CN102095431A - Digital converter of magnetic encoder - Google Patents

Abstract

The invention discloses a digital converter of a magnetic encoder, comprising a magnetic encoder, a signal processor, a phase-sensitive detector, a feedforward signal generator and a state observer. The signal processor caries out amplitude conditioning and analog-to-digital conversion to the output signal of the magnetic encoder; the phase-sensitive detector can generate an error signal containing phase information according to the output signal of the magnetic encoder and an angle estimation value output by the state observer; the feedforward signal generator calculates a feedforward angular velocity value needed by the state observer according to the output signal of the signal processor; and the state observer demodulates the angle and the angular velocity of a tested rotating device according to the error signal and the feedforward angular velocity value. The invention can greatly reduce the phase lag of the demodulated signal when the rotating device continuously rotates and has high demodulation accuracy and strong anti-interference capability.

Description

Magnetic Encoder to Digital Converter

technical field

The invention relates to a magnetic encoder digital converter, more precisely, it refers to a magnetic encoder (position sensor) digital converter that can demodulate the output signal of the magnetic encoder and can be applied in the servo control system. converter.

Background technique

Magnetic encoders consist of linear Hall or magnetoresistive elements and are sensors used to measure the angle of rotation. Because of its simple structure, small size, low cost, strong anti-interference ability and environmental adaptability, it plays a very important role in rotor position detection.

At present, there are many demodulation schemes for the magnetic encoder digital converter, and the most widely used ones are the arctangent operation scheme and the angle tracking transformation scheme. The arctangent operation scheme first obtains the angle information through the arctangent operation, and then obtains the angular velocity information through the difference. This scheme is sensitive to noise signals and has poor precision. The angle tracking conversion scheme is composed of a sine-cosine multiplier, an error amplifier, a phase-sensitive demodulator, a counter, a voltage-controlled oscillator, etc., and the estimated value of the angle is preset, and the phase-sensitive detector is used to obtain the difference between the actual rotation angle value and the estimated value. The sine value of the difference, adjust the estimated value by judging the positive or negative of the sine value, forming a closed loop, so that the estimated value gradually approaches the actual value. The accuracy of this scheme is not high, and there is a phase lag.

Contents of the invention

和角速度

而且可以明显改善被测旋转装置转速连续变化时，输出角度和角速度信号的相位滞后。本发明能够实现在变速情况下角度和角速度信息的高精度解调，输出精度比常规数字解调器输出精度提高几倍以上。The purpose of the present invention is to provide a magnetic encoder digital converter, which can not only demodulate the measured rotating device from the magnetic encoder output signal in real time by introducing a second-order state observer with feedforward angle

and angular velocity

Moreover, the phase lag of the output angle and angular velocity signals can be significantly improved when the rotational speed of the rotating device under test changes continuously. The invention can realize high-precision demodulation of angle and angular velocity information under variable speed, and the output precision is several times higher than that of conventional digital demodulators.

A magnetic encoder-digital converter of the present invention includes a signal conditioner (3), a phase-sensitive detector (4), a feedforward signal generator (5) and a state observer (6);

Signal conditioner (3) is made up of conditioner (31) and A/D converter (32); Conditioner (31) and A/D converter (32) are used for the analog sinusoidal V _s (t) that receives Amplitude conditioning, analog-to-digital conversion, output digital sine V _s (j); conditioner (31) and A/D converter (32) are used to carry out amplitude conditioning, modulus to analog cosine V _c (t) received Convert, output digital cosine V _c (j);

的余弦值

正弦发生器(42)用于产生角度估计值的正弦值

；A乘法器(43)将接收的数字正弦V_s(j)与余弦值

相乘，输出第一中间量；B乘法器(44)将接收的数字余弦V_c(j)与正弦值

相乘，输出第二中间量；A加法器(45)用第一中间量减去第二中间量获得在第j时刻的误差E(j)；Phase-sensitive detector (4) is made up of cosine generator (41), cosine generator (42), A multiplier (43), B multiplier (44), A adder (45); cosine generator (41) used to generate angle estimates

cosine of

A sine generator (42) is used to generate angle estimates the sine of

; A multiplier (43) will receive digital sine V _s (j) and cosine value

Multiply, output the first intermediate quantity; B multiplier (44) will receive digital cosine V _c (j) and sine value

Multiply, output the second intermediate quantity; A adder (45) subtracts the second intermediate quantity with the first intermediate quantity and obtains the error E (j) of the j moment;

B加法器(52)用接收的旋转装置度的估计信号

减去A状态存储器(53)记载的前一时刻j-1的角度估计值

输出第三中间变量；C乘法器(54)将接收的第三中间变量与采样周期的倒数

相乘，输出第四中间变量

T表示采样周期；D乘法器(55)将接收的第四中间变量与第一滤波系数a₁相乘，输出第五中间变量；τ表示滤波时间常数；C加法器(56)将接收的第五中间变量与第六中间变量相加，输出前馈角速度值

E乘法器(57)依据B状态存储器(58)记载的前一时刻j-1的前馈角速度值

与第二滤波系数a₂相乘，输出第六中间变量；Feedforward signal generator (5) is by arctangent operator (51), B adder (52), A state memory (53), C multiplier (54), D adder (55), C adder (56 ), E multiplier (57), B state memory (58); the arctangent operator (51) carries out the arctangent calculation with the received digital sine V _s (j), digital cosine V _c (j), and outputs the rotary device Angle estimate signal

The B adder (52) uses the received estimated signal of the rotation device degree

Subtract the estimated angle value of the previous moment j-1 recorded in the A state memory (53)

Output the 3rd intermediate variable; C multiplier (54) will receive the reciprocal of the 3rd intermediate variable and sampling period

Multiply, output the fourth intermediate variable

T represents the sampling cycle; D multiplier (55) multiplies the 4th intermediate variable received with the first filter coefficient a ₁ , and outputs the 5th intermediate variable; τ represents the filtering time constant; C adder (56) receives the 4th intermediate variable The fifth intermediate variable is added to the sixth intermediate variable to output the feedforward angular velocity value

E multiplier (57) according to the feed-forward angular velocity value of the previous moment j-1 recorded in B state memory (58)

Multiply with the second filter coefficient a ₂ to output the sixth intermediate variable;

State observer (6) is made up of angular velocity observer module (601) and angle observer module (602);

Described angular velocity observer module (601) comprises F multiplier (61), G multiplier (62), D adder (63), E adder (64), C state memory (65); Described F The angular velocity observer gain coefficient K _θ is set in the multiplier (61);

Described angle observer module (602) comprises H multiplier (66), F adder (67), D state storer (69), I multiplier (68), G adder (610), E state storer ( 611); The angle observer gain coefficient K _ω is set in the described H multiplier (66);

与第九中间量相加，输出第九中间量；E加法器(64)将前馈信号发生器(5)产生的前馈角速度信号

与第九中间量相加，输出第j时刻的角速度值

H乘法器(66)将接收的误差E(j)与角度观测器增益系数K_ω相乘，输出第十中间量；F加法器(67)依据D状态存储器(69)记载的前一时刻j-1的角速度估计值

与第十中间量相加，输出第十一中间量；I乘法器(68)将接收的第十一中间量与采样周期T相乘，输出第十二中间量；G加法器(610)依据E状态存储器(611)记载的前一时刻j-1的角度估计值

与第十二中间量相加，输出第j时刻的角度值

The F multiplier (61) multiplies the received error E(j) with the angular velocity observer gain coefficient K _θ , and outputs the seventh intermediate quantity; the G multiplier (62) multiplies the received seventh intermediate quantity with the sampling period T , output the eighth intermediate quantity; D adder (63) according to the feedback angular velocity estimated value of the previous moment j-1 recorded in C state memory (65)

Add the ninth intermediate quantity, output the ninth intermediate quantity; E adder (64) the feedforward angular velocity signal that feedforward signal generator (5) produces

Add it to the ninth intermediate quantity, and output the angular velocity value at the jth moment

H multiplier (66) multiplies the received error E (j) with angle observer gain coefficient K _ω , and outputs the tenth intermediate quantity; F adder (67) records the previous moment j according to D state memory (69) Angular velocity estimate of -1

Add the tenth intermediate quantity, output the eleventh intermediate quantity; I multiplier (68) multiplies the eleventh intermediate quantity received with the sampling period T, and outputs the twelfth intermediate quantity; G adder (610) based on The angle estimated value of the previous moment j-1 recorded in the E state memory (611)

Add it to the twelfth intermediate value, and output the angle value at the jth moment

The advantages of the magnetic encoder digital converter involved in the present invention are: (1) introducing a linear state observer, by rationally selecting the gain coefficient, the angular position and angular velocity of the measured rotating device can be obtained in real time; (2) introducing angular velocity feedforward, which can When the angular velocity of the rotating device under test is continuously changed, the phase lag of the output angle and rotational speed signal of the state observer is greatly reduced; (3) the phase-sensitive detector, the state observer and the feedforward signal generator are implemented by software code compilation, so that the digital The converter has high demodulation accuracy and strong anti-interference ability.

Description of drawings

Fig. 1 is a structural principle block diagram of the present invention;

Fig. 2 is a functional block diagram of the signal conditioner of the present invention.

Fig. 3 is a functional block diagram of the phase sensitive detector of the present invention.

Fig. 4 is a functional block diagram of the feedforward signal generator of the present invention.

Fig. 5 is a functional block diagram of the state observer of the present invention.

In the figure: 1. Rotary device 2. Magnetic encoder 3. Signal conditioner 31. Conditioning circuit 32. Analog-to-digital converter 4. Phase-sensitive detector 41. Cosine generator 42. Sine generator 43. A multiplier 44. B Multiplier 45.A Adder 5.Feedforward Signal Generator 51.Arctangent Operator 52.B Adder 53.A State Memory 54.C Multiplier 55.D Multiplier 56.C Adder 57.E Multiplication 58.B State Memory 6. State Observer 601. Speed Observer 602. Angle Observer 61.F Multiplier 62.G Multiplier 63.D Adder 64.E Adder 65.C State Memory 66.H Multiplication 67.F adder 68.I multiplier 69.D state memory 610.G adder 611.E state memory

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

The invention is a magnetic encoder digital converter, which mainly includes a signal conditioner, a phase-sensitive detector, a state observer and a feedforward signal generator. The phase-sensitive detector, the state observer and the feed-forward signal generator are realized by compiling software codes and stored on the processor chip. The signal conditioner performs amplitude conditioning and analog-to-digital conversion on the output signal of the magnetic encoder; the phase-sensitive detector can generate an error signal containing phase information according to the output signal of the magnetic encoder and the angle value output by the state observer; the feedforward signal generates The controller calculates the feedforward velocity value required by the state observer according to the output signal of the signal conditioner; the state observer demodulates the angular position and angular velocity of the measured rotating device according to the above error signal and the feedforward velocity value.

As shown in FIG. 1 , in the present invention, the magnetic encoder 2 is used to convert the angular position information output by the rotating device 1 into analog sine V _s (t) and analog cosine V _c (t) signals for output. V _s (t) = K _e sin θ, V _c (t) = K _e cos θ, K _e represents the gain coefficient of the magnetic encoder 2, t represents the measured object - the measurement time of the rotating device 1 rotor running time, θ Indicates the measured object - the angle of rotation of the rotor of the rotating device 1.

The present invention is a magnetic encoder digital converter, which is a device for converting and processing the information of the analog sine V _s (t) and the analog cosine V _c (t) output by the magnetic encoder 2 . The magnetic encoder digital converter of the present invention mainly includes a signal conditioning module 3, a phase-sensitive detector 4, a feedforward signal generator 5 and a state observer 6; wherein the phase-sensitive detector 4, the feedforward signal generator 5 and the state observer The device 6 is realized by storing the compiled software code on the processor chip (that is, the compiled software code is divided into a phase-sensitive detector 4, a feed-forward signal generator 5 and a state observer 6 according to the realized functions). The processor may be a DSP chip, such as a TMS320 series chip.

In the present invention, as shown in FIG. 2 , the signal conditioning module 3 is composed of a conditioner 31 and an A/D converter 32 . The conditioner 31 and the A/D converter 32 in the signal conditioning module 3 are used to carry out amplitude conditioning and analog-to-digital conversion to the received analog sine V _s (t), and output digital sine V _s (j);

The conditioner 31 and the A/D converter 32 in the signal conditioning module 3 are used to carry out amplitude conditioning and analog-to-digital conversion to the received analog cosine V _c (t), and output digital cosine V _c (j);

取值为零；若在当前时刻，则相敏检测器4接收的角度估计值

取值为

In the present invention, as shown in Figure 3, phase-sensitive detector 4 is made up of cosine generator 41, cosine generator 42, A multiplier 43, B multiplier 44, A adder 45; The angle estimate received by detector 4

The value is zero; if at the current moment, the angle estimate value received by the phase-sensitive detector 4

The value is

A cosine generator 41 in the phase sensitive detector 4 is used to generate an angle estimate cosine of

The sine generator 42 in the phase sensitive detector 4 is used to generate the angle estimate the sine of

相乘，输出第一中间量；The A multiplier 43 in the phase-sensitive detector 4 combines the received digital sine V _s (j) with the cosine value

Multiply and output the first intermediate quantity;

相乘，输出第二中间量；The B multiplier 44 in the phase-sensitive detector 4 combines the received digital cosine V _c (j) with the sine value

Multiply and output the second intermediate quantity;

The A adder 45 in the phase sensitive detector 4 subtracts the second intermediate quantity from the first intermediate quantity to obtain the error E(j) at the jth moment.

In the present invention, as shown in Figure 4, the feed-forward signal generator 5 is divided into arctangent operator 51, B adder 52, A state memory 53, C multiplier 54, D adder 55, C adder 56, E multiplier 57, B state memory 58 are formed;

The arctangent operator 51 in the feedforward signal generator 5 performs arctangent calculation on the received digital sine V _s (j) and digital cosine V _c (j), and outputs the estimated signal of the angular position of the rotating device

The A-state memory 53 in the feedforward signal generator 5 is used to record the estimated value of the angular position at the previous moment j-1 (or called the j-1th moment)

减去A状态存储器53记载的前一时刻j-1(或称第j-1时刻)的角位置估计值

输出第三中间变量；The B adder 52 in the feedforward signal generator 5 uses the received estimated signal of the rotary device position

Subtract the estimated value of the angular position at the previous moment j-1 (or claim the j-1th moment) recorded in the A state memory 53

output the third intermediate variable;

相乘，输出第四中间变量

T表示采样周期；The C multiplier 54 in the feed-forward signal generator 5 will receive the third intermediate variable and the reciprocal of the sampling period

Multiply, output the fourth intermediate variable

T represents the sampling period;

The D multiplier 55 in the feedforward signal generator 5 multiplies the received fourth intermediate variable with the first filter coefficient _α1 , and outputs the fifth intermediate variable;

The B state memory 58 in the feed-forward signal generator 5 is used to record the feed-forward angular velocity value, and the initial value of the feed-forward angular velocity value is zero, if at the current moment, then it is the feed-forward angular velocity value

与第二滤波系数α₂相乘，输出第六中间变量；第一滤波系数α₁与第二滤波系数α₂满足α₁+α₂＝1；The E multiplier 57 in the feedforward signal generator 5 is based on the feedforward angular velocity value of the previous moment j-1 recorded in the B state memory 58

Multiply with the second filter coefficient α ₂ to output the sixth intermediate variable; the first filter coefficient α ₁ and the second filter coefficient α ₂ satisfy α ₁ +α ₂ =1;

The C adder 56 in the feedforward signal generator 5 adds the received fifth intermediate variable to the sixth intermediate variable, and outputs the feedforward angular velocity value

In the present invention, as shown in Figure 5, state observer 6 is made up of angular velocity observer module 601 and angle observer module 602 from the functional division of realization; In the present invention, angular velocity observer module 601 and angle observer module 602 forms a feed-forward second-order state observer.

The angular velocity observer module 601 includes an F multiplier 61, a G multiplier 62, a D adder 63, an E adder 64, and a C state memory 65; the angular velocity observer gain coefficient is set in the F multiplier 61 K _θ ;

Described angle observer module 602 comprises H multiplier 66, F adder 67, D state storer 69, I multiplier 68, G adder 610, E state storer 611; Angle observer gain factor K _ω .

The F multiplier 61 in the state observer 6 multiplies the received error E (j) with the angular velocity observer gain coefficient K _θ , and outputs the seventh intermediate quantity;

The G multiplier 62 in the state observer 6 multiplies the seventh intermediate quantity received by the sampling period T, and outputs the eighth intermediate quantity;

The C-state memory 65 in the state observer 6 is used to record the estimated value of the feedback angular velocity at the previous moment j-1

与第九中间量相加，输出第九中间量；The D adder 63 in the state observer 6 is based on the feedback angular velocity estimated value of the previous moment j-1 recorded in the C state memory 65

Add the ninth intermediate quantity to output the ninth intermediate quantity;

与第九中间量相加，输出第j时刻的角速度值

The E adder 64 in the state observer 6 takes the feedforward angular velocity signal that the feedforward signal generator 5 produces

Add it to the ninth intermediate quantity, and output the angular velocity value at the jth moment

The H multiplier 66 in the state observer 6 multiplies the received error E (j) with the angle observer gain coefficient K _ω , and outputs the tenth intermediate quantity;

The D state memory 69 in the state observer 6 is used to record the estimated value of the angular velocity at the previous moment j-1

The F adder 67 in the state observer 6 is based on the angular velocity estimated value of the previous moment j-1 recorded in the D state memory 69 Add the tenth intermediate quantity to output the eleventh intermediate quantity;

The I multiplier 68 in the state observer 6 multiplies the received eleventh intermediate quantity with the sampling period T, and outputs the twelfth intermediate quantity;

The E state memory 611 in the state observer 6 is used to record the angle estimation value of the previous moment j-1

与第十二中间量相加，输出第j时刻的角度值

The G adder 610 in the state observer 6 is based on the angle estimation value of the previous moment j-1 recorded in the E state memory 611

Add it to the twelfth intermediate value, and output the angle value at the jth moment

The mathematical form of each signal in the magnetic encoder digital converter of the present invention is expressed as follows:

The analog sine signal output by the magnetic encoder 2 is recorded as V _s (t)=K _e sinθ, and the analog cosine signal is recorded as V _c (t)=K _e cosθ; K _e represents the gain coefficient of the magnetic encoder 2, and t represents the Measuring body - the measuring moment of the rotor running time of the rotating device 1, θ represents the angle of the measured body - the rotor of the rotating device 1;

When the analog sine signal V _s (t) and the analog cosine signal V _c (t) output by the magnetic encoder 2 enter the signal conditioning module 3, the amplitude is adjusted (completed by the conditioner 31), the analog/digital conversion (by A/ After the D converter 32 is completed), it outputs digital sine V _s (j)=sinθ(j) and digital cosine V _c (j)=cosθ(j), where j represents the current moment and j-1 represents the previous moment.

然后通过运算得到误差输出

As shown in Figure 3, cosine generator 41, sine generator 42 according to the angle estimation value that state observer 6 outputs Obtain the sine of the angle estimate by look-up table cosine value

Then the error output is obtained by operation

As shown in Figure 4, the feedforward signal generator 5 is used to generate the feedforward speed signal required by the state observer, and the demodulation of the output signal of the magnetic encoder has the following calculation formula:

${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; [</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

${\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

According to the combination of the above three formulas, the feed-forward speed signal at the jth moment is obtained

所述角度观测器模块602的角度输出值满足

As shown in Figure 5, the angular velocity output value of the angular velocity observer module 601 satisfies

The angle output value of the angle observer module 602 satisfies

In the present invention, a feed-forward second-order state observer is designed. By reasonably selecting the gain coefficient, not only the angular position of the measured rotating device can be demodulated from the output signal of the magnetic encoder, but also the angular velocity can be obtained at the same time, and the solution High adjustment accuracy and strong anti-interference ability.

Example:

In order to compare the accuracy of the present invention and the traditional demodulation method, a semi-physical simulation experiment is carried out. Select a TMS320 series DSP processor chip with DA output as the two-way sine and cosine signals output by the magnetic encoder simulator. The processing chip adopts another TMS320 series DSP processor chip.

为0。当各数据信息采集至处理器上时，经解调后本发明磁编码器数字转换器的角位置输出的最大误差值为0.00008弧度，角速度输出的最大误差为0.032rad/s；在本实例中，采用角度跟踪型方法时，角位置输出最大误差值为0.00052弧度。角速度输出最大误差为0.38rad/s。通过参数的对比，本发明的磁编码器数字转换器输出角位置精度提高了5倍以上，角速度精度提高了10倍左右。Assuming that the motor rotor is running at a speed of ω=12.6+8sin(6.28t)rad/s, the set running time is 30s, and the measurement time t is 20s. The angle observer constant K _θ is 500; the angular velocity observer constant K _ω is 62500. The sampling period T is 1ms. During system initialization, the estimated value of angular velocity at the zeroth measurement moment recorded in the D state memory 69 is 0; the estimated value of the angle at the zeroth measurement moment recorded in the E state memory 611

is 0. When each data information is collected on the processor, the maximum error value of the angular position output of the magnetic encoder digital converter of the present invention after demodulation is 0.00008 radians, and the maximum error value of the angular velocity output is 0.032rad/s; in this example , when using the angle tracking method, the maximum error value of the angular position output is 0.00052 radians. The maximum error of angular velocity output is 0.38rad/s. Through the comparison of parameters, the accuracy of the output angular position of the magnetic encoder digital converter of the present invention is increased by more than 5 times, and the accuracy of the angular velocity is increased by about 10 times.

Claims (5)

1. a magnetic coder digital quantizer is characterized in that: include signal conditioner (3), phase sensitive detector (4), feed-forward signal generator (5) and state observer (6);

Signal conditioner (3) is made up of conditioner (31) and A/D converter (32); Conditioner (31) 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) 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);

Phase sensitive detector (4) is made up of cosine generator (41), cosine generator (42), A multiplier (43), B multiplier (44), A totalizer (45); Cosine generator (41) is used to produce the angle estimated value

Cosine value

Forcing function generator (42) is used to produce the angle estimated value Sine value

A multiplier (43) is with the digital sine V that receives _s(j) and cosine value

Multiply each other, export first intermediate quantity; B multiplier (44) is with the digital cosine V that receives _c(j) and sine value

Multiply each other, export second intermediate quantity; A totalizer (45) deducts second intermediate quantity with first intermediate quantity and obtains the error E (j) constantly at j;

Feed-forward signal generator (5) is made up of arctangent cp cp operation device (51), B totalizer (52), A condition storer (53), C multiplier (54), D totalizer (55), C totalizer (56), E multiplier (57), B status register (58); Arctangent cp cp operation device (51) is with the digital sine V that receives _s(j), digital cosine V _c(j) carry out arctangent cp cp operation, the estimated signal of output whirligig angle

B totalizer (52) estimated signal of the whirligig degree that receives

Deduct the angle estimated value of the previous moment j-1 of A condition storer (53) record Export the 3rd intermediate variable; The 3rd intermediate variable that C multiplier (54) will receive and the inverse in sampling period

Multiply each other, export the 4th intermediate variable

T represents the sampling period; The 4th intermediate variable that D multiplier (55) will receive and the first filter factor a ₁Multiply each other, export the 5th intermediate variable; τ represents time constant filter; The 5th intermediate variable that C totalizer (56) will receive and the 6th intermediate variable addition, output feedforward magnitude of angular velocity

E multiplier (57) is according to the feedforward magnitude of angular velocity of the previous moment j-1 of B status register (58) record

With the second filter factor a ₂Multiply each other, export the 6th intermediate variable;

State observer (6) is made up of angular velocity observer module (601) and angular observation device module (602);

Described angular velocity observer module (601) includes F multiplier (61), G multiplier (62), D totalizer (63), E totalizer (64), C status register (65); Be set with angular velocity observer gain coefficient K in the described F multiplier (61) _θ

Described angular observation device module (602) includes H multiplier (66), F totalizer (67), D status register (69), I multiplier (68), G totalizer (610), E status register (611); Be set with angular observation device gain coefficient K in the described H multiplier (66) _ω

F multiplier (61) is with the error E (j) and angular velocity observer gain coefficient K that receive _θMultiply each other, export the 7th intermediate quantity; The 7th intermediate quantity and sampling period T that G multiplier (62) will receive multiply each other, and export the 8th intermediate quantity; D totalizer (63) is according to the feedback angular velocity estimated value of the previous moment j-1 of C status register (65) record

With the 9th intermediate quantity addition, export the 9th intermediate quantity; The feedforward angular velocity signal that E totalizer (64) produces feed-forward signal generator (5)

With the 9th intermediate quantity addition, export j magnitude of angular velocity constantly

H multiplier (66) is with the error E (j) and angular observation device gain coefficient K that receive _ωMultiply each other, export the tenth intermediate quantity; F totalizer (67) is according to the angular velocity estimated value of the previous moment j-1 of D status register (69) record

With the tenth intermediate quantity addition, export the 11 intermediate quantity; The 11 intermediate quantity and sampling period T that I multiplier (68) will receive multiply each other, and export the 12 intermediate quantity; G totalizer (610) is according to the angle estimated value of the previous moment j-1 of E status register (611) record With the 12 intermediate quantity addition, export j angle value constantly

2. magnetic coder digital quantizer according to claim 1 is characterized in that: the angular velocity output valve of angular velocity observer module (601) satisfies

The angle output valve of described angular observation device module (602) satisfies

3. magnetic coder digital quantizer according to claim 1 is characterized in that: first filter coefficient alpha ₁With second filter coefficient alpha ₂Satisfy α ₁+ α ₂=1.

4. magnetic coder digital quantizer according to claim 1 is characterized in that: designed the linear condition observer, and added the angular velocity feedforward, by rationally choosing gain coefficient, demodulated tested angle and angular velocity from the magnetic coder output signal.

5. magnetic coder digital quantizer according to claim 1 is characterized in that: add the angular velocity feedforward in this converter, and in the time of can reducing tested whirligig rotating speed significantly and change continuously, the phase lag of state observer output angle and angular velocity signal.

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