CN110995108A - Rotary transformer signal compensation method and device and rotary transformer - Google Patents
Rotary transformer signal compensation method and device and rotary transformer Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The application provides a rotary transformer signal compensation method, a rotary transformer signal compensation device and a rotary transformer, and harmonic information of harmonic waves to be compensated in measured original rotor angle signals is obtained. And obtaining the actual phase of the harmonic to be compensated according to the currently measured angular velocity, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated. And then obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase and amplitude of the harmonic to be compensated. And finally, carrying out angle compensation on the original rotor angle signal according to the angle to be compensated of each harmonic to be compensated to obtain the compensated rotor angle information, and inputting the compensated rotor angle information into the next-stage control as the rotor angle of the motor. The scheme compensates for the harmonic component contained in the measured rotor angle signal to obtain the compensated rotor angle, so that the harmonic component in the rotor angle signal is restrained, the influence of the harmonic component on a motor control system is avoided, and the performance of the motor control system is improved.
Description
Technical Field
The invention belongs to the technical field of motor driving and control, and particularly relates to a method and a device for compensating a rotary transformer signal.
Background
A rotary transformer (rotary transformer for short) is an electromagnetic sensor for measuring the angular displacement and speed of rotating shaft of rotating object and is composed of stator winding and rotor winding. The stator winding is used as the primary side of the rotary transformer, the rotor winding is used as the secondary side of the rotary transformer, and the induction voltage is obtained through electromagnetic coupling.
The signal demodulation and angle decoding of the resolver are complex, and the decoding of the resolver angle is usually realized by using an application-specific integrated IC chip or a software mode. If the design or installation of the rotary transformer is not ideal, or the consistency of the rotary transformer sine and cosine signal processing circuit is not ideal, harmonic components appear in the rotary transformer angle obtained by decoding. In the conventional motor control system, a rotation angle obtained by decoding an IC chip or software is usually directly used as an original rotor angle of the motor, so that harmonic components in the rotation angle can be directly introduced into the motor control system to influence the performance of the motor control system, and even the output torque oscillation of the motor or overcurrent fault can be caused in severe cases.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method and an apparatus for compensating a resolver signal, and a resolver, so as to solve an influence of a harmonic component in a rotor angle signal on a motor control system, where the specific technical scheme is as follows:
in a first aspect, the present application provides a method for compensating a resolver signal of a motor, including:
carrying out Fourier transform on an original rotor angle signal measured by a rotary transformer to obtain harmonic information of a harmonic to be compensated in the original rotor angle signal, wherein the harmonic information comprises a harmonic amplitude, an order and a phase offset;
calculating to obtain the actual phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated;
obtaining a to-be-compensated angle corresponding to the to-be-compensated harmonic according to the actual phase of the to-be-compensated harmonic and the amplitude of the to-be-compensated harmonic;
and obtaining a compensated rotor angle signal by using the original rotor angle signal and the sum of the angles to be compensated of each harmonic to be compensated.
Optionally, the calculating, by using the angular velocity measured by the resolver, the rotor angle compensated in the previous sampling period, and the harmonic information of the harmonic to be compensated, to obtain the actual phase of the harmonic to be compensated includes:
calculating to obtain a reference phase of the harmonic to be compensated by using the angular velocity measured by the rotary transformer, the rotor angle compensated in the last sampling period and the order of the harmonic to be compensated;
and calculating to obtain the actual phase of the harmonic wave to be compensated by utilizing the reference phase of the harmonic wave to be compensated and the phase offset of the harmonic wave to be compensated.
Optionally, the calculating to obtain the reference phase of the harmonic to be compensated by using the angular velocity measured by the resolver, the rotor angle compensated in the last sampling period, and the order of the harmonic to be compensated includes:
calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer;
superposing the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period;
and calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
Optionally, obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase of the harmonic to be compensated and the amplitude of the harmonic to be compensated, including:
and calculating a sine function value of the actual phase of the harmonic to be compensated, and calculating the product of the sine function value and the amplitude of the harmonic to be compensated to obtain the angle to be compensated corresponding to the harmonic to be compensated.
Optionally, obtaining a compensated rotor angle signal by using the original rotor angle signal and a sum of the compensation angle signals of each harmonic to be compensated, including:
and calculating the difference between the original rotor angle signal and the sum of the angles to be compensated of each harmonic to be compensated to obtain the compensated rotor angle corresponding to the current sampling period.
In a second aspect, the present application further provides a rotation-varying signal compensation apparatus, including:
the transformation module is used for carrying out Fourier transformation on an original rotor angle signal measured by a rotary transformer to obtain harmonic information of a harmonic to be compensated in the original rotor angle signal, wherein the harmonic information comprises a harmonic amplitude, an order and a phase offset;
the harmonic phase acquisition module is used for calculating the actual phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated;
the compensation angle acquisition module is used for acquiring a to-be-compensated angle corresponding to the to-be-compensated harmonic wave according to the actual phase of the to-be-compensated harmonic wave and the amplitude of the to-be-compensated harmonic wave;
and the angle compensation module is used for obtaining a compensated rotor angle signal by utilizing the original rotor angle signal and the sum of angles to be compensated of each harmonic to be compensated.
Optionally, the harmonic phase acquisition module includes:
the harmonic reference phase acquisition submodule is used for calculating and obtaining a reference phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the order of the harmonic to be compensated;
and the harmonic actual phase acquisition submodule is used for calculating and obtaining the actual phase of the harmonic to be compensated by utilizing the reference phase of the harmonic to be compensated and the phase offset of the harmonic to be compensated.
Optionally, the harmonic reference phase obtaining sub-module is specifically configured to:
calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer;
superposing the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period;
and calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
Optionally, the compensation angle obtaining module is specifically configured to:
and calculating a sine function value of the actual phase of the harmonic to be compensated, and calculating the product of the sine function value and the amplitude of the harmonic to be compensated to obtain the angle to be compensated corresponding to the harmonic to be compensated.
In a third aspect, the present application further provides a rotary transformer, comprising: the device comprises a rotor, a stator, a decoder and an angle harmonic suppression module;
the rotor and the stator are used for measuring the rotation angle and the speed of the rotor of a measured object which rotates synchronously with the rotor;
the decoder is used for decoding the rotor angle and the angular speed to obtain an original rotor angle and an original angular speed of the measured object;
the angle harmonic suppression module is used for executing the motor rotation signal compensation method of any one of the first aspect.
According to the rotary transformer signal compensation method, Fourier transformation is carried out on the original rotor angle signal, and harmonic information of harmonic waves to be compensated in the original rotor angle signal is obtained. And obtaining the actual phase of the harmonic to be compensated according to the currently measured angular velocity, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated. And then obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase and amplitude of the harmonic to be compensated. And finally, carrying out angle compensation on the original rotor angle signal according to the angle to be compensated of each harmonic to be compensated to obtain the compensated rotor angle information, and inputting the compensated rotor angle information into the next-stage control as the rotor angle of the motor. Therefore, the scheme compensates the harmonic component contained in the measured rotor angle signal to obtain the compensated rotor angle, so that the harmonic component in the rotor angle signal is restrained, the influence of the harmonic component on a motor control system is avoided, the performance of the motor control system is improved, the stability of the output torque of the motor is improved, and the balance of the three-phase output current of the motor is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for compensating a resolver signal according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a process of obtaining an actual phase corresponding to a harmonic to be compensated according to an embodiment of the present disclosure;
FIG. 3 is a waveform diagram of a rotor angle signal before compensation according to an embodiment of the present disclosure;
FIG. 4 is a waveform diagram illustrating a compensated rotor angle signal according to an embodiment of the present disclosure;
FIG. 5 is a waveform diagram illustrating output torque of the motor before compensation of the rotor angle signal according to an embodiment of the present disclosure;
fig. 6 is a waveform diagram illustrating output torque of a motor after compensation of a rotor angle signal according to an embodiment of the present disclosure;
fig. 7 is a schematic waveform diagram corresponding to three-phase output currents of a motor before rotor angle signal compensation according to an embodiment of the present application;
fig. 8 is a schematic waveform diagram corresponding to three-phase output currents of a motor after compensation of a rotor angle signal according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a rotation signal compensation apparatus according to an embodiment of the present application.
Detailed Description
The operation principle of the rotary transformer is basically similar to that of a common transformer, and the difference is that the primary winding and the secondary winding of the common transformer are relatively fixed, so the ratio of the output voltage and the input voltage is constant, the primary winding of the rotary transformer changes relative position along with the angular displacement of a rotor, so the output voltage changes along with the angular displacement of the rotor, and the voltage amplitude of the output winding and the angle of the rotor form a sine function relationship and a cosine function relationship, or a certain proportional relationship is kept, or the voltage amplitude and the angle of the rotor form a linear relationship within a certain angle range.
If the rotor angle obtained by decoding the rotary transformer contains harmonic components, the harmonic components can be directly introduced into the motor control system, so that the performance of the motor control system is influenced. In order to solve the technical problem, the application provides a resolver signal compensation method, a rotor of a resolver is installed on a rotor of a motor and synchronously rotates with the rotor, the obtained resolver is subjected to a specific decoding mode (integrated IC decoding or software decoding) to obtain an original rotor angle signal and a speed signal, then a to-be-compensated angle corresponding to a to-be-compensated harmonic contained in the rotor angle signal is obtained, the angle compensation is performed on the original rotor angle signal by using the to-be-compensated angle corresponding to each to-be-compensated harmonic, and a compensated rotor angle is obtained and serves as an input quantity of a subsequent motor control.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart of a method for compensating a resolver signal according to an embodiment of the present disclosure is shown, where the method may be applied to a resolver, or may be applied to a functional module independent from the resolver.
As shown in fig. 1, the method may include the steps of:
s110, Fourier transform is carried out on the original rotor angle signal measured by the rotary transformer, and harmonic information of the harmonic to be compensated in the original rotor angle signal is obtained.
And decoding the signal measured by the rotary transformer to obtain a rotor angle and an angular speed, wherein the obtained rotor angle is an original rotor angle signal of the motor. And carrying out Fourier transform on the original rotor angle signal to obtain harmonic information needing to be compensated in the original rotor angle signal. The harmonic information includes harmonic amplitude, order, and phase offset.
It should be noted that the rotor angle measured by the resolver is an electrical angle signal, and not a mechanical angle signal.
In one embodiment of the present application, the process of obtaining the harmonic information of the harmonic to be compensated is as follows:
firstly, the rotating speed of the motor is dragged to a certain rotating speed spdRef, the original rotor angle angleRaw is obtained through rotational transformation sampling, then an ideal motor angle sawtooth wave angleAnal is artificially constructed according to the current rotating speed and the sampling period Ts, and the angleAnal is an ideal sawtooth wave form without harmonic waves because the spdRef and the Ts can be regarded as fixed values. And then defining angleErr as angleRaw-angleidel, and carrying out Fourier analysis on the angleErr by using an FFT tool to obtain information such as amplitude, order, phase offset and the like of the harmonic to be compensated. Generally, after fourier analysis, the harmonic distribution is relatively dispersed, i.e., there is a distribution in a relatively wide frequency band, and the larger the amplitude of the harmonic component is, the larger the influence on the fundamental wave is, and the smaller the amplitude of the harmonic component is, the smaller the influence on the fundamental wave is. Therefore, compensation is only needed for harmonics with larger amplitudes of the harmonic components converted from the original rotor angle, such as 3 rd order harmonics and 5 th order harmonics.
And S120, calculating to obtain the actual phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated.
In an embodiment of the present application, a reference phase of a harmonic to be compensated is first determined, and then an actual phase of the harmonic to be compensated is obtained according to the reference phase of the harmonic to be compensated and a phase offset of the harmonic to be compensated.
Because the original angle contains each harmonic component, if the original angle is directly used as the reference phase of the harmonic to be compensated, the phase information of each harmonic to be compensated cannot be accurately obtained. Therefore, the angular speed of the motor rotor measured by the rotary transformer and the rotor angle compensated in the previous sampling period can be used for calculating to obtain the fundamental wave phase, and then the reference phase corresponding to the harmonic to be compensated is calculated according to the fundamental wave phase of the rotor angle.
In one embodiment of the present application, as shown in fig. 2, the process of obtaining the actual phase corresponding to the harmonic to be compensated is as follows:
s121, calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer;
wherein, the angular speed of the motor measured by the rotary transformer is assumed to be motSpd, and the unit is rad/s; the sampling period of the rotary transformer is Ts, and the unit is s; ts · motSpd is the angle through which the motor rotor rotates within one sampling period.
S122, overlapping the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period;
assuming that the compensated rotor angle signal angleComp (k-1) is obtained after the rotor angle signal measured in the previous sampling period is compensated, the fundamental phase of the original rotor angle signal in the current sampling period is (angleComp (k-1) + Ts · motSpd).
And S123, calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
The fundamental phase of the original rotor angle signal is multiplied by the order of the harmonics contained in the signal, i.e. the reference phase corresponding to the harmonic.
Assuming that the order of the harmonic to be compensated is hmmcorder (i), where i is integer and 0 ≦ i < n, and n represents the number of harmonics to be compensated, for example, when n is 3, three harmonics to be compensated are represented, for example, 3, 5, and 7 harmonics, respectively, and when i is 0, hmmcorder (i) is 3; when i is 1, HrmcOrder (i) is 5; when i is 2, the hmmcorder (i) is 7.
The reference phase corresponding to the harmonic to be compensated is HrmcOrder (i) (angleComp (k-1) + Ts-motSpd).
And S124, calculating to obtain the actual phase of the harmonic to be compensated by using the reference phase of the harmonic to be compensated and the phase offset of the harmonic to be compensated.
The phase offset of the harmonic to be compensated is the phase of the harmonic signal obtained by performing fourier transform analysis on the original rotor angle signal through an FFT tool, and is denoted as hmmcphase (i), where the harmonic phase is the offset phase of the harmonic signal from the corresponding reference phase, that is, the phase offset. Therefore, the actual phase of the harmonic signal, i.e., (hmmcorder (i)) + hmmcphase (i), can be obtained by superimposing the reference phase and the phase offset corresponding to the same harmonic signal.
S130, obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase of the harmonic to be compensated and the amplitude of the harmonic to be compensated.
After the actual phase of the harmonic to be compensated is obtained, the actual phase and the amplitude of the harmonic can be used for calculating to obtain the angle to be compensated corresponding to the harmonic to be compensated.
The angle to be compensated corresponding to a certain harmonic to be compensated can be calculated by using the following formula:
HrmcAmp(i)·sin(HrmcOrder(i)·(angleComp(k-1)+Ts·motSpd)+HrmcPhase(i))；
wherein HrmcAmp (i) represents the amplitude corresponding to the ith harmonic to be compensated.
The angle to be compensated corresponding to each harmonic to be compensated can be calculated by using the formula.
And S140, obtaining a compensated rotor angle signal by using the original rotor angle signal and the sum of the angles to be compensated of each harmonic to be compensated.
Firstly, the following formula is utilized to calculate and obtain the angle sum to be compensated corresponding to each harmonic wave to be compensated:
then, the difference between the sum of the angles to be compensated corresponding to the original rotor angle signal and each harmonic to be compensated is calculated by using the following formula, so as to obtain a compensated rotor angle signal anglecomp (k) corresponding to the current period:
and finally, taking the compensated rotor angle signal as the input of the next-stage control.
Referring to fig. 3 to 8, waveforms of the rotor angle signal, the motor output torque and the three-phase output current of the motor before and after the resolver signal compensation method provided by the present application are shown when the motor operates at 400 Hz.
As can be seen from comparing fig. 3 and 4, before the rotor angle signal of the motor is compensated, the angle waveform shown in fig. 3 is not a perfect sawtooth waveform because the rotor angle signal output by the resolver includes a harmonic signal. After the harmonic component of the rotor angle signal is suppressed by the resolver signal compensation method, the waveform of the rotor angle signal of the motor is a perfect sawtooth wave as shown in fig. 4.
As can be seen from comparing fig. 5 and fig. 6, before the compensation of the rotor angle signal of the motor, the output torque of the motor is unstable due to the introduction of the harmonic signal contained in the rotor angle signal into the control system of the motor, as shown in fig. 5, the output torque of the motor fluctuates greatly; after the harmonic component of the rotor angle signal is suppressed by the rotary transformer signal compensation method, the output torque of the motor is finally stable, and as shown in fig. 6, the output torque fluctuation of the motor is small.
As can be seen from comparing fig. 7 and fig. 8, before the rotor angle signal of the motor is compensated, the three-phase output current of the motor is unbalanced because the rotor angle signal contains the harmonic signal and is introduced into the control system of the motor, as shown in fig. 7, the amplitude difference of the three-phase output current is large; after the harmonic component of the rotor angle signal is suppressed by the rotary transformer signal compensation method, the three-phase output current of the motor is balanced, and the amplitudes of the three-phase output current are basically equal as shown in fig. 8.
As can be seen from fig. 3 to 8, by using the method for compensating a resolver signal provided by the present application, the harmonic content in the rotor angle signal can be suppressed, thereby improving the output torque stability of the motor and improving the balance of the three-phase output current of the motor.
According to the rotary transformer signal compensation method provided by the embodiment, Fourier transform is performed on the original rotor angle signal to obtain harmonic information of harmonic waves to be compensated in the original rotor angle signal. And obtaining the actual phase of the harmonic to be compensated according to the currently measured angular velocity, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated. And then obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase and amplitude of the harmonic to be compensated. And finally, carrying out angle compensation on the original rotor angle signal according to the angle to be compensated of each harmonic to be compensated to obtain the compensated rotor angle information, and inputting the compensated rotor angle information into the next-stage control as the rotor angle of the motor. Therefore, the scheme compensates the harmonic component contained in the measured rotor angle signal to obtain the compensated rotor angle, so that the harmonic component in the rotor angle signal is restrained, the influence of the harmonic component on a motor control system is avoided, the performance of the motor control system is improved, the stability of the output torque of the motor is improved, and the balance of the three-phase output current of the motor is improved.
Corresponding to the embodiment of the motor resolver signal compensation method, the application also provides an embodiment of a motor resolver signal compensation device.
Referring to fig. 9, a schematic structural diagram of a resolver signal compensation apparatus provided in an embodiment of the present application is shown, where the apparatus is applied in a resolver. As shown in fig. 9, the apparatus includes: a transformation module 110, a harmonic phase acquisition module 120, a compensation angle acquisition module 130, and an angle compensation module 140.
The transformation module 110 is configured to perform fourier transformation on an original rotor angle signal measured by a rotary transformer to obtain harmonic information of a harmonic to be compensated in the original rotor angle signal, where the harmonic information includes a harmonic amplitude, an order, and a phase offset;
a harmonic phase obtaining module 120, configured to calculate an actual phase of the harmonic to be compensated by using the angular velocity measured by the resolver, the rotor angle compensated in the previous sampling period, and harmonic information of the harmonic to be compensated;
in one embodiment of the present application, the harmonic phase acquisition module 120 includes: a harmonic reference phase acquisition submodule and a harmonic actual phase acquisition submodule.
And the harmonic reference phase acquisition submodule is used for calculating and obtaining the reference phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the order of the harmonic to be compensated.
The harmonic reference phase acquisition submodule is specifically configured to:
calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer; superposing the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period; and calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
And the harmonic actual phase acquisition submodule is used for calculating and obtaining the actual phase of the harmonic to be compensated by utilizing the reference phase of the harmonic to be compensated and the phase offset of the harmonic to be compensated.
A compensation angle obtaining module 130, configured to obtain a to-be-compensated angle corresponding to the to-be-compensated harmonic according to the actual phase of the to-be-compensated harmonic and the amplitude of the to-be-compensated harmonic;
in an embodiment of the present application, the compensation angle obtaining module 130 is specifically configured to:
and calculating a sine function value of the actual phase of the harmonic to be compensated, and calculating the product of the sine function value and the amplitude of the harmonic to be compensated to obtain the angle to be compensated corresponding to the harmonic to be compensated.
And the angle compensation module 140 is configured to obtain a compensated rotor angle signal by using the original rotor angle signal and a sum of angles to be compensated of each harmonic to be compensated.
The angle compensation module 140 is specifically configured to: and calculating the difference between the original rotor angle signal and the sum of the to-be-compensated angles of the to-be-compensated harmonics to obtain the compensated rotor angle corresponding to the current sampling period.
The rotary transformer signal compensation device provided by this embodiment performs fourier transform on the original rotor angle signal to obtain harmonic information of the harmonic to be compensated in the original rotor angle signal. And obtaining the actual phase of the harmonic to be compensated according to the currently measured angular velocity, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated. And then obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase and amplitude of the harmonic to be compensated. And finally, carrying out angle compensation on the original rotor angle signal according to the angle to be compensated of each harmonic to be compensated to obtain the compensated rotor angle information, and inputting the compensated rotor angle information into the next-stage control as the rotor angle of the motor. Therefore, the scheme compensates the harmonic component contained in the measured rotor angle signal to obtain the compensated rotor angle, so that the harmonic component in the rotor angle signal is restrained, the influence of the harmonic component on a motor control system is avoided, the performance of the motor control system is improved, the stability of the output torque of the motor is improved, and the balance of the three-phase output current of the motor is improved.
In another aspect, an embodiment of the present application further provides a rotary transformer, including: the device comprises a rotor, a stator, a decoder and an angle harmonic suppression module;
the measuring device comprises a rotor and a stator, wherein the rotor and the stator are used for measuring the rotation angle and the speed of a rotor of a measured object which rotates synchronously with the rotor; the decoder is used for decoding the rotor angle and the angular speed to obtain an original rotor angle and an original angular speed of the measured object.
The object to be measured may be a motor or the like.
The angle harmonic suppression module is used for executing any one of the motor rotation signal compensation method embodiments.
The rotary transformer provided by the scheme compensates the harmonic component contained in the measured rotor angle signal to obtain the compensated rotor angle, so that the harmonic component in the rotor angle signal is restrained, and further the influence of the harmonic component on a motor control system is avoided, so that the performance of the motor control system is improved, the stability of the output torque of the motor is improved, and the balance of the three-phase output current of the motor is improved.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The steps in the method of the embodiments of the present application may be sequentially adjusted, combined, and deleted according to actual needs.
The device and the modules and sub-modules in the terminal in the embodiments of the present application can be combined, divided and deleted according to actual needs.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of a module or a sub-module is only one logical division, and there may be other divisions when the terminal is actually implemented, for example, a plurality of sub-modules or modules may be combined or integrated into another module, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules or sub-modules described as separate parts may or may not be physically separate, and parts that are modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed over a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, each functional module or sub-module in the embodiments of the present application may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated into one module. The integrated modules or sub-modules may be implemented in the form of hardware, or may be implemented in the form of software functional modules or sub-modules.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for compensating a resolver signal of a motor includes:
carrying out Fourier transform on an original rotor angle signal measured by a rotary transformer to obtain harmonic information of a harmonic to be compensated in the original rotor angle signal, wherein the harmonic information comprises a harmonic amplitude, an order and a phase offset;
calculating to obtain the actual phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated;
obtaining a to-be-compensated angle corresponding to the to-be-compensated harmonic according to the actual phase of the to-be-compensated harmonic and the amplitude of the to-be-compensated harmonic;
and obtaining a compensated rotor angle signal by using the original rotor angle signal and the sum of the angles to be compensated of each harmonic to be compensated.
2. The method of claim 1, wherein calculating the actual phase of the harmonic to be compensated using the angular velocity measured by the resolver, the rotor angle compensated for in the previous sampling period, and the harmonic information of the harmonic to be compensated comprises:
calculating to obtain a reference phase of the harmonic to be compensated by using the angular velocity measured by the rotary transformer, the rotor angle compensated in the last sampling period and the order of the harmonic to be compensated;
and calculating to obtain the actual phase of the harmonic wave to be compensated by utilizing the reference phase of the harmonic wave to be compensated and the phase offset of the harmonic wave to be compensated.
3. The method of claim 2, wherein calculating the reference phase of the harmonic to be compensated by using the angular velocity measured by the resolver, the rotor angle compensated in the previous sampling period, and the order of the harmonic to be compensated comprises:
calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer;
superposing the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period;
and calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
4. The method according to any one of claims 1 to 3, wherein obtaining the angle to be compensated corresponding to the harmonic to be compensated according to the actual phase of the harmonic to be compensated and the amplitude of the harmonic to be compensated comprises:
and calculating a sine function value of the actual phase of the harmonic to be compensated, and calculating the product of the sine function value and the amplitude of the harmonic to be compensated to obtain the angle to be compensated corresponding to the harmonic to be compensated.
5. A method according to any of claims 1-3, wherein deriving a compensated rotor angle signal using the original rotor angle signal and a sum of the compensated angle signals for each harmonic to be compensated comprises:
and calculating the difference between the original rotor angle signal and the sum of the angles to be compensated of each harmonic to be compensated to obtain the compensated rotor angle corresponding to the current sampling period.
6. A rotary transformer signal compensation apparatus, comprising:
the transformation module is used for carrying out Fourier transformation on an original rotor angle signal measured by a rotary transformer to obtain harmonic information of a harmonic to be compensated in the original rotor angle signal, wherein the harmonic information comprises a harmonic amplitude, an order and a phase offset;
the harmonic phase acquisition module is used for calculating the actual phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the harmonic information of the harmonic to be compensated;
the compensation angle acquisition module is used for acquiring a to-be-compensated angle corresponding to the to-be-compensated harmonic wave according to the actual phase of the to-be-compensated harmonic wave and the amplitude of the to-be-compensated harmonic wave;
and the angle compensation module is used for obtaining a compensated rotor angle signal by utilizing the original rotor angle signal and the sum of angles to be compensated of each harmonic to be compensated.
7. The apparatus of claim 6, wherein the harmonic phase acquisition module comprises:
the harmonic reference phase acquisition submodule is used for calculating and obtaining a reference phase of the harmonic to be compensated by utilizing the angular speed measured by the rotary transformer, the rotor angle compensated in the last sampling period and the order of the harmonic to be compensated;
and the harmonic actual phase acquisition submodule is used for calculating and obtaining the actual phase of the harmonic to be compensated by utilizing the reference phase of the harmonic to be compensated and the phase offset of the harmonic to be compensated.
8. The apparatus of claim 7, wherein the harmonic reference phase acquisition submodule is specifically configured to:
calculating the rotating angle of the rotor in a sampling period by using the angular speed and the sampling period measured by the rotary transformer;
superposing the rotated angle of the rotor in a sampling period with the rotor angle compensated in the previous sampling period to obtain the fundamental wave phase of the original rotor angle signal measured in the current sampling period;
and calculating the product of the fundamental wave phase and the order of the harmonic to be compensated to obtain the reference phase of the harmonic to be compensated.
9. The apparatus according to any one of claims 6 to 8, wherein the compensation angle obtaining module is specifically configured to:
and calculating a sine function value of the actual phase of the harmonic to be compensated, and calculating the product of the sine function value and the amplitude of the harmonic to be compensated to obtain the angle to be compensated corresponding to the harmonic to be compensated.
10. A rotary transformer, comprising: the device comprises a rotor, a stator, a decoder and an angle harmonic suppression module;
the rotor and the stator are used for measuring the rotation angle and the speed of the rotor of a measured object which rotates synchronously with the rotor;
the decoder is used for decoding the rotor angle and the angular speed to obtain an original rotor angle and an original angular speed of the measured object;
the angle harmonic suppression module is used for executing the motor rotation signal compensation method of any one of claims 1 to 5.
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