CN111800108B - Evaluation and suppression method for electromagnetic interference noise of rotary transformer - Google Patents
Evaluation and suppression method for electromagnetic interference noise of rotary transformer Download PDFInfo
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Abstract
The invention discloses a method for evaluating and suppressing electromagnetic interference noise of a rotary transformer, which realizes accurate evaluation of coupling electromagnetic noise of a rotary transformer system in a mode of combining test and circuit modeling; and the filter inductance of the rotary transformer circuit is quantitatively designed based on the evaluation model, so that the quality of input and output signals of the rotary transformer is improved. Compared with the traditional rotary transformer noise suppression method, the electromagnetic interference coupling model of the motor driving system and the rotary transformer system is established, the electromagnetic interference noise coupled by the rotary transformer system can be rapidly evaluated in the new energy automobile design stage, the noise suppression scheme can be quantitatively designed based on the model, and the design cost can be effectively reduced.
Description
Technical Field
The invention belongs to the technical field of new energy automobile motor control, and particularly relates to a method for evaluating and suppressing electromagnetic interference noise of a rotary transformer.
Background
In a motor driving system of a new energy automobile, the position of a motor rotor is a key variable for torque control and speed regulation, and if a rotor position signal is interfered, the automobile may have risks of unstable speed, out-of-control torque and the like. The rotary transformer has the advantages of high stability, strong shock resistance, high temperature resistance and the like, and is widely applied to the detection of the position of the motor rotor of the new energy automobile; the input signal of the rotary transformer is a sine voltage signal, the output signal is an orthogonal sine voltage signal and an orthogonal cosine voltage signal, and the two paths of output signals are decoded by a chip to obtain the absolute position and rotating speed information of the motor rotor.
The circuits of the motor drive system and the resolver system are shown in fig. 4, and an inverter in the motor drive system converts direct current into three-phase alternating current to drive a load motor. An Insulated Gate Bipolar Transistor (IGBT) of the inverter has a high operating voltage and operates in a Pulse Width Modulation (PWM) mode; the high frequency switching action of the IGBT generates strong Electromagnetic Interference (EMI) in the motor drive system, the EMI noise is coupled to the cable and the motor through parasitic parameters, and the IGBT in the motor drive system has high voltage and high switching speed, and belongs to a strong Interference source. The rotary transformer system is composed of a rotary transformer, a rotary transformer cable and a rotary transformer regulating circuit, and feeds back detected motor rotor position and rotating speed signals to the inverter for torque and speed control of the motor driving system; the voltage signal of the rotary transformer system is usually only a few volts, which belongs to weak current signals, and once the strong interference of the motor driving system is coupled to the rotary signal, the rotary signal is seriously distorted.
The electromagnetic coupling between the motor cable and the rotary transformer has attracted sufficient attention in the industry, and in the development process of a motor driving system, the coupling between the motor cable and the rotary transformer cable is generally reduced, such as increasing the separation, using a shielding cable, and the like, but the electromagnetic coupling between the motor and the rotary transformer has not attracted sufficient attention, and under the condition that the coupling between the cables is considered, a rotary transformer signal still suffers interference, and a lot of burrs occur in voltage and current waveforms, so that the detection accuracy of the position and the rotating speed of a motor rotor is seriously affected.
In order to effectively solve the interference problem of the resolver signal, firstly, an electromagnetic coupling mechanism between a motor driving system and a resolver system needs to be researched, and then a targeted and quantitative inhibition measure is adopted according to the coupling mechanism.
Chinese utility model patent publication No. CN202663366U proposes a filtering device for a rotary transformer, in which an EMI filter is connected to input and output signal lines of the rotary transformer, and the filter includes a common mode inductor and a filter capacitor to improve the anti-interference capability of the output signal of the rotary transformer; however, the patent only describes that the EMI filter can improve the quality of the resolver signal, but does not explain how the EMI in the resolver circuit is generated and how the parameters of the EMI filter should be designed.
Disclosure of Invention
The invention provides a method for evaluating and suppressing electromagnetic interference noise of a rotary transformer, which aims at solving the problem that the position information detection of a motor rotor is inaccurate due to the fact that input and output signals of the rotary transformer are distorted by electromagnetic interference.
A method for evaluating and suppressing electromagnetic interference noise of a rotary transformer comprises the following steps:
(1) determining an electromagnetic noise coupling path between the motor driving system and the rotary transformer system according to a circuit schematic diagram of the motor driving system and the rotary transformer system and a capacitive coupling effect between windings (a motor stator winding and a rotary transformer stator winding) and a shell, wherein the coupling path relates to a motor cable, a permanent magnet synchronous motor, a rotary transformer cable and a rotary transformer regulating circuit, and further establishing a high-frequency impedance model of each component in the coupling path;
(2) extracting high-frequency impedance model parameters of the motor cable and the rotary transformer cable by using a finite element numerical calculation method; testing port impedances of other components in the coupling path by using an impedance analyzer, and extracting high-frequency impedance model parameters of the components by using a nonlinear optimization algorithm;
(3) establishing a circuit model representing electromagnetic interference coupling between a motor driving system and a rotary transformer system in circuit simulation software according to a high-frequency impedance model of each component in a coupling path, and simulating a rotary variable signal containing electromagnetic interference noise, namely a differential mode voltage signal of the rotary transformer based on the circuit model;
(4) calculating a wavelet time-frequency diagram and a wavelet exploded view of a rotary variable signal by using wavelet transformation, determining a frequency range causing the distortion of the rotary variable signal by observing the spectral energy distribution in the wavelet time-frequency diagram and the peak-to-peak values of low-frequency components and high-frequency components in the wavelet exploded view, and further calculating the insertion loss IL required by the rotary variable signal in the frequency range;
(5) based on the circuit model, a common mode inductor is connected between a rotary transformer cable port and a rotary transformer regulating circuit port corresponding to a rotary transformer exciting winding, an insertion loss function of the voltage of the rotary transformer regulating circuit port after the common mode inductor is connected is established, the inductance value of the common mode inductor is designed to meet the insertion loss IL required by a rotary transformer signal, and the scheme for suppressing the electromagnetic interference noise of the rotary transformer is obtained.
The permanent magnet synchronous motor and the rotary transformer are both arranged on a motor shell, electromagnetic noise on a stator winding of the permanent magnet synchronous motor is coupled to the shell through a parasitic capacitor between the stator winding of the motor and the shell, and is coupled to the rotary transformer through a parasitic capacitor between the rotary transformer stator winding and the shell.
Electromagnetic interference noise generated by the motor driving system is coupled to the shell through the motor cable, the motor stator winding and the parasitic capacitor, the electromagnetic interference noise on the shell is coupled to the rotary transformer stator winding through the parasitic capacitor, then is transmitted to the rotary transformer cable and the rotary transformer conditioning circuit, and finally returns to the motor driving system through the ground wire of the rotary transformer conditioning circuit.
The rotary transformer is modeled according to a multi-conductor transmission line theory, and a high-frequency impedance model of the rotary transformer considers the parasitic capacitance between the rotary variable stator windings and the shell.
Further, the high-frequency impedance model of the permanent magnet synchronous motor is a large impedance Zmotor，ZmotorOne end of the motor is a motor winding terminal, and the other end of the motor winding terminal is a motor shell; the high-frequency impedance model of the motor cable comprises an equivalent resistor RmAnd equivalent resistance R'mEquivalent resistance RpeAnd equivalent resistance R'peEquivalent inductance LmAnd an equivalent inductance L'mEquivalent inductance LpeAnd an equivalent inductance L'peAnd an equivalent capacitance CmAnd an equivalent capacitance C'mWherein the equivalent capacitance CmOne end of (1) and the equivalent inductance LmIs connected with the high-voltage end of the equivalent voltage source of the inverter, and an inductor LmThe other end of (1) and the equivalent resistance RmIs connected to one end of an equivalent resistor RmThe other end of (1) is connected with an equivalent capacitor C'mOne end of (1) and equivalent inductance L'mIs connected with one end of the equivalent inductor L'mAnd the other end of (2) is connected with an equivalent resistance R'mIs connected with one end of the resistor R'mThe other end of the capacitor is connected with a motor winding terminal, and the equivalent capacitor C'mThe other end of (1) and the equivalent resistance RpeOne end of (1) and equivalent inductance L'peIs connected to one end of an equivalent resistor RpeThe other end of (1) and the equivalent inductance LpeIs connected to an equivalent inductance LpeThe other end of (1) and an equivalent capacitor CmIs connected with the other end of the inductor and is grounded, and the equivalent inductance L'peAnd the other end of (2) is connected with an equivalent resistance R'peIs connected with one end of the resistor R'peThe other end of the motor is connected with the motor shell.
Furthermore, the high-frequency impedance model of the rotary transformer cable comprises three equivalent circuits HC 1-HC 3, and the three equivalent circuits HC 1-HC 3 have the same structure and respectively comprise an equivalent resistor RcAnd equivalent resistance R'cEquivalent resistance ReAnd equivalent resistance R'eEquivalent inductance LcAnd an equivalent inductance L'cEquivalent inductance LeAnd an equivalent inductance L'eAnd an equivalent capacitance CeAnd an equivalent capacitance C'eWherein the equivalent capacitance CeOne end of (1) and the equivalent inductance LcOne end of which is connected and serves as an A port of the equivalent circuit, and an inductor LcThe other end of (1) and the equivalent resistance RcIs connected to one end of an equivalent resistor RcAnd the other end of (2) is connected with an equivalent inductor L'cAnd one end of and an equivalent capacitor C'eIs connected with one end of the equivalent inductor L'cAnd the other end of (2) is connected with an equivalent resistance R'cIs connected with one end of the resistor R'cThe other end of the capacitor (C) is used as a port B of an equivalent circuit and an equivalent capacitor C'eThe other end of (1) and the equivalent resistance ReOne end of (1) and equivalent inductance L'eIs connected to one end of an equivalent resistor ReThe other end of (1) and the equivalent inductance LeIs connected to an equivalent inductance LeThe other end of (1) and an equivalent capacitor CeIs connected with the other end of the transformer as a C port of an equivalent circuit, and is provided with an equivalent inductance L'eAnd the other end of (2) is connected with an equivalent resistance R'eIs connected with one end of the resistor R'eAnd the other end of the same serves as a D port of the equivalent circuit.
Furthermore, the high-frequency impedance model of the rotary transformer regulating circuit comprises six equivalent circuits MC 1-MC 6 and an equivalent inductor LgAnd an equivalent resistance RgThe equivalent circuit MC1 comprises an equivalent resistor Rc11Equivalent resistance Rf11Equivalent resistance Rd11Equivalent inductance Lc11And an equivalent capacitance Ct11And an equivalent capacitance Cd11Wherein the equivalent resistance Rc11One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC1 in a high-frequency impedance model of the rotary-change cablec11The other end of (1) and the equivalent inductance Lc11Is connected to an equivalent inductance Lc11The other end of (1) and the equivalent resistance Rf11One terminal of and an equivalent capacitance Cd11Is connected to one end of an equivalent resistor Rf11The other end of (1) and the equivalent resistance Rd11One terminal of and an equivalent capacitance Ct11Is connected to one end of an equivalent resistor Rd11The other end of (1) and an equivalent capacitor Ct11Another terminal of (1), equivalent capacitance Cd11Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC2 comprises an equivalent resistor Rc12Equivalent resistance Rf12Equivalent resistance Rd12Equivalent inductance Lc12And an equivalent capacitance Ct12And an equivalent capacitance Cd12Wherein the equivalent resistance Rc12One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC1 in a high-frequency impedance model of the rotary-change cablec12The other end of (1) and the equivalent inductance Lc12Is connected to an equivalent inductance Lc12The other end of (1) and the equivalent resistance Rf12One terminal of and an equivalent capacitance Cd12Is connected to one end of an equivalent resistor Rf12The other end of (1) and the equivalent resistance Rd12One terminal of and an equivalent capacitance Ct12Is connected to one end of an equivalent resistor Rd12The other end of (1) and an equivalent capacitor Ct12Another terminal of (1), equivalent capacitance Cd12Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC3 comprises an equivalent resistor Rc21Equivalent resistance Rf21Equivalent inductance Lc21And an equivalent capacitance C21And an equivalent capacitance Cd21Wherein the equivalent resistance Rc21One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC2 in a high-frequency impedance model of the rotary-change cablec21The other end of (1) and the equivalent inductance Lc21Is connected to an equivalent inductance Lc21The other end of (1) and the equivalent resistance Rf21One terminal of and an equivalent capacitance Cd21Is connected to one end of an equivalent resistor Rf21The other end of (1) and an equivalent capacitor C21Is connected to an equivalent capacitor C21The other end of (1) and an equivalent capacitor Cd21Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected;the equivalent circuit MC4 comprises an equivalent resistor Rc22Equivalent resistance Rf22Equivalent inductance Lc22And an equivalent capacitance C22And an equivalent capacitance Cd22Wherein the equivalent resistance Rc22One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC2 in a high-frequency impedance model of the rotary-change cablec22The other end of (1) and the equivalent inductance Lc22Is connected to an equivalent inductance Lc22The other end of (1) and the equivalent resistance Rf22One terminal of and an equivalent capacitance Cd22Is connected to one end of an equivalent resistor Rf22The other end of (1) and an equivalent capacitor C22Is connected to an equivalent capacitor C22The other end of (1) and an equivalent capacitor Cd22Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC5 comprises an equivalent resistor Rc31Equivalent resistance Rf31Equivalent inductance Lc31And an equivalent capacitance C31And an equivalent capacitance Cd31Wherein the equivalent resistance Rc31One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC3 in a high-frequency impedance model of the rotary-change cablec31The other end of (1) and the equivalent inductance Lc31Is connected to an equivalent inductance Lc31The other end of (1) and the equivalent resistance Rf31One terminal of and an equivalent capacitance Cd31Is connected to one end of an equivalent resistor Rf31The other end of (1) and an equivalent capacitor C31Is connected to an equivalent capacitor C31The other end of (1) and an equivalent capacitor Cd31Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC6 comprises an equivalent resistor Rc32Equivalent resistance Rf32Equivalent inductance Lc32And an equivalent capacitance C32And an equivalent capacitance Cd32Wherein the equivalent resistance Rc32One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC3 in a high-frequency impedance model of the rotary-change cablec32The other end of (1) and the equivalent inductance Lc32Is connected to an equivalent inductance Lc32The other end of (1) and the equivalent resistance Rf32One terminal of and an equivalent capacitance Cd32Is connected to one end of an equivalent resistor Rf32The other end of (1) and an equivalent capacitor C32Is connected to one end of an equivalent capacitorC32The other end of (1) and an equivalent capacitor Cd32Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; equivalent inductance LgThe other end of (1) and the equivalent resistance RgIs connected to one end of an equivalent resistor RgAnd the other end of the same is grounded.
Further, the high-frequency impedance model of the rotary transformer comprises equivalent circuits Part1A and Part1B, an equivalent circuit Part2, equivalent circuits Part3A and Part3B, an equivalent circuit Part4, equivalent circuits Part5A and Part5B, an equivalent circuit Part6, an equivalent capacitor Cr1～Cr3And an equivalent capacitance C'r1～C'r3The equivalent circuits Part1A, Part1B, Part3A, Part3B, Part5A and Part5B are identical in structure and comprise equivalent resistors Rs1Equivalent resistance RT1Equivalent resistance Rg1Equivalent inductance Ls1Equivalent inductance LT1And an equivalent capacitance Cs1And an equivalent capacitance CT1And an equivalent capacitance Cg11Wherein the equivalent resistance Rg1One end of the resistor is used as an A port of an equivalent circuit, and the equivalent resistor Rg1The other end of (1) and the equivalent resistance Rs1One terminal of (1), equivalent inductance Ls1One terminal of and an equivalent capacitance Cs1Is connected to one end of an equivalent resistor Rs1The other end of (1) and the equivalent inductance Ls1Another terminal of (1), equivalent capacitance Cs1The other end of (1), the equivalent resistance RT1One terminal of and an equivalent capacitance Cg11One end of which is connected and serves as a B port of an equivalent circuit, and an equivalent resistor RT1The other end of (1) and the equivalent inductance LT1Is connected to an equivalent inductance LT1The other end of (1) and an equivalent capacitor CT1Is connected to an equivalent capacitor CT1The other end of (1) and an equivalent capacitor Cg11The other end of the first switch is connected with a C port serving as an equivalent circuit; the equivalent circuits Part2, Part4 and Part6 are identical in structure and comprise equivalent resistors R11And equivalent resistance R'11Equivalent inductance L11And an equivalent inductance L'11Equivalent resistance Rj1And equivalent resistance R'j1Equivalent inductance Lj1And an equivalent inductance L'j1And an equivalent capacitance Cj1And an equivalent capacitance C'j1Equivalent ofResistance Rw1Equivalent inductance Lw1And an equivalent capacitance Cg12And equivalent capacitance C'g12Wherein the equivalent resistance R11One end of (1) and the equivalent inductance L11One terminal of (1) and equivalent resistance Rj1One end of which is connected and serves as an A port of an equivalent circuit, and an equivalent resistor Rj1The other end of (1) and the equivalent inductance Lj1Is connected to an equivalent inductance Lj1The other end of (1) and an equivalent capacitor Cj1Is connected to an equivalent capacitor Cj1The other end of (1) and the equivalent resistance R11Another end of (1), equivalent inductance L11The other end of (1), the equivalent resistance Rw1One terminal of (1), equivalent inductance Lw1One terminal of and an equivalent capacitance Cg12Is connected with one end of the resistor R'11One end of (2) and equivalent inductance L'11And one end of and an equivalent capacitor C'j1One end of the equivalent circuit is connected with the port B of the equivalent circuit and is used as an equivalent circuit port B of the equivalent circuit, and the equivalent capacitor C'j1And the other end of (2) is connected with an equivalent inductor L'j1Is connected with one end of the equivalent inductor L'j1And the other end of (2) is connected with an equivalent resistance R'j1Is connected with one end of the resistor R'j1And the other end of (2) is connected with an equivalent resistance R'11The other end of (1), equivalent inductance L'11The other end of (1), the equivalent resistance Rw1Another end of (1), equivalent inductance Lw1The other end of (1) and an equivalent capacitance C'g12Is connected to an equivalent capacitor Cg12The other end of (1) is connected with an equivalent capacitor C'g12The other end of the first switch is connected with a C port serving as an equivalent circuit; the A port of the equivalent circuit Part1A is connected with the B port of the equivalent circuit HC1 in the high-frequency impedance model of the rotary transformer cable, and the B port of the equivalent circuit Part1A is connected with the A port of the equivalent circuit Part2 and the equivalent capacitor Cr1One terminal of and an equivalent capacitance Cr3Is connected with the port C of the equivalent circuit Part1A, the port C of the equivalent circuit Part2 and the port C of the equivalent circuit Part1B are connected with the motor shell in parallel, the port A of the equivalent circuit Part1B is connected with the port D of the equivalent circuit HC1 in the high-frequency impedance model of the rotating-variable cable, and the port B of the equivalent circuit Part1B is connected with the port B of the equivalent circuit Part2 and the equivalent capacitor C'r1And one end of and an equivalent capacitor C'r3Is connected with one end of the equivalent circuit Part3A, and the A port of the equivalent circuit Part3A is connected with the rotary transformer lineThe B port of an equivalent circuit HC2 in the cable high-frequency impedance model is connected, and the B port of an equivalent circuit Part3A, the A port of an equivalent circuit Part4 and an equivalent capacitor C are connectedr1Another terminal of (1) and an equivalent capacitance Cr2Is connected with the port C of the equivalent circuit Part3A, the port C of the equivalent circuit Part4 and the port C of the equivalent circuit Part3B are connected with the port C of the equivalent circuit Part4 and the port C of the equivalent circuit Part3B and connected with the motor shell in parallel, the port A of the equivalent circuit Part3B is connected with the port D of the equivalent circuit HC2 in the high-frequency impedance model of the rotating-variable cable, and the port B of the equivalent circuit Part3B is connected with the port B of the equivalent circuit Part4 and the equivalent capacitor C'r1The other end of (1) and an equivalent capacitance C'r2Is connected with the port A of the equivalent circuit Part5A and the port B of the equivalent circuit HC3 in the high-frequency impedance model of the rotary transformer cable, and the port B of the equivalent circuit Part5A, the port A of the equivalent circuit Part6 and the equivalent capacitor Cr3Another terminal of (1) and an equivalent capacitance Cr2The other end of the equivalent circuit Part5A is connected with a C port of an equivalent circuit Part6 and a C port of an equivalent circuit Part5B and connected with the motor shell in parallel, a port A of the equivalent circuit Part5B is connected with a port D of an equivalent circuit HC3 in a high-frequency impedance model of the rotating-variable cable, and a port B of the equivalent circuit Part5B is connected with a port B of an equivalent circuit Part6 and an equivalent capacitor C'r3The other end of (1) and an equivalent capacitance C'r2And the other end of the two are connected.
Further, in the step (2), for any one of the other components except for the motor cable and the resolver cable in the coupling path, an impedance analyzer is adopted to test the common-mode impedance and the differential-mode impedance of the component and the impedance between the ports, and the impedance is recorded as a test value; representing the common mode and differential mode impedance of the component and the impedance between ports by adopting high-frequency impedance model parameters according to the topology of the component, and recording as a calculated value; taking the minimum variance between the test value and the calculated value as an objective function, and performing optimization solution on the objective function by adopting a nonlinear optimization algorithm, so as to calculate and obtain the high-frequency impedance model parameters of the component, wherein the expression of the objective function is as follows:
wherein: zm1(f) For the test value of the common-mode impedance of the component at frequency point f, Ze1(f) Calculated value of common-mode impedance of component at frequency point f, Zm2(f) For the measured value of the differential mode impedance of the component at frequency point f, Ze2(f) Calculated as the differential mode impedance of the component at frequency point f, Zm3(f) For the measured value of the impedance of the component between the ports at frequency point f, Ze3(f) Is a calculated value of the impedance of the component between the ports at frequency point f.
Further, in the step (4), by observing the spectral energy distribution in the wavelet time-frequency diagram and the peak-to-peak values of the low-frequency component and the high-frequency component in the wavelet exploded view, it can be determined that the high-frequency component of 1MHz is the main cause of distortion of the resolver signal, and the section of the high-frequency component with the strongest spectral energy distribution is the frequency range causing distortion of the resolver signal, and then the insertion loss IL required by the resolver signal in the frequency range is calculated by the following formula;
wherein: vppPeak to peak, V, for the rotation signal quality requirementpplIs the peak-to-peak value, V, of the low-frequency component of the resolver signalpphThe peak-to-peak value of the high frequency component causing distortion of the resolver signal.
Further, the expression of the insertion loss function in the step (5) is as follows:
wherein: ILdmFor insertion loss, Z, of voltage at ports of a rotary transformer conditioning circuit after common-mode inductance is switched inLIs the impedance of the common mode inductor, ZcmIs the impedance, Z, of an equivalent circuit Part1A in a high-frequency impedance model of a rotary transformercableIs an equivalent resistor R in a high-frequency impedance model equivalent circuit HC1 of the rotary transformer cablecAnd equivalent resistance R'cEquivalent inductance LcAnd an equivalent inductance L'cTotal impedance, Z1For the impedance, Z, of an equivalent circuit MC1 in a high-frequency impedance model of a resolver modulation circuit2The impedance of the equivalent circuit MC2 in the high frequency impedance model of the spiral regulation circuit is disclosed.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the method quantitatively analyzes the electromagnetic interference coupling between the motor driving system and the rotary transformer system, and realizes accurate evaluation of the coupling electromagnetic noise of the rotary transformer system.
2. The invention utilizes the circuit model of the rotary transformer system coupling electromagnetic interference noise, can quantitatively design the EMI filter, can take the EMI coupling into consideration in the product design stage, and carries out full design, thereby reducing the design and test time of the filter in the later period and reducing the development cost.
Drawings
Fig. 1 is a schematic flow chart of the method for evaluating and suppressing electromagnetic interference noise of a resolver according to the present invention.
Fig. 2 is a schematic structural diagram of a permanent magnet synchronous motor and a resolver.
Fig. 3 is a schematic diagram of electric field coupling between the permanent magnet synchronous motor and the resolver winding.
Fig. 4 is a noise coupling path diagram between a motor driving system and a resolver system of the new energy vehicle.
Fig. 5 is a high-frequency equivalent circuit diagram of the resolver.
FIG. 6 is a schematic diagram of an EMI coupling model between a motor drive system and a resolver system.
Fig. 7 is a comparison graph of test and simulation results of the differential mode voltage time domain waveform of the excitation winding.
Fig. 8 is a wavelet time-frequency diagram of the excitation winding differential mode voltage.
Fig. 9 is a wavelet exploded view of the field winding differential mode voltage.
Fig. 10 is an equivalent circuit diagram of a rotary transformer excitation loop after the insertion of a common mode inductor.
Fig. 11 is a comparison graph of the test and simulation results of the time domain waveform of the differential-mode voltage of the excitation winding after the insertion of the common-mode inductor.
Detailed Description
In order to more specifically describe the present invention, the following detailed description is provided for the technical solution of the present invention with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the method for evaluating and suppressing electromagnetic interference noise of a resolver according to the present invention realizes evaluation of resolver coupling EMI by means of modeling and simulation, and guides design of a filter inductor, specifically including the following steps:
step S1: according to a circuit schematic diagram of the device and a capacitive coupling effect between a winding and a shell, an electromagnetic noise coupling path between a motor driving system and a rotary transformer system is determined, the path comprises a motor cable, a motor, a rotary transformer cable and a rotary transformer regulating circuit, and a high-frequency model of each component in the coupling path is established.
In particular, the distance between the motor cable and the resolver cable is usually relatively long, and the electromagnetic coupling between the cables is negligible. As shown in fig. 2, the rotary transformer rotor is mounted on the motor shaft, and the rotary transformer stator is mounted on the motor housing. Stray capacitance exists between the motor winding and the shell, and EMI generated by a motor driving system can be transmitted to the motor shell through the stray capacitance between the motor winding and the shell; EMI on the motor casing will couple to the resolver winding through parasitic capacitance between the resolver winding and the casing, so EMI on the permanent magnet synchronous motor will couple to the resolver through a form of electric field coupling, as shown in fig. 3. In summary, EMI generated by the motor driving system is coupled to the motor case through the cable, the motor winding, and the parasitic parameters; the EMI noise on the enclosure is coupled to the resolver winding through the parasitic capacitance, and then propagates to the resolver line and the resolver conditioning circuit, and finally returns to the motor drive system through the ground line of the low-voltage circuit, and the coupling path is shown by a dotted line in fig. 4.
The inverter is equivalently modeled by a Thevenin equivalent circuit, and is further simplified into an ideal voltage source in consideration of the fact that the internal impedance of the inverter is far smaller than the impedance of an external load; modeling a motor cable and a rotary transformer cable by using a transmission line model; the motor and the rotary transformer are modeled by a multi-conductor transmission line theory, and are represented by a lumped circuit after being simplified, and a high-frequency equivalent circuit of the rotary transformer is shown in a figure 5; considering the parasitic parameters of each component in the rotation regulation circuit, the operational amplifier is equivalent to an open circuit, the push-pull circuit is equivalent to a model in which a parasitic resistor and a parasitic capacitor are connected in parallel, and the transient voltage suppression secondary tube is represented by the parasitic capacitor, and considering the parasitic inductance of the printed circuit board and the wire, the model of the rotation regulation circuit is further obtained, as shown in the circuit in the dashed box on the left side of fig. 6. By combining the above models, an EMI coupling model of the motor driving system and the resolver system can be obtained, as shown in fig. 6.
Step S2: simulating and extracting impedance parameters of the motor cable and the rotary transformer cable by using a finite element numerical calculation method; and testing the high-frequency impedance of other components in the coupling path by using an impedance analyzer, establishing the relation between the tested impedance and the model parameters, and extracting the model parameters of the components by adopting a nonlinear optimization algorithm.
Specifically, three-dimensional electromagnetic models of the motor cable and the rotary transformer cable are established in finite element simulation software, and self-impedance and mutual-impedance parameters of the motor cable and the rotary transformer cable are extracted in a simulation mode; testing the common-mode voltage of the output port of the inverter as a voltage source parameter; common mode and differential mode impedances of test parts (relating to rotary transformers, motors and rotary transformer regulating circuits) and impedances between ports are recorded as test values Zm(ii) a Then respectively according to the topology of the tested component, using model parameters to represent the common mode and differential mode impedance of the component and the impedance between ports, and recording as a calculated value Ze(ii) a Taking the minimum variance of the test value and the calculated value as an optimization target, wherein the minimum variance is shown in the following formula; and fitting and optimizing the model parameters by adopting a nonlinear normalization algorithm to finally obtain the parameters of the component circuit model.
Wherein: zm1(f) For the test result of the common-mode impedance of the component at frequency point f, Ze1(f) For the calculation of the common-mode impedance of the component at the frequency point f, Zm2(f) For the test result of the differential mode impedance of the component at frequency point f, Ze2(f) As a result of the calculation of the differential mode impedance of the component at frequency point f, Zm3(f) As a result of testing the impedance of the component between the frequency points f, Ze3(f) Is the result of the calculation of the impedance of the component between the ports at frequency point f.
Step S3: in circuit simulation software, a circuit model representing electromagnetic interference coupling between a motor driving system and a rotary transformer system is established, and electromagnetic interference noise coupled to the rotary transformer system is simulated and evaluated based on the model.
Specifically, based on the coupling model and the model parameters, an EMI coupling model of the motor driving system and the rotary transformer system is established in circuit simulation software (such as Matlab/Simulink), and the model parameters are set; the rotary variable signal of the coupling noise can be simulated based on the model, the time domain waveforms of the simulated and actually measured excitation signals are shown in figure 7, and the simulation result is consistent with the test result.
Step S4: and calculating a wavelet time-frequency graph and a wavelet decomposition graph of the rotational variation signal by using wavelet transformation, and comparing the wavelet time-frequency graph and the wavelet decomposition graph with the time-domain waveform of the rotational variation signal to obtain a frequency component causing the distortion of the rotational variation signal.
Specifically, according to a manual of a resolver chip, such as ADS1210, a peak-to-peak value of a resolver output signal must be less than 4V; and considering the transformation ratio relation between the rotary-transformation excitation signal and the output signal, the peak-to-peak value of the obtained rotary-transformation excitation signal is less than 13V. Processing the rotary-change excitation signal by using wavelet transformation, and calculating a wavelet time-frequency diagram of the rotary-change signal, as shown in fig. 8, it can be seen that the position where the rotary-change signal time-domain waveform spike appears mainly corresponds to the electromagnetic interference noise of the 500 kHz-5 MHz frequency band; to further determine the cause of the peak-to-peak value of the time domain waveform exceeding 13V, the present invention uses a wavelet transform to decompose the signal into two parts: the frequency component lower than 1MHz and the frequency component higher than 1MHz are respectively referred to as low-frequency voltage and high-frequency voltage, as shown in fig. 9, it can be seen from fig. 9 that the peak-to-peak value of the time domain waveform of the frequency component below 1MHz is less than 13V, and the peak-to-peak value of the fundamental wave signal is 11.2V; it can be seen from fig. 7 that the peak-to-peak value of the total time domain waveform of the low frequency and the high frequency is larger than 13V, so that the harmonic signals exceeding 1MHz are the main cause of the exceeding of the distortion of the resolver signals. In order to make the peak-to-peak value of the rotary-change excitation signal less than 13V and the peak-to-peak value of the signal in the frequency band of 1MHz to 5MHz should be less than 1.8V, as shown in fig. 9, the peak-to-peak value of the signal in the frequency band of 1MHz to 5MHz is 7.4V after being subjected to electromagnetic interference, so that the signal in the frequency band of 1MHz to 5MHz should be attenuated by at least 12 dB.
Step S5: based on the circuit model, a common-mode inductor is connected between a rotary transformer cable port and a rotary transformer regulating circuit port corresponding to a rotary transformer excitation winding, an insertion loss function of differential mode voltage of the rotary transformer regulating circuit port is obtained after the common-mode inductor is connected, then a common-mode inductance value meeting the insertion loss requirement of the differential mode voltage is calculated, and a design scheme of electromagnetic interference suppression is obtained.
In order to analyze the coupling behavior of EMI noise in a resolver circuit, the invention derives the relationship between the voltage of a resolver port in an excitation loop and the common-mode current of the resolver:
wherein: u shapedm、IcmVoltage at the port of the excitation conditioning circuit and common-mode current on the excitation cable, ZcmIs the common-mode impedance of the rotary-change excitation winding, ZcableTo vary the impedance of the cable, Z1Equivalent impedance, Z, for EXC port of excitation signal conditioning circuit2For conditioning the excitation signal
The equivalent impedance of the port.
From the above formula, it can be seen that when the conditioning circuit of the excitation signal is asymmetric, the common mode current is converted into the differential mode voltage, and the differential mode voltage can be suppressed by reducing the common mode current. In the invention, a common-mode inductor is inserted into a rotary-change conditioning circuit to inhibit voltage noise at a port of the rotary-change conditioning circuit, and an excitation circuit inserted into the common-mode inductor is shown in FIG. 10; according to the circuit model, calculating to obtain an insertion loss function of the common-mode inductor:
wherein: u'dmFor the voltage, Z, at the port of the post-filter excitation conditioning circuitLThe impedance of the common mode inductance is inserted.
In order to meet the insertion loss requirement required for inhibiting noise signals in the rotary-transformer differential-mode voltage, the inductance of the common-mode inductor is calculated to be larger than 68 muH; a common-mode inductor of 72 mu H is selected to be connected into an excitation signal conditioning circuit, the time domain waveform of the excitation signal after simulation and actual measurement filtering is shown in figure 11, it can be seen that the simulation and test result goodness of fit is high, and after the common-mode inductor is inserted, the burr of the rotary-transformed signal is obviously inhibited; and finally, inserting a common-mode inductor of 72 mu H into the excitation signal conditioning circuit as a scheme for suppressing the rotating electromagnetic interference noise.
The embodiments described above are intended to facilitate one of ordinary skill in the art in understanding and using the invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (8)
1. A method for evaluating and suppressing electromagnetic interference noise of a rotary transformer comprises the following steps:
(1) determining an electromagnetic noise coupling path between the motor driving system and the rotary transformer system according to a circuit schematic diagram of the motor driving system and the rotary transformer system and a capacitive coupling effect between a winding and a shell, wherein the coupling path relates to a motor cable, a permanent magnet synchronous motor, a rotary transformer cable and a rotary transformer regulating circuit, and further establishing a high-frequency impedance model of the components in the coupling path;
(2) extracting high-frequency impedance model parameters of the motor cable and the rotary transformer cable by using a finite element numerical calculation method; testing port impedances of other components in the coupling path by using an impedance analyzer, and extracting high-frequency impedance model parameters of the components by using a nonlinear optimization algorithm;
(3) establishing a circuit model representing electromagnetic interference coupling between a motor driving system and a rotary transformer system in circuit simulation software according to a high-frequency impedance model of each component in a coupling path, and simulating a rotary variable signal containing electromagnetic interference noise, namely a differential mode voltage signal of the rotary transformer based on the circuit model;
(4) calculating a wavelet time-frequency diagram and a wavelet exploded view of a rotary variable signal by using wavelet transformation, determining a frequency range causing the distortion of the rotary variable signal by observing the spectral energy distribution in the wavelet time-frequency diagram and the peak-to-peak values of low-frequency components and high-frequency components in the wavelet exploded view, and further calculating the insertion loss IL required by the rotary variable signal in the frequency range;
(5) based on the circuit model, a common mode inductor is connected between a rotary transformer cable port and a rotary transformer regulating circuit port corresponding to a rotary transformer exciting winding, an insertion loss function of the voltage of the rotary transformer regulating circuit port after the common mode inductor is connected is established, the inductance value of the common mode inductor is designed to meet the insertion loss IL required by a rotary transformer signal, and the scheme for suppressing the electromagnetic interference noise of the rotary transformer is obtained.
2. The method for evaluating and suppressing electromagnetic interference noise of a resolver according to claim 1, wherein: the high-frequency impedance model of the permanent magnet synchronous motor is a large impedance Zmotor，ZmotorOne end of the motor is a motor winding terminal, and the other end of the motor winding terminal is a motor shell; the high-frequency impedance model of the motor cable comprises an equivalent resistor RmAnd equivalent resistance R'mEquivalent resistance RpeAnd equivalent resistance R'peEquivalent inductance LmAnd an equivalent inductance L'mEquivalent inductance LpeAnd an equivalent inductance L'peAnd an equivalent capacitance CmAnd an equivalent capacitance C'mWherein the equivalent capacitance CmOne end of (1) and the equivalent inductance LmIs connected with the high-voltage end of the equivalent voltage source of the inverter, and an inductor LmThe other end of (1) and the equivalent resistance RmIs connected to one end of an equivalent resistor RmThe other end of (1) is connected with an equivalent capacitor C'mOne end of (1) and equivalent inductance L'mIs connected with one end of the equivalent inductor L'mAnd the other end of (2) is connected with an equivalent resistance R'mIs connected with one end of the resistor R'mThe other end of the capacitor is connected with a motor winding terminal, and the equivalent capacitor C'mThe other end of (1) and the equivalent resistance RpeOne end of (1) and equivalent inductance L'peIs connected to one end of an equivalent resistor RpeThe other end of (1) and the equivalent inductance LpeIs connected to an equivalent inductance LpeThe other end of (1) and an equivalent capacitor CmIs connected with the other end of the inductor and is grounded, and the equivalent inductance L'peAnd the other end of (2) is connected with an equivalent resistance R'peIs connected with one end of the resistor R'peThe other end of the motor is connected with the motor shell.
3. The evaluation and suppression method for electromagnetic interference noise of a resolver according to claim 2, comprising: the high-frequency impedance model of the rotary transformer cable comprises three equivalent circuits HC 1-HC 3, wherein the three equivalent circuits HC 1-HC 3 are identical in structure and respectively comprise equivalent resistors RcAnd equivalent resistance R'cEquivalent resistance ReAnd equivalent resistance R'eEquivalent inductance LcAnd an equivalent inductance L'cEquivalent inductance LeAnd an equivalent inductance L'eAnd an equivalent capacitance CeAnd an equivalent capacitance C'eWherein the equivalent capacitance CeOne end of (1) and the equivalent inductance LcOne end of which is connected and serves as an A port of the equivalent circuit, and an inductor LcThe other end of (1) and the equivalent resistance RcIs connected to one end of an equivalent resistor RcAnd the other end of (2) is connected with an equivalent inductor L'cAnd one end of and an equivalent capacitor C'eIs connected with one end of the equivalent inductor L'cAnd the other end of (2) is connected with an equivalent resistance R'cIs connected with one end of the resistor R'cThe other end of the capacitor (C) is used as a port B of an equivalent circuit and an equivalent capacitor C'eThe other end of (1) and the equivalent resistance ReOne end of (1) and equivalent inductance L'eIs connected to one end of an equivalent resistor ReThe other end of (1) and the equivalent inductance LeAre connected at one end, and are equivalent toInductor LeThe other end of (1) and an equivalent capacitor CeIs connected with the other end of the transformer as a C port of an equivalent circuit, and is provided with an equivalent inductance L'eAnd the other end of (2) is connected with an equivalent resistance R'eIs connected with one end of the resistor R'eAnd the other end of the same serves as a D port of the equivalent circuit.
4. The evaluation and suppression method for electromagnetic interference noise of a resolver according to claim 3, comprising: the high-frequency impedance model of the rotary transformer regulating circuit comprises six equivalent circuits MC 1-MC 6 and an equivalent inductor LgAnd an equivalent resistance RgThe equivalent circuit MC1 comprises an equivalent resistor Rc11Equivalent resistance Rf11Equivalent resistance Rd11Equivalent inductance Lc11And an equivalent capacitance Ct11And an equivalent capacitance Cd11Wherein the equivalent resistance Rc11One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC1 in a high-frequency impedance model of the rotary-change cablec11The other end of (1) and the equivalent inductance Lc11Is connected to an equivalent inductance Lc11The other end of (1) and the equivalent resistance Rf11One terminal of and an equivalent capacitance Cd11Is connected to one end of an equivalent resistor Rf11The other end of (1) and the equivalent resistance Rd11One terminal of and an equivalent capacitance Ct11Is connected to one end of an equivalent resistor Rd11The other end of (1) and an equivalent capacitor Ct11Another terminal of (1), equivalent capacitance Cd11Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC2 comprises an equivalent resistor Rc12Equivalent resistance Rf12Equivalent resistance Rd12Equivalent inductance Lc12And an equivalent capacitance Ct12And an equivalent capacitance Cd12Wherein the equivalent resistance Rc12One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC1 in a high-frequency impedance model of the rotary-change cablec12The other end of (1) and the equivalent inductance Lc12Is connected to an equivalent inductance Lc12The other end of (1) and the equivalent resistance Rf12One terminal of and an equivalent capacitance Cd12Is connected to one end of an equivalent resistor Rf12The other end of (1) and the equivalent resistance Rd12ToTerminal and equivalent capacitance Ct12Is connected to one end of an equivalent resistor Rd12The other end of (1) and an equivalent capacitor Ct12Another terminal of (1), equivalent capacitance Cd12Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC3 comprises an equivalent resistor Rc21Equivalent resistance Rf21Equivalent inductance Lc21And an equivalent capacitance C21And an equivalent capacitance Cd21Wherein the equivalent resistance Rc21One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC2 in a high-frequency impedance model of the rotary-change cablec21The other end of (1) and the equivalent inductance Lc21Is connected to an equivalent inductance Lc21The other end of (1) and the equivalent resistance Rf21One terminal of and an equivalent capacitance Cd21Is connected to one end of an equivalent resistor Rf21The other end of (1) and an equivalent capacitor C21Is connected to an equivalent capacitor C21The other end of (1) and an equivalent capacitor Cd21Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC4 comprises an equivalent resistor Rc22Equivalent resistance Rf22Equivalent inductance Lc22And an equivalent capacitance C22And an equivalent capacitance Cd22Wherein the equivalent resistance Rc22One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC2 in a high-frequency impedance model of the rotary-change cablec22The other end of (1) and the equivalent inductance Lc22Is connected to an equivalent inductance Lc22The other end of (1) and the equivalent resistance Rf22One terminal of and an equivalent capacitance Cd22Is connected to one end of an equivalent resistor Rf22The other end of (1) and an equivalent capacitor C22Is connected to an equivalent capacitor C22The other end of (1) and an equivalent capacitor Cd22Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC5 comprises an equivalent resistor Rc31Equivalent resistance Rf31Equivalent inductance Lc31And an equivalent capacitance C31And an equivalent capacitance Cd31Wherein the equivalent resistance Rc31One end of the equivalent resistor R is connected with the A port of an equivalent circuit HC3 in a high-frequency impedance model of the rotary-change cablec31The other end of (1) and the equivalent inductance Lc31One end of the two ends of the connecting rod is connected,equivalent inductance Lc31The other end of (1) and the equivalent resistance Rf31One terminal of and an equivalent capacitance Cd31Is connected to one end of an equivalent resistor Rf31The other end of (1) and an equivalent capacitor C31Is connected to an equivalent capacitor C31The other end of (1) and an equivalent capacitor Cd31Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; the equivalent circuit MC6 comprises an equivalent resistor Rc32Equivalent resistance Rf32Equivalent inductance Lc32And an equivalent capacitance C32And an equivalent capacitance Cd32Wherein the equivalent resistance Rc32One end of the equivalent resistor R is connected with a C port of an equivalent circuit HC3 in a high-frequency impedance model of the rotary-change cablec32The other end of (1) and the equivalent inductance Lc32Is connected to an equivalent inductance Lc32The other end of (1) and the equivalent resistance Rf32One terminal of and an equivalent capacitance Cd32Is connected to one end of an equivalent resistor Rf32The other end of (1) and an equivalent capacitor C32Is connected to an equivalent capacitor C32The other end of (1) and an equivalent capacitor Cd32Another terminal of (1) and equivalent inductance LgOne end of the two ends are connected; equivalent inductance LgThe other end of (1) and the equivalent resistance RgIs connected to one end of an equivalent resistor RgAnd the other end of the same is grounded.
5. The method for evaluating and suppressing electromagnetic interference noise of a resolver according to claim 4, wherein: the high-frequency impedance model of the rotary transformer comprises equivalent circuits Part1A and Part1B, an equivalent circuit Part2, equivalent circuits Part3A and Part3B, an equivalent circuit Part4, equivalent circuits Part5A and Part5B, an equivalent circuit Part6, and an equivalent capacitor Cr1～Cr3And an equivalent capacitance C'r1～C'r3The equivalent circuits Part1A, Part1B, Part3A, Part3B, Part5A and Part5B are identical in structure and comprise equivalent resistors Rs1Equivalent resistance RT1Equivalent resistance Rg1Equivalent inductance Ls1Equivalent inductance LT1And an equivalent capacitance Cs1And an equivalent capacitance CT1And an equivalent capacitance Cg11Wherein the equivalent resistance Rg1One end of (A)As A port of the equivalent circuit, equivalent resistance Rg1The other end of (1) and the equivalent resistance Rs1One terminal of (1), equivalent inductance Ls1One terminal of and an equivalent capacitance Cs1Is connected to one end of an equivalent resistor Rs1The other end of (1) and the equivalent inductance Ls1Another terminal of (1), equivalent capacitance Cs1The other end of (1), the equivalent resistance RT1One terminal of and an equivalent capacitance Cg11One end of which is connected and serves as a B port of an equivalent circuit, and an equivalent resistor RT1The other end of (1) and the equivalent inductance LT1Is connected to an equivalent inductance LT1The other end of (1) and an equivalent capacitor CT1Is connected to an equivalent capacitor CT1The other end of (1) and an equivalent capacitor Cg11The other end of the first switch is connected with a C port serving as an equivalent circuit; the equivalent circuits Part2, Part4 and Part6 are identical in structure and comprise equivalent resistors R11And equivalent resistance R'11Equivalent inductance L11And an equivalent inductance L'11Equivalent resistance Rj1And equivalent resistance R'j1Equivalent inductance Lj1And an equivalent inductance L'j1And an equivalent capacitance Cj1And an equivalent capacitance C'j1Equivalent resistance Rw1Equivalent inductance Lw1And an equivalent capacitance Cg12And equivalent capacitance C'g12Wherein the equivalent resistance R11One end of (1) and the equivalent inductance L11One terminal of (1) and equivalent resistance Rj1One end of which is connected and serves as an A port of an equivalent circuit, and an equivalent resistor Rj1The other end of (1) and the equivalent inductance Lj1Is connected to an equivalent inductance Lj1The other end of (1) and an equivalent capacitor Cj1Is connected to an equivalent capacitor Cj1The other end of (1) and the equivalent resistance R11Another end of (1), equivalent inductance L11The other end of (1), the equivalent resistance Rw1One terminal of (1), equivalent inductance Lw1One terminal of and an equivalent capacitance Cg12Is connected with one end of the resistor R'11One end of (2) and equivalent inductance L'11And one end of and an equivalent capacitor C'j1One end of the equivalent circuit is connected with the port B of the equivalent circuit and is used as an equivalent circuit port B of the equivalent circuit, and the equivalent capacitor C'j1And the other end of (2) is connected with an equivalent inductor L'j1Is connected with one end of the equivalent inductor L'j1And the other end of (2) is connected with an equivalent resistance R'j1Is connected with one end of the resistor R'j1And the other end of (2) is connected with an equivalent resistance R'11The other end of (1), equivalent inductance L'11The other end of (1), the equivalent resistance Rw1Another end of (1), equivalent inductance Lw1The other end of (1) and an equivalent capacitance C'g12Is connected to an equivalent capacitor Cg12The other end of (1) is connected with an equivalent capacitor C'g12The other end of the first switch is connected with a C port serving as an equivalent circuit; the A port of the equivalent circuit Part1A is connected with the B port of the equivalent circuit HC1 in the high-frequency impedance model of the rotary transformer cable, and the B port of the equivalent circuit Part1A is connected with the A port of the equivalent circuit Part2 and the equivalent capacitor Cr1One terminal of and an equivalent capacitance Cr3Is connected with the port C of the equivalent circuit Part1A, the port C of the equivalent circuit Part2 and the port C of the equivalent circuit Part1B are connected with the motor shell in parallel, the port A of the equivalent circuit Part1B is connected with the port D of the equivalent circuit HC1 in the high-frequency impedance model of the rotating-variable cable, and the port B of the equivalent circuit Part1B is connected with the port B of the equivalent circuit Part2 and the equivalent capacitor C'r1And one end of and an equivalent capacitor C'r3Is connected with the port A of the equivalent circuit Part3A and the port B of the equivalent circuit HC2 in the high-frequency impedance model of the rotary transformer cable, and the port B of the equivalent circuit Part3A, the port A of the equivalent circuit Part4 and the equivalent capacitor Cr1Another terminal of (1) and an equivalent capacitance Cr2Is connected with the port C of the equivalent circuit Part3A, the port C of the equivalent circuit Part4 and the port C of the equivalent circuit Part3B are connected with the port C of the equivalent circuit Part4 and the port C of the equivalent circuit Part3B and connected with the motor shell in parallel, the port A of the equivalent circuit Part3B is connected with the port D of the equivalent circuit HC2 in the high-frequency impedance model of the rotating-variable cable, and the port B of the equivalent circuit Part3B is connected with the port B of the equivalent circuit Part4 and the equivalent capacitor C'r1The other end of (1) and an equivalent capacitance C'r2Is connected with the port A of the equivalent circuit Part5A and the port B of the equivalent circuit HC3 in the high-frequency impedance model of the rotary transformer cable, and the port B of the equivalent circuit Part5A, the port A of the equivalent circuit Part6 and the equivalent capacitor Cr3Another terminal of (1) and an equivalent capacitance Cr2Is connected with the other end of the motor, the C port of the equivalent circuit Part5A is connected with the C port of the equivalent circuit Part6 and the C port of the equivalent circuit Part5B and is connected with the motor shell in parallel, and the equivalent circuit is connected with the motor shell in parallelThe A port of the Part5B is connected with the D port of an equivalent circuit HC3 in a high-frequency impedance model of the rotating cable, and the B port of the equivalent circuit Part5B is connected with the B port of the equivalent circuit Part6 and an equivalent capacitor C'r3The other end of (1) and an equivalent capacitance C'r2And the other end of the two are connected.
6. The method for evaluating and suppressing electromagnetic interference noise of a resolver according to claim 1, wherein: in the step (2), for any part except the motor cable and the rotary transformer cable in the coupling path, testing the common-mode impedance and the differential-mode impedance of the part and the impedance between ports by using an impedance analyzer, and recording as a test value; representing the common mode and differential mode impedance of the component and the impedance between ports by adopting high-frequency impedance model parameters according to the topology of the component, and recording as a calculated value; taking the minimum variance between the test value and the calculated value as an objective function, and performing optimization solution on the objective function L by adopting a nonlinear optimization algorithm, so as to calculate and obtain the high-frequency impedance model parameter of the component, wherein the expression of the objective function L is as follows:
wherein: zm1(f) For the test value of the common-mode impedance of the component at frequency point f, Ze1(f) Calculated value of common-mode impedance of component at frequency point f, Zm2(f) For the measured value of the differential mode impedance of the component at frequency point f, Ze2(f) Calculated as the differential mode impedance of the component at frequency point f, Zm3(f) For the measured value of the impedance of the component between the ports at frequency point f, Ze3(f) Is a calculated value of the impedance of the component between the ports at frequency point f.
7. The method for evaluating and suppressing electromagnetic interference noise of a resolver according to claim 1, wherein: in the step (4), by observing the spectral energy distribution in the wavelet time-frequency diagram and the peak-to-peak values of the low-frequency component and the high-frequency component in the wavelet exploded view, it can be determined that the high-frequency component of 1MHz is the main cause of distortion of the resolver signal, and the section with the strongest spectral energy distribution of the high-frequency component is the frequency range causing distortion of the resolver signal, and then the insertion loss IL required by the resolver signal in the frequency range is calculated by the following formula;
wherein: vppPeak to peak, V, for the rotation signal quality requirementpplIs the peak-to-peak value, V, of the low-frequency component of the resolver signalpphThe peak-to-peak value of the high frequency component causing distortion of the resolver signal.
8. The method for evaluating and suppressing electromagnetic interference noise of a resolver according to claim 5, wherein: the expression of the insertion loss function in the step (5) is as follows:
wherein: ILdmFor insertion loss, Z, of voltage at ports of a rotary transformer conditioning circuit after common-mode inductance is switched inLIs the impedance of the common mode inductor, ZcmIs the impedance, Z, of an equivalent circuit Part1A in a high-frequency impedance model of a rotary transformercableIs an equivalent resistor R in a high-frequency impedance model equivalent circuit HC1 of the rotary transformer cablecAnd equivalent resistance R'cEquivalent inductance LcAnd an equivalent inductance L'cTotal impedance, Z1For the impedance, Z, of an equivalent circuit MC1 in a high-frequency impedance model of a resolver modulation circuit2The impedance of the equivalent circuit MC2 in the high frequency impedance model of the spiral regulation circuit is disclosed.
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