一种高精度和高跟踪速率的轴角转换方法

An Adaptive Shaft Angle Conversion Method With High Accuracy and High Tracking Rate

随着运动控制系统对轴角转换精度和跟踪速率不断提高的要求,本文设计了一种随轴角信号变化快慢自动切换分辨率实现高精度和高跟踪速率的方法。通过采集轴角转换器的速度电压信号和分辨率控制信号设计了一种分辨率自适应控制算法。为消除动态切换带来的速度电压瞬态变化,本文设计了一种四带宽积分电路及预充电电路,实现了轴角转换器在高精度和高跟踪速率间的自动快速切换。本设计电路将高精度和高跟踪速率完美结合,解决了传统的单一带宽积分电路无法同时兼顾高转换精度和高跟踪速率的痛点。试验结果表明设计电路可同时实现最高转换精度0.033°,最大转速1152 r/s。

With the increasing requirements of motion control system for shaft angle conversion accuracy and tracking rate,this paper designed a method to automatically switch the resolution with the change of shaft angle signal to achieve high accuracy and high tracking rate.A resolution adaptive control algorithm was designed by collecting the speed voltage signal and resolution control signal of the shaft angle converter.In order to eliminate the transient change of speed and voltage caused by dynamic switching,a four bandwidth integrator and precharge circuit were designed to realize the automatic and fast switching between high precision and high tracking rate of the shaft angle converter.This circuit perfectly combined high precision and high tracking rate,and solved the problem that traditional single bandwidth integrator can not give consideration to both high conversion precision and high tracking rate.The test results show that the designed circuit can achieve the highest conversion accuracy of 0.033°and the maximum speed of 1152 r/s at the same time.