CN115655190A - Calibration method and device for rotation-change soft decoding - Google Patents
Calibration method and device for rotation-change soft decoding Download PDFInfo
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Abstract
The invention discloses a calibration method and a device for rotation soft decoding, wherein the calibration method comprises the following steps: respectively sampling sine and cosine feedback signal envelope surfaces of the rotary variable feedback according to N times of oversampling frequency to obtain sine and cosine oversampling signals; processing the sine and cosine oversampled signals to obtain zero offset of the rotary sine and cosine envelope signals; processing the sine and cosine oversampled signals to obtain amplitude values of the spiral-changing sine and cosine enveloping surfaces; processing the sine and cosine oversampled signals to obtain phase deviation of the spiral-changing sine and cosine enveloping surfaces; and compensating the envelope surfaces of sine and cosine of the rotary transformer through the amplitude, zero offset and phase deviation obtained by calculation, and sending compensated signals to a phase-locked loop to obtain the angle and rotating speed information of the rotary transformer. The invention can successively obtain accurate amplitude, zero offset and phase difference, further carry out error compensation, finally obtain corrected sine and cosine signals, and effectively ensure the efficiency of the motor.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a calibration method and device for rotation soft decoding.
Background
Because the software decoding of the rotary transformer does not need an additional hardware chip, the rotary transformer is more and more widely applied to electric drive products of new energy vehicles in recent two years, but consistency differences exist between a rotary transformer body and a hardware sampling circuit, and meanwhile, problems of inaccurate zero-position zero offset and the like also exist in an envelope surface of the software processing rotary transformer sine and cosine, and errors exist in the rotary transformer sine and cosine signals obtained by final software de-enveloping: amplitude error, zero offset, phase error. The 3 types of errors can affect the linearity of the angle output of the software phase-locked loop, and for the control of the permanent magnet synchronous motor, the efficiency can be directly reduced, and the motor is out of control in severe cases. Therefore, how to compensate the error and further accurately obtain the amplitude, the zero position and the phase difference of the rotary sine and cosine envelope surface becomes a technical problem to be solved in the prior art.
Disclosure of Invention
The invention aims to provide a calibration method for rotary-change soft decoding, which is used for solving the technical problems that in the prior art, the rotary-change sine and cosine signals obtained by finally envelope-solving software have errors, and the amplitude, zero offset and phase difference of a rotary-change sine and cosine envelope surface cannot be accurately obtained through decoding.
The calibration method for the rotation-change soft decoding comprises the following steps: respectively sampling sine and cosine feedback signal envelope surfaces of the rotary variable feedback according to N times of oversampling frequency to obtain sine and cosine oversampling signals; processing the sine and cosine oversampled signals to obtain zero offset of the rotary sine and cosine envelope signals; processing the sine and cosine oversampled signals to obtain amplitude values of the spiral-changing sine and cosine enveloping surfaces; processing the sine and cosine oversampled signals to obtain phase deviation of the spiral-changing sine and cosine enveloping surfaces; and compensating envelope surfaces of sine and cosine of the rotation through the amplitude, zero offset and phase deviation obtained by calculation, and sending compensated signals to a phase-locked loop to obtain angle and rotation speed information of the rotation.
Preferably, the method specifically comprises the following steps:
step 1, performing N frequency multiplication oversampling on sine and cosine enveloping surfaces fed back by a rotary transformer;
step 2, respectively carrying out averaging calculation on the sine and cosine over-sampled signals to obtain zero offset of sine and cosine enveloping surfaces;
step 3, calculating coefficients of a first-order DFT series for the sine and cosine oversampling signals to respectively obtain components of a D axis and a Q axis of the sine and cosine enveloping surfaces;
step 4, respectively carrying out squaring and post-root-opening operations on the obtained D, Q axial components of the sine and the cosine, so as to respectively obtain the amplitudes of the sine and the cosine;
step 5, performing arc tangent operation on the obtained D, Q axial components of the sine and cosine respectively to obtain initial phases of the sine and cosine enveloping surfaces in a DQ shafting respectively;
step 6, performing subtraction on the obtained sine and cosine initial phases to obtain a phase difference of sine and cosine;
step 7, performing amplitude and zero offset compensation on the original sine and cosine enveloping surfaces according to the zero offset of the sine and cosine enveloping surfaces and the amplitudes of the sine and cosine obtained by calibration to obtain the per-unit sine and cosine;
step 8, performing phase compensation on the per-unit value per unit in the step 7 by using the obtained phase difference to obtain correction values of the sine signal and the cosine signal;
and 9, sending the correction value obtained by calculation into a phase-locked loop to calculate the angle and the rotating speed of the rotary transformer.
Preferably, in step 1, N times of frequency oversampling is performed and M complete cycles are maintained, so that N × M sine and cosine oversampled signals are obtained. The sine and cosine oversampled signals are denoted X (i), Y (i) (i =1,2,3 … N × M), respectively.
Preferably, in the step 2, the zero Offset of the sine and cosine enveloping surfaces is calculated sin And Offset cos The formula of (1) is as follows:
preferably, in step 3, the sine and cosine oversampled signals are respectively subjected to point multiplication with unit discrete sine and cosine trigonometric function sequences of the same frequency, and then multiplied by 2/(M × N), so as to obtain component amps of the D axis and the Q axis of the sine and cosine envelope surfaces sin_d ，Amp sin_q ，Amp cos_d ，Amp cos_q The specific formula is as follows:
preferably, in the step 4, the amplitude Amp of the sine and cosine is sin ，Amp cos The specific formula of (A) is as follows:
preferably, in step 5, the initial phases θ of the sine-cosine enveloping surfaces in the DQ axis system sin ，θ cos The specific formula of (A) is as follows:
in step 6, the phase difference between sine and cosine
The formula of (1) is as follows:
preferably, in step 7, the zero offsets of the sine and cosine enveloping surfaces are Offset respectively sin 、Offset cos The amplitudes of sine and cosine are Amp sin 、Amp sin Per unit sine and cosine Sin unit ，cos unit Specific formula ofComprises the following steps:
in the step 8, the correction value Sin of the sine and cosine signals cmpst ，cos cmpst The specific formula is as follows:
the invention also provides a device for realizing the calibration method for the rotation-change soft decoding, which comprises a dragging module, a sampling module, an error compensation module and a phase-locked loop module, wherein the error compensation module is used for implementing the calibration method for the rotation-change soft decoding, calculating to obtain the sine and cosine amplitude, the zero offset and the phase difference of the rotation to be calibrated, and outputting a corrected sine and cosine signal.
Preferably, the dragging module is used for dragging the controller to be calibrated at a fixed rotating speed and stabilizing the controller to be calibrated at the calibrated rotating speed; the sampling module is used for performing oversampling on sine and cosine envelope signals fed back by the rotary transformer according to N times of sampling frequency to obtain signals to be processed; and the phase-locked loop module performs phase-locked calculation on the sine and cosine signals after compensation and correction to obtain the angle and the rotating speed of the rotary transformer.
The invention has the following advantages: the invention carries out a series of calculation processing on sine and cosine oversampled signals obtained by oversampling, successively obtains accurate amplitude, zero offset and phase difference, further carries out error compensation on the processed sine and cosine signals according to three errors obtained by calculation in the process, and finally obtains corrected sine and cosine signals (namely correction values), thus carrying out phase-locked loop calculation on the correction values to calculate the angle and the rotating speed of the rotary change, having accurate results, effectively ensuring the efficiency of the motor, and overcoming the problem that the efficiency is reduced or even out of control caused by the large three errors in the motor control.
Drawings
Fig. 1 is a schematic diagram of an apparatus for implementing a calibration method for soft-rotation decoding according to the present invention.
FIG. 2 is a flowchart of a calibration method implemented by the error compensation module in the structure shown in FIG. 1.
Detailed Description
The following detailed description of the present invention will be given in conjunction with the accompanying drawings, for a more complete and accurate understanding of the inventive concept and technical solutions of the present invention by those skilled in the art.
As shown in fig. 1-2, the present invention provides a calibration method for rotation soft decoding, comprising the steps of: respectively sampling sine and cosine feedback signal enveloping surfaces fed back by the rotary transformer according to N times of oversampling frequency to obtain sine and cosine oversampling signals; processing the sine and cosine oversampled signals to obtain zero offset (namely offset) of the rotary sine and cosine envelope signals; processing the sine and cosine oversampled signals to obtain amplitude values of the spiral-changing sine and cosine enveloping surfaces; processing the sine and cosine oversampled signals to obtain phase deviation of the spiral-changing sine and cosine enveloping surfaces; and compensating envelope surfaces of sine and cosine of the rotation through the amplitude, zero offset and phase deviation obtained by calculation, and sending compensated signals to a phase-locked loop to obtain angle and rotation speed information of the rotation.
Specifically, the above includes the following steps.
Step 1, conducting N frequency multiplication oversampling on sine and cosine enveloping surfaces of the rotary change feedback, and keeping M complete cycles, thus obtaining N M sine and cosine oversampling signals. The sine and cosine oversampled signals are denoted X (i), Y (i) (i =1,2,3 … N × M), respectively.
Step 2, averaging the sine and cosine over-sampled signals respectively to obtain zero Offset of the sine and cosine enveloping surfaces sin And Offset cos The formula is as follows:
step 3, respectively using the sine and cosine over-sampled signals and unit discrete sine and cosine with the same frequencyThe string trigonometric function sequence is subjected to a dot product operation and then multiplied by 2/(M × N), which is essentially the calculation of coefficients of a first order DFT series here. Thus, the components Amp of the D axis and the Q axis of the sine envelope surface and the cosine envelope surface are respectively obtained sin_d ，Amp sin_q ，Amp cos_d ，Amp cos_q The specific formula is as follows:
step 4, respectively carrying out squaring and post-root-cutting operations on the D, Q axis components of the sine and the cosine obtained in the step 3, and then respectively obtaining the amplitude value Amp of the sine and the cosine sin ，Amp cos The specific formula is as follows:
step 5, performing arc tangent operation on the D, Q axis components of the sine and cosine obtained in the step 3 respectively to obtain initial phase theta of the sine and cosine enveloping surfaces in a DQ axis system sin ，θ cos The specific formula is as follows:
step 6, performing difference on the sine initial phase and the cosine initial phase obtained by calculation in the step 5 to obtain the phase difference of the sine and the cosine
The formula is as follows:
step 7, obtaining zero Offset of the sine and cosine enveloping surfaces according to calibration sin 、Offset cos And the amplitudes Amp of the sine and cosine sin 、Amp sin Carrying out amplitude and zero on original sine and cosine enveloping surfacesCompensating the bit offset to obtain per unit sine and cosine Sin unit ，cos unit The specific formula is as follows:
step 8, the phase difference obtained in the step 5 is subjected to phase compensation on the per unit value per unit obtained in the step 7 to obtain a correction value Sin of the sine signal and the cosine signal cmpst ，cos cmpst The specific formula is as follows:
step 9, correcting value Sin obtained by calculation in step 8 cmpst ，cos cmpst And sending the data to a phase-locked loop to calculate the rotating angle and the rotating speed.
In order to implement the calibration method, the invention also provides a device for implementing the calibration method, which comprises the following steps: the device comprises a dragging module, a sampling module, an error compensation module and a phase-locked loop module. The specific functions of each module are as follows.
And the dragging module is used for dragging the controller to be calibrated at a fixed rotating speed and stabilizing the controller to be calibrated at a calibrated rotating speed, such as 1000RPM.
And the sampling module is used for performing oversampling on the sine and cosine envelope signals fed back by the rotary transformer according to the sampling frequency which is N times to obtain signals to be processed.
And the error compensation module is used for implementing the calibration method for the rotary-change soft decoding, calculating to obtain the sine and cosine amplitude, zero offset and phase difference of the to-be-calibrated rotary change, and outputting a corrected sine and cosine signal.
And the phase-locked loop module is used for performing phase-locked calculation on the sine and cosine signals after compensation and correction to obtain the angle and the rotating speed of the rotary transformer.
The error compensation module of the core of the structure realizes error compensation of the rotary sine and cosine signals by executing the calibration method provided by the invention, and comprises compensation of three errors of amplitude error, zero offset and phase error, so that the corrected sine and cosine signals are output to the phase-locked loop module for phase-locked calculation, the obtained rotary angle and rotating speed are correct and reliable, and the problems of efficiency reduction and even motor out-of-control caused by errors in the rotary soft decoding adopted in the prior art are solved.
While the invention has been described in connection with the drawings, it is to be understood that the invention is not limited to the precise arrangements and instrumentalities disclosed, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A calibration method for rotation-variant soft decoding, comprising: the method comprises the following steps: respectively sampling sine and cosine feedback signal envelope surfaces of the rotary variable feedback according to N times of oversampling frequency to obtain sine and cosine oversampling signals; processing the sine and cosine oversampled signals to obtain zero offset of the rotary sine and cosine envelope signals; processing the sine and cosine oversampled signals to obtain amplitude values of the spiral-changing sine and cosine enveloping surfaces; processing the sine and cosine oversampled signals to obtain phase deviation of the spiral-changing sine and cosine enveloping surfaces; and compensating envelope surfaces of sine and cosine of the rotation through the amplitude, zero offset and phase deviation obtained by calculation, and sending compensated signals to a phase-locked loop to obtain angle and rotation speed information of the rotation.
2. A calibration method for rotation-variant soft decoding according to claim 1, wherein: the method specifically comprises the following steps:
step 1, performing N frequency multiplication oversampling on sine and cosine enveloping surfaces fed back by a rotary transformer;
step 2, respectively carrying out averaging calculation on the sine and cosine oversampled signals to obtain zero offset of sine and cosine enveloping surfaces;
step 3, calculating coefficients of a first-order DFT series for the sine and cosine oversampling signals to respectively obtain components of a D axis and a Q axis of the sine and cosine enveloping surfaces;
step 4, respectively carrying out squaring and post-root-opening operations on the obtained D, Q axial components of the sine and the cosine, so as to respectively obtain the amplitudes of the sine and the cosine;
step 5, performing arc tangent operation on the D, Q axis components of the sine and the cosine respectively to obtain initial phases of the sine envelope surface and the cosine envelope surface in a DQ axis system respectively;
step 6, performing difference on the obtained sine and cosine initial phases to obtain a phase difference of the sine and cosine;
step 7, performing amplitude and zero offset compensation on the original sine and cosine enveloping surfaces according to the zero offset of the sine and cosine enveloping surfaces and the amplitudes of the sine and cosine obtained by calibration to obtain the per-unit sine and cosine;
step 8, performing phase compensation on the per-unit value per unit obtained in the step 7 by using the obtained phase difference to obtain correction values of the sine signal and the cosine signal;
and 9, sending the correction value obtained by calculation into a phase-locked loop to calculate the angle and the rotating speed of the rotary transformer.
3. A calibration method for rotation-variant soft decoding according to claim 2, wherein: in the step 1, N times of frequency oversampling is performed and M complete cycles are maintained, so that N × M sine and cosine oversampled signals are obtained. The sine and cosine oversampled signals are denoted X (i), Y (i) (i =1,2,3 … N × M), respectively.
4. A calibration method for rotation-variant soft decoding as claimed in claim 3, wherein: in the step 2, zero Offset of the sine and cosine envelope surfaces is calculated sin And Offset cos The formula of (1) is as follows:
5. a calibration method for rotation-variant soft decoding as defined in claim 4, wherein: in the step 3, the sine and cosine over-sampled signals are respectivelyAnd performing dot multiplication on the unit discrete sine and cosine trigonometric function sequences with the same frequency, and then multiplying by 2/(M N) to obtain components Amp of a D axis and a Q axis of the sine and cosine enveloping surfaces sin_d ，Amp sin_q ，Amp cos_d ，Amp cos_q The specific formula is as follows:
6. a calibration method for rotation-variant soft decoding according to claim 5, wherein: in the step 4, the amplitude value Amp of sine and cosine sin ，Amp cos The specific formula of (A) is as follows:
7. a calibration method for rotation-variant soft decoding according to claim 6, wherein: in the step 5, the initial phase theta of the sine and cosine enveloping surfaces in the DQ shafting sin ，θ cos The specific formula of (A) is as follows:
in step 6, the phase difference between sine and cosine
The formula of (1) is as follows:
8. a calibration method for rotation-variant soft decoding according to claim 7, wherein: in said step 7Zero offsets of the sine and cosine envelopes are Offset sin 、Offset cos The amplitudes of sine and cosine are Amp sin 、Amp sin Per unit sine and cosine Sin unit ，cos unit The specific formula is as follows:
in the step 8, the correction value Sin of the sine and cosine signals cmpst ，cos cmpst The specific formula is as follows:
9. an apparatus for implementing a scaling method for rotating soft decoding according to any of claims 1-8, characterized by: the calibration method for the rotation-change soft decoding comprises a dragging module, a sampling module, an error compensation module and a phase-locked loop module, wherein the error compensation module is used for implementing the calibration method for the rotation-change soft decoding according to any one of claims 1 to 8, calculating to obtain sine and cosine amplitude values, zero offset and phase difference of the rotation change to be calibrated, and outputting corrected sine and cosine signals.
10. An apparatus for implementing a calibration method for rotation soft decoding as defined in claim 9, wherein: the dragging module is used for dragging the controller to be calibrated at a fixed rotating speed and stabilizing the controller to be calibrated at the calibrated rotating speed; the sampling module is used for oversampling sine and cosine envelope signals fed back by the rotary transformer according to N times of sampling frequency to obtain signals to be processed; and the phase-locked loop module performs phase-locked calculation on the sine and cosine signals after compensation and correction to obtain the angle and the rotating speed of the rotary transformer.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116539070A (en) * | 2023-07-04 | 2023-08-04 | 深圳砺驰半导体科技有限公司 | Digital decoding method, chip, system, vehicle machine and medium of rotary transformer |
| CN117639604A (en) * | 2023-11-30 | 2024-03-01 | 卓品智能科技无锡股份有限公司 | Zero self-learning method for motor angle sensor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116539070A (en) * | 2023-07-04 | 2023-08-04 | 深圳砺驰半导体科技有限公司 | Digital decoding method, chip, system, vehicle machine and medium of rotary transformer |
| CN116539070B (en) * | 2023-07-04 | 2023-09-15 | 深圳砺驰半导体科技有限公司 | Digital decoding method, chip, system, vehicle machine and medium of rotary transformer |
| CN117639604A (en) * | 2023-11-30 | 2024-03-01 | 卓品智能科技无锡股份有限公司 | Zero self-learning method for motor angle sensor |
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