Universal Magnetic Circuit for Resolvers with Different Speed Ratios [Instrumentation Notes]

This paper proposes a universal magnetic circuit for resolvers with different speed ratios. A resolver is an electromechanical transducer that converts the angular position of a rotor into an electric signal. The analysis and test results led to the conclusion that by using an appropriate magnetic material and assuring high-precision manufacturing it is possible to obtain high-precision resolvers with electrical error well below 1 minute of arc. Also it was proved that by using a single type of magnetic circuit it is possible to create multipole, two-speed resolvers. This system is used to improve both accuracy and resolution of angle measurement.     

Resolver signal requirements for high accuracy resolver-to-digitalconversion

Tracking resolver-to-digital (R/D) conversion has emerged as the most robust method for obtaining high-resolution position information from resolvers. When driven by ideal resolver signals, tracking R/D converters currently offer position resolutions up to 2¹⁶ quantization intervals/period (16-b resolution), and accuracies to 2¹⁴ intervals/period (14-b accuracy). The effects of nonideal resolver signal characteristics commonly encountered in practice are investigated. Expressions for the position error reported by an R/D converter due to amplitude imbalance, quadrature error, inductive harmonics, reference phase shift, excitation signal distortion, and disturbance signals are found. From these expressions, bounds on the position accuracy achievable in practical resolver-based position-sensing systems are determined     

旋转变压器正交误差的励磁补偿

文中主要讨论了旋转变压器在鉴相工作方式下因正余弦绕组空间位置不正交和励磁电源输出信号相位不正变而引起的测量误差的表现形式，并据此提出了一种采用励磁电源正、余弦输出信号的相位微调的方法来补偿正余弦绕组因空间位正不正变引起的误差和励磁信号相位不正交引起的测量误差。应用的实践和理论分析均证明该方法对补偿上述误差是行之有效的。     

Novel encoder for switching angle control of SRM

In a switched reluctance motor drive, it is important to synchronize the stator phase excitation with rotor position because the position of the rotor is an essential information. Although high-resolution optical encoders or resolvers are used to provide precise position information, these sensors are expensive. Moreover, in a high-speed region, switching angles are fluctuated back and forth out of the preset value, which is caused by the sampling period of the microprocessor. In this paper, a low-cost analog encoder suitable for practical applications is proposed. In addition, the control algorithm to generate switching signals using a simple digital logic is presented. The validity of the proposed analog encoder with a proper logic controller is verified from the experiments.     

Systematic error cancellations and fault detection of resolver angular sensors using a DSP based system

Resolver sensor based angular position and speed sensing are extensively used in safety critical servo applications that demands accurate as well as high-resolution position and speed information for feedback control. In this paper, a novel scheme for position and speed sensing along with fault detection and identifications of a resolver sensor with systematic errors like magnitude imbalance, imperfect quadrature, and inductive harmonics is presented. The proposed scheme of resolver-to-digital (R/D) conversion mitigates the errors in position and speed estimate due to these common resolver imperfections and provides fault indicators such as good resolver signal, degradation of signal, and loss of signal for fault tolerant operation and diagnosis of malfunctions in the sensor system for safety critical systems. The proposed method incorporates software generation of the resolver carrier using a digital filter for synchronous demodulation without unintended time delay of the processed outputs, in such a way that there is substantial saving in hardware, for instance, carrier oscillator and associated digital and analog circuits for amplitude demodulators. The R/D converter incorporates an adaptive phase-locked loop (APLL) that accurately estimates the angular position and speed for a large range of operation along with superior tracking performance under dynamic conditions. Also, it provides the estimate of the magnitudes of the resolver outputs, estimate of the imperfect quadrature, and indication of harmonic distortion in the sensing angle, which can be used to directly access the quality of the resolver sensor system. Computer simulations and experimental results demonstrate an accurate R/D converter with adaptive capabilities to mitigate all the major systematic disturbances with reduced hardware complexity.     

A sensorless initial rotor position estimation scheme for a direct torque controlled interior permanent magnet synchronous motor drive

In direct torque control (DTC) scheme, the requirement of the continuous rotor position sensor and coordinate transformation is eliminated since all the calculation is done in stator reference frame. However, the DTC scheme requires the position sensor to determine the initial position of the rotor at starting. Elimination of the shaft-mounted position encoder is a very desirable objective in many applications since this sensor is often one of the most expensive and fragile components in the entire drive system. This paper presents a sensorless method of determining the initial rotor position of a direct torque controlled interior permanent magnet (IPM) synchronous motor drive. The method consists of injecting a high frequency voltage to the windings and examining the effects of the saliency on the amplitude of the corresponding stator current components. This method does not depend on the level of static load and on any motor parameters. The magnet polarity of the rotor at its initial position is also identified using the effect of saliency. Modeling and experimental results verify the effectiveness of the proposed method.     

Velocity Errors of the Resolver Phase Shifter

An equivalent circuit is derived by applying the theory of two-phase symmetrical components to the rotating resolver phase shifter, in which a resistance and a capacitor are connected to the secondary windings of the resolver, and an output voltage equation for calculation of velocity errors is also derived on the basis of this equivalent circuit. Based on the analysis of the output voltage equation, effects of the rotor speed on the magnitude of the output voltage and the phase-angle error are investigated.     

Sensorless control of induction Machines at zero and low frequency using zero sequence currents

This paper considers both flux and rotor position estimations for sensorless control of delta-connected cage induction machines (IMs) at low and zero frequency operation. The variation of leakage inductance due to either saturation or rotor slotting is tracked by measuring the derivative of the zero sequence current in response to the application of appropriate voltage test vectors. The method requires only a single extra sensor. It requires access to machine phase windings and is appropriate for integrated-type induction motor drives. Both a closed-slot and an open-slot machine is used to demonstrate rotor flux and rotor position tracking, respectively. Experimental results are presented showing sensorless torque control and sensorless speed and position control at low and zero frequencies.     

A general algorithm for speed and position estimation of AC motors

A computationally efficient speed and position estimation algorithm, generally applicable to AC motor drives, is designed and analyzed. Applications include: (a) sensorless permanent-magnet and reluctance synchronous motor drives using the fundamental excitation as information source; (b) sensorless drives using saliency and signal injection; and (c) sensored drives using resolvers. Particular attention is given for case (a). Low parameter sensitivity in the entire speed range (except at low speeds for the reluctance motor)-implying a small position estimation error-and good dynamic properties at nominal speeds are verified     

Position sensing in brake-by-wire callipers using resolvers

Recent designs for brake-by-wire systems use "resolvers" to provide accurate and continuous measurements for the absolute position and speed of the rotor of the electric actuators in brake callipers (permanent magnet DC motors). Resolvers are absolute-angle transducers that are integrated with estimator modules called "angle tracking observer" and together they provide position and speed measurements. Current designs for angle-tracking observers are unstable in applications with high acceleration and/or speed. In this paper, we introduce a new angle-tracking observer in which a closed-loop linear time-invariant (LTI) observer is integrated with a quadrature encoder. Finite-gain stability of the proposed design and its robustness to three different kinds of parameter variations are proven based on theorems of input-output stability in nonlinear control theory. In our experiments, we examined the performance of our observer and two other methods (a well-known LTI observer and an extended Kalman filter) to estimate the position and speed of a brake-by-wire actuator. The results show that because of the very high speed and acceleration of the actuator in this application, the LTI observer and Kalman filter cannot track the rotor position and diverge. In contrast, with a properly designed open-loop transfer function and selecting a suitable switching threshold, our proposed angle-tracking observer is stable and highly accurate in a brake-by-wire application.     

High-accuracy resolver-to-linear signal converter

A high-accuracy resolver-to-linear signal converter for the measurement of angular displacement is proposed in this paper. The proposed converter comprises two sections: a demodulator and linear shaper. In the first section, the demodulator makes use of the sample-and-hold circuit (SHC) to sample the peak amplitude of the resolver signal. The control signal of the SHC is provided from the resolver signals instead of the excitation signal used in traditional approaches. The proposed demodulator requires no analogue multiplier and low-pass filter. Therefore, the fast response time of the proposed demodulator is achieved. In the second section, the linear shaper consists of the inverse-sine function scheme together with a switched-gain amplifier to produce the linear signal proportional to the shaft angle. The hyperbolic tangent characteristic of the operational transconductance amplifier is utilised to realise the inverse-sine function scheme. The proposed technique requires one phase of the resolver signal to obtain the linear signal. Therefore, the position error caused by amplitude imbalance between the two resolver signals is avoided. The performances of the proposed converter are discussed in detail and demonstrated by an experimental implementation using commercial devices. The experimental results show that the maximum relative error and response time for the excitation frequency of 3 kHz are measured as 0.06% and 0.11 ms, respectively.     

Sensorless active magnetic dampers for the control of rotors

The aim of this paper is to present self-sensing Active Magnetic Dampers (AMDs) for the vibration control of rotating machines and evaluate their performance and advantages with respect to standard sensed solutions. The technique is implemented on a rotor reproducing the typical dynamic behaviour of an aero-engine gas turbine shaft. The proposed technique is based on a Luenberger observer that estimates the mechanical states of the system. The observed states are fed back in closed-loop to introduce damping into the system and to reduce the vibrations during critical speed crossing. The rotordynamic and electromechanical modeling is illustrated taking into account the anisotropy of rotor elastic supports. The control design is described along with a sensitivity analysis on the most critical model parameters and a study of electromagnet nonlinear effects on the closed loop behaviour. The importance of the inherent collocation in the self-sensing configuration during control design is discussed analysing modal shapes and sensor/actuator transfer functions.A phase of experimental identification of actuator parameters is performed on the open-loop system response to improve the reliability of the model. The effectiveness of the proposed method is evaluated experimentally by measuring unbalance response in open and closed-loop configuration showing a reduction of displacement during critical speed crossing from 0.35 mm to 0.04 mm. Furthermore, a classical AMD realized with the use of position sensors is implemented on the same rotor. The results obtained with sensed and self-sensing controls are compared to show the good quality of the damping performance reached with the proposed self-sensing technique.     

可寄生式双极电感绝对角度传感器研究

角度传感器作为电机的核心定位部件,对电机的定位精度有重要影响。该文设计了一种双极电感式绝对角度传感器,该传感器通过周期性改变线圈中感应电压的大小来测量角度,敏感结构主要包括转子和定子,可实现与电机主轴的一体化。其中转子由内外单周期、多周期扇形铜箔组成,形成双极布局,定子由激励线圈、接收线圈以及后续处理电路组成。定子中的两组接收线圈,一组线圈由8个回路组成,对应为外沿多周期扇形铜箔,另一组由2个回路组成,对应中心180°扇形(半圆形)铜箔,两组线圈相互独立,互不影响。当转子在接收线圈上方转动时,转子中产生的涡流会使相邻两个接收线圈感应电压呈周期性正余弦形式变化。8回路线圈测量精度高,但360°内会出现多个周期信号,无法实现绝对位置测量。而2回路线圈在360°范围感应出1个周期信号,通过2回路线圈为8回路线圈提供周期数鉴别,进而解决了绝对位置测量的问题。通过算法对正余弦信号进行识别解算,以高精度转台为基准对样机进行测试,结果表明,传感器测量误差可以达到0.04°,满足电机位置控制精度要求,验证了该方案的可行性。     

考虑信息年龄的无人机辅助智能交通系统计算卸载优化

该文考虑无人机(UAV)交通监测与移动边缘计算(MEC)技术结合的智能交通系统。为了保障系统中数据时效性并且降低系统能耗,提出计及信息年龄(AoI)的UAV计算卸载优化方法。首先,建立UAV辅助的MEC系统模型,允许MEC服务器缓存常用的应用程序并为UAV提供计算卸载,以支持UAV执行交通监测任务。通过联合优化UAV任务卸载决策、UAV上下行通信带宽分配以及被卸载任务的计算资源分配,最小化所有UAV与MEC服务器的总能耗,同时满足AoI与资源容量等约束条件。其次,系统能耗最小化问题是混合整数非凸优化问题,因此采用离散化和线性化手段,快速获得问题的近似最优解,并设计离散点生成算法来调节近似误差。最后,仿真结果表明,即使对于大型的非凸问题,所提方法也能够快速得到近似最优解,并且可以在不同的任务场景中满足AoI等约束条件,最大限度降低系统能耗。仿真结果验证了所提方法的有效性。     

A novel amplitude-to-phase converter for sine/cosine position transducers

Resolvers and various other types of sine/cosine encoders are used for both angular and linear position sensing. These devices provide analogue signals in the form of the sine and the cosine of an angle?θ?related to the position of the moving part of the transducer. A novel converter is described for the linearization of the sensor signals. The scheme converts the co-sinusoids into a nearly perfect triangular signal from which?θ?is determined using simple linear equation. The proposed converter makes use of the alternating pseudo-linear segments of the sensor signals, together with a dedicated and simple linearization technique to further improve the linearity of these segments. This enables unambiguous determination of?θ?over the full 360 degree range, with an absolute error of non-linearity of 0.041 degree. The conversion technique may be implemented numerically or electronically. The proposed converter was built using basic analogue electronic circuitry, and was successfully tested using both an electronic transducer model and a commercial resolver. The principle and theory of operation, computer simulation, and experimental results are given.     

Sensorless vector control of synchronous reluctance motors withdisturbance torque observer

The elimination of the position sensor has been one important requirement in vector control systems because the position sensor spoils the reliability and simplicity of drive systems. Therefore, we present a sensorless vector control technique for synchronous reluctance motors. The rotor position is calculated easily from ds-qs-axes flux linkages which are estimated with a first-order lag compensator. Furthermore, utilizing estimated rotor position as the input of the full-order observer, the rotor speed and disturbance torque are estimated. The proposed sensorless vector control scheme is demonstrated with experimental results     

高灵敏度大带宽光纤光栅微地震检波器研究

提出了一种基于铰链连接的光纤布拉格光栅(FBG)微地震检波器,理论分析了检波器的灵敏度和谐振频率,讨论了光纤连接位置和质量块转动惯量对灵敏度和谐振频率的影响,提出了获得高灵敏度和大带宽的优化方法,并采用有限元方法进行了模拟验证。制作了检波器样品,并采用商用解调仪进行了测试,获得了高于40pm/g的灵敏度和1kHz的谐振频率,系统的等效噪声低于0.1mg/Hz,表明本文检波器可应用于微地震监测中的高频微弱地震信号探测。     

Lorentz force-type integrated motor-bearing system in dual rotor disk configuration

An integrated motor-bearing system combines the functions of an active magnetic bearing and an electric motor into a single unit. This paper proposes a generalized principle for the generation of torque and radial force in integrated motor-bearing systems using Lorentz force. The derived constraints lead to various feasible combinations of design parameters. Dual rotor disk configuration with a coreless stator is also proposed. It induces no negative stiffness, which is useful for the system stability and robustness to the tilting motion of the rotor. The test rigs are developed for five and six windings with an eight-pole rotor and operated successfully employing a simple PD-like controller.     

Design and implementation of a five-hp, switched reluctance,fuel-lube, pump motor drive for a gas turbine engine

A new switched reluctance (SR) fuel/lube (F/L) pump system has been developed for a gas turbine engine application. The system is rated at 5 HP, 270 V DC, 12.5 krpm maximum operating speed, and consists of a SR machine mounted on the F/L pump shaft, an inverter, and an electronic controller. This paper focuses on the design, implementation, and performance of the system. The system can use one of two methods for rotor position sensing, either a resolver or electronic position sensing (EPS). The F/L pump system has undergone extensive performance testing with the resolver. Testing is underway using electronic position sensing. Test results are given to validate the system design and compare the performance using both approaches to position sensing. System efficiency is about 82 percent at full load     

Position control of a sensorless synchronous reluctance motor

This paper presents a novel position control for a sensorless synchronous reluctance drive system. By measuring the three-phase currents of the motor, a rotor position estimator is achieved. Then, a velocity estimator is derived from the estimated rotor position by using a state estimating technique. The estimated velocity tracks the real velocity well. Next, a robust position controller is designed to improve the transient and load disturbance responses. By using the proposed estimating techniques and control algorithm, a high-performance sensorless synchronous reluctance drive is obtained. A digital signal processor, TMS-320-C30, is used to execute the estimating and control algorithms. No hardware circuit or external signal is added as compared with the traditional drive system with an encoder or resolver. To evaluate the performance of the position control system, a moving table is connected with the drive system. The drive system can precisely control the moving table. Experimental results show that the proposed system has good performance. Several experimental results validate the theoretical analysis.