary transformer according to claim 2 is characterized in that: described processor chips are dsp processors.
4, digital converter of rotary transformer according to claim 1 is characterized in that: angular velocity predictor module (501) constitutes a second order state observer with angle predictor module (502); The angle output valve of described angle predictor module (502) satisfies θ ^ ( j + 1 ) = θ ^ ( j ) + T [ ω ^ ( j ) + K 1 ( j ) E ( j ) ] , And K 1(j)=β 1V r(j); The angular velocity output valve of described angular velocity predictor module (501) satisfies ω ^ ( j + 1 ) = ω ^ ( j ) + T [ K 2 ( j ) E ( j ) ] , And K 2 ( j ) = β 2 V r 3 ( j ) .
5, digital converter of rotary transformer according to claim 1 is characterized in that: described angular observation device constant β 1For greater than zero constant; Described angular velocity observer constant β 2For greater than zero constant.
CNB2007101757822A 2007-10-12 2007-10-12 Digital converter of rotary transformer Expired - Fee Related CN100470201C (en)

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