System Optimization of Motor Resolver including Drive Circuitry and ...
System Optimization of Motor Resolver including Drive Circuitry and ...
System Optimization of Motor Resolver including Drive Circuitry and ...
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<strong>System</strong> <strong>Optimization</strong> <strong>of</strong><br />
<strong>Motor</strong> <strong>Resolver</strong><br />
<strong>including</strong> <strong>Drive</strong> <strong>Circuitry</strong><br />
<strong>and</strong> Cable Parasitics<br />
Ans<strong>of</strong>t Corporation
Abstract<br />
• <strong>Resolver</strong> as an angular position sensor is widely used<br />
• <strong>Resolver</strong> system is complicated, equation based method<br />
is insufficient<br />
• <strong>Resolver</strong> normally operates in the environment that has<br />
EMI/EMC issue<br />
• Fast response <strong>and</strong> accurate position feedback is critical<br />
in the electrification <strong>of</strong> automotives <strong>and</strong> aircrafts<br />
• A system level circuit simulator is needed to accurately<br />
account for all the above-mentioned factors
Outline<br />
• Variable Reluctance <strong>Resolver</strong> FEA Model<br />
• <strong>Resolver</strong> Excitation Signal Generator<br />
• <strong>Resolver</strong>-to-Digital Converter<br />
• Ideal <strong>Resolver</strong> <strong>System</strong> Behavioral Model<br />
• <strong>Resolver</strong> Cable Parasitics<br />
• <strong>Resolver</strong> <strong>System</strong> Integration<br />
• Conclusions
<strong>Resolver</strong> <strong>System</strong> Simulation<br />
Simplorer, Q3D, Maxwell, DSO, Optimetrics<br />
Signal Generator<br />
(Simplorer)<br />
RDC (<strong>Resolver</strong>-to-<br />
Digital Converter)<br />
(Simplorer)<br />
Simplorer as <strong>System</strong> Simulator<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Magnetic <strong>Resolver</strong><br />
(Maxwell)<br />
DSO &<br />
Optimetrics
Advantages <strong>of</strong> <strong>Resolver</strong> over Optical Encoder<br />
• Higher Resolution (up to 16-bit)<br />
• Wider Environment Temperature (-55~+220ºC max)<br />
• Higher Tolerance to Vibration (20~40g’s)<br />
• Higher Tolerance to Dust<br />
• Robust EMC/EMI Performance(no electronics on<br />
board, cab be shielded)<br />
• More Sizes Available
<strong>Resolver</strong> FEA Model<br />
Ans<strong>of</strong>t Corporation<br />
1.50<br />
Winding Quick Report<br />
2D<br />
Curve Info<br />
Y3 [V]<br />
1.00<br />
0.50<br />
0.00<br />
-0.50<br />
-1.00<br />
-1.50<br />
InducedVoltage(Winding_Out2)<br />
Setup1 : Transient<br />
InducedVoltage(Winding_Out1)<br />
Setup1 : Transient<br />
0.00 10.00 20.00 30.00 40.00 50.00<br />
Position [deg]
-Parametric Sweep Geometry<br />
-Sweep Number <strong>of</strong> Turns in the Slots<br />
-Check Different Winding Arrangements<br />
-Try Different Materials<br />
-Innovate New Designs<br />
-Etc.<br />
<strong>Resolver</strong> Design <strong>Optimization</strong><br />
Goal:<br />
* Optimize Outputs<br />
* Reduce Cost
Creating an Equivalent Circuit Model for the <strong>Resolver</strong><br />
Sweep Angle (0~90 deg, in steps <strong>of</strong> 0.5 deg)<br />
Sweep Source Magnitude (-2.5~2.5 Amp Turns, 20 counts)<br />
Total: 181*20 = 3,620 rows<br />
Each row takes 50 seconds to simulate<br />
Total simulation time on one machine = 181,000 seconds<br />
50.28 Hours!<br />
Use DSO (Distributed Analysis)<br />
8 Machines were used<br />
Simulation Time = 9 Hours 10 Minutes<br />
Almost 6 Times!
Create an Equivalent Circuit Model for the <strong>Resolver</strong>
<strong>Resolver</strong> <strong>System</strong> Simulation<br />
Simplorer, Q3D, Maxwell, DSO, Optimetrics<br />
Signal Generator<br />
(Simplorer)<br />
RDC (<strong>Resolver</strong>-to-<br />
Digital Converter)<br />
(Simplorer)<br />
Simplorer as <strong>System</strong> Simulator<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Magnetic <strong>Resolver</strong><br />
(Maxwell)<br />
DSO &<br />
Optimetrics
E1<br />
1.80<br />
1.00<br />
0<br />
-1.00<br />
-1.80<br />
Oscillators<br />
E2<br />
E4<br />
2DGraphS...<br />
0 100.00u 250.00u<br />
<strong>Resolver</strong> Excitation Signal Generator<br />
N0004<br />
N0012<br />
N0045<br />
N0051<br />
Signal Generator<br />
E2.V [V]<br />
3.45<br />
2.00<br />
0<br />
-2.00<br />
-3.46<br />
N0022<br />
N0053<br />
2DGraphS...<br />
0 100.00u 250.00u<br />
+<br />
V<br />
VM3.V [V]<br />
VM3<br />
N0004<br />
N0012<br />
N0045<br />
N0051<br />
9.10<br />
7.50<br />
5.00<br />
2.50<br />
250.00m<br />
R2 442<br />
R3<br />
R7 442<br />
R11<br />
1.24k<br />
R8<br />
1.24k<br />
R1<br />
+<br />
OPV51<br />
-<br />
R4<br />
2DGraphSel1<br />
0 250.00u<br />
+<br />
OPV54<br />
-<br />
R12<br />
+<br />
OPV52<br />
-<br />
Excit...<br />
Excit...<br />
+<br />
OPV53<br />
-<br />
2.7k<br />
R5<br />
2.7k<br />
R6<br />
NPN1<br />
33<br />
33<br />
2.7k<br />
R13<br />
2.7k<br />
R14<br />
R9<br />
R10<br />
PNP1<br />
NPN11<br />
33<br />
33<br />
R15<br />
R16<br />
PNP11<br />
+<br />
E3<br />
V VM1<br />
Signal Generator Sub-circuit<br />
+<br />
R17<br />
E6<br />
V VM2<br />
N0022<br />
200<br />
C1 47n<br />
N0053
<strong>Resolver</strong> <strong>System</strong> Simulation<br />
Simplorer, Q3D, Maxwell, DSO, Optimetrics<br />
Signal Generator<br />
(Simplorer)<br />
RDC (<strong>Resolver</strong>-to-<br />
Digital Converter)<br />
(Simplorer)<br />
Simplorer as <strong>System</strong> Simulator<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Magnetic <strong>Resolver</strong><br />
(Maxwell)<br />
DSO &<br />
Optimetrics
<strong>Resolver</strong>-to-Digital Converter<br />
Classical RDC Algorithm<br />
<strong>Resolver</strong>:<br />
V_excitation = U1*sin(2*PI*Freq*t)<br />
V_Out_Sin = U2*sin(2*PI*Freq*t)*sin(Thita)<br />
V_Out_Cos = U2*sin(2*PI*Freq*t)*cos(Thita)<br />
RDC:<br />
90 Degree Phase shift:<br />
V_Out_Sin_1 = U2*sin(2*PI*Freq*t+90deg)*sin(Thita)<br />
= U2*cos(2*PI*Freq)*sin(Thita)<br />
Summation:<br />
V_sc = V_Out_Sin_1 + V_Out_Cos<br />
= U2_2 *sin(2*PI*Freq*t + Thita)<br />
Magnitude Match:<br />
V_sc_1 = U1 *sin(2*PI*Freq*t + Thita)<br />
Comparison:<br />
V_excitation = U1*sin(2*PI*Freq*t)<br />
V_sc_1 = U1 *sin(2*PI*Freq*t + Thita)<br />
45.20<br />
20.00<br />
Rotor_Position<br />
Position_out_final<br />
2DGraphSel1<br />
0<br />
0 25.00m 50.00m 75.00m<br />
Us1<br />
Uc1<br />
TRANS1<br />
TRC Vin >= 0<br />
STATE2<br />
SET: Vin_ref:=-1<br />
FML_INIT1<br />
ICA:<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
Phase Shift Magnitude Match<br />
+<br />
C1<br />
R1<br />
R2<br />
+<br />
OPV51<br />
-<br />
R3<br />
STATE1<br />
SET: Vin_ref:=1<br />
TRANS2<br />
TRC Vin < 0<br />
V VM2<br />
R4<br />
R5<br />
Position<br />
EQU<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
Position_out:=0<br />
Position_out_temp:=0<br />
STATE7<br />
SET: t1:=t<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
TRANS8<br />
SET: Position_out :=Input_AC_Freq*t3*180<br />
+<br />
OPV52<br />
-<br />
R6<br />
WAIT<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
TRANS3<br />
R7<br />
TRC VM1.V >= 0<br />
STATE4<br />
SET: Vo_square:=-1<br />
FML_INIT2<br />
ICA:<br />
t1:=0<br />
t2:=0<br />
+<br />
OPV53<br />
-<br />
R8<br />
Delay<br />
GZ1<br />
NEW_MAX<br />
STATE3<br />
+<br />
V<br />
SET: Vo_square:=1<br />
TRANS4<br />
TRC VM1.V < 0<br />
ICA:<br />
VM1<br />
Position_out_final:=0<br />
TRC Position_out>Position_out_final<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor)<br />
True
<strong>Resolver</strong>-to-Digital Converter (continued)<br />
(Refer to Analog Devices AD2S1205<br />
Specifications <strong>and</strong> Application Notes)<br />
theta<br />
sinomegat<br />
V<br />
<strong>of</strong>fset<br />
Vsinomegatsintheta<br />
Vsinomegatcostheta<br />
resolver<br />
Type II Position Tracking Loop Algorithm<br />
in Matlab/SIMULINK<br />
Theta<br />
E0<br />
E0<br />
Offset<br />
Offset<br />
Scope 1<br />
sin<br />
cos<br />
Scope<br />
resolver _RD_IC<br />
Subtract 1<br />
phi<br />
180 /pi<br />
1/E1<br />
PHI<br />
Excitation<br />
Scope 4
<strong>Resolver</strong> <strong>System</strong> Simulation<br />
Simplorer, Q3D, Maxwell, DSO, Optimetrics<br />
Signal Generator<br />
(Simplorer)<br />
RDC (<strong>Resolver</strong>-to-<br />
Digital Converter)<br />
(Simplorer)<br />
Simplorer as <strong>System</strong> Simulator<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Magnetic <strong>Resolver</strong><br />
(Maxwell)<br />
DSO &<br />
Optimetrics
<strong>Resolver</strong> Cable Paracitics Extraction<br />
(3 Cables, 1.7 meters long each)<br />
Straight -> Twist -> Multiple Twists<br />
All Parameterized for <strong>Optimization</strong><br />
RLC Matrix
<strong>Resolver</strong> Cable Paracitics Extraction<br />
(Frequency-dependent Model Extraction)
N0023<br />
N0053<br />
T3<br />
T2<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
<strong>Resolver</strong> Cable Paracitics Extraction<br />
(3 Cables, 1.7 meters long each)<br />
T3<br />
T2<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
T3 T6<br />
T2 T5<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists1 <strong>Resolver</strong>_Cable_6twists2 <strong>Resolver</strong>_Cable_6twists3 <strong>Resolver</strong>_Cable_6twists4 <strong>Resolver</strong>_Cable_6twists5<br />
T3<br />
T2<br />
T1<br />
Sub-circuit<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
T3<br />
T2<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
T3<br />
T2<br />
T1<br />
Each Segment is 0.17 meters long,<br />
consists <strong>of</strong> 6 twists<br />
<strong>Resolver</strong>_Cable_6twists<br />
T4<br />
T3<br />
T2<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
T3<br />
T2<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists6 <strong>Resolver</strong>_Cable_6twists7 <strong>Resolver</strong>_Cable_6twists8 <strong>Resolver</strong>_Cable_6twists9 <strong>Resolver</strong>_Cable_6twists10<br />
T6<br />
T5<br />
T4<br />
T3<br />
T1<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T2 T5<br />
T4<br />
<strong>Resolver</strong>_Cable_6twists<br />
T6<br />
T5<br />
T4<br />
T3 T6<br />
T2<br />
T1<br />
T5<br />
T4<br />
N0086<br />
N0087
<strong>Resolver</strong> <strong>System</strong> Simulation<br />
Simplorer, Q3D, Maxwell, DSO, Optimetrics<br />
Signal Generator<br />
(Simplorer)<br />
RDC (<strong>Resolver</strong>-to-<br />
Digital Converter)<br />
(Simplorer)<br />
Simplorer as <strong>System</strong> Simulator<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Cable<br />
(Q3D)<br />
Magnetic <strong>Resolver</strong><br />
(Maxwell)<br />
DSO &<br />
Optimetrics
Initialization<br />
EQU<br />
Input_AC_Mag := 1<br />
Input_AC_Freq:=12k<br />
Conductor_Ratio:=0.1<br />
Number_<strong>of</strong>_Rotor_Poles :=<br />
Rotor_Speed :=100<br />
<strong>Resolver</strong> Behavioral Model<br />
Rotor_Position := Rotor_Speed *(360/60) * t<br />
Tend := 45/(Rotor_Speed*(360/60))<br />
Hmin := 1/Input_AC_Freq/100<br />
Hmax := Hmin<br />
994.27m<br />
0<br />
-1.00<br />
2DGraphSel1<br />
Excitation<br />
EQU<br />
Vin := Input_AC_Mag * sin(2*PI*Input_AC_Freq*t)<br />
<strong>Resolver</strong>_Outpu<br />
EQU<br />
74.00m 74.50m<br />
75.00m<br />
Vout_sin := Conductor_Ratio * sin(Number_<strong>of</strong>_Rotor_Poles*Rotor_Position*(PI/180))*V<br />
Vout_cos := Conductor_Ratio * cos(Number_<strong>of</strong>_Rotor_Poles*Rotor_Position*(PI/180))*V<br />
V_excitation = U1*sin(2*PI*Freq*t)<br />
V_Out_Sin = U2*sin(2*PI*Freq*t)*sin(Thita)<br />
V_Out_Cos = U2*sin(2*PI*Freq*t)*cos(Thita)<br />
<strong>Resolver</strong><br />
Vin<br />
100.00m<br />
0<br />
-100.00m<br />
2DGraphSel1 Vout_sin<br />
Vout_cos<br />
0 25.00m 50.00m 75.00m
Initialization<br />
EQU<br />
Input_AC_Mag := 1<br />
Input_AC_Freq:=12k<br />
Conductor_Ratio:=0.1<br />
Number_<strong>of</strong>_Rotor_Poles :=2<br />
Rotor_Speed :=100<br />
Rotor_Position := Rotor_Speed *(360/60) * t<br />
Tend := 45/(Rotor_Speed*(360/60))<br />
Hmin := 1/Input_AC_Freq/100<br />
Hmax := Hmin<br />
994.27m<br />
1.00<br />
-1.00<br />
0<br />
-1.00<br />
0<br />
1.00<br />
0<br />
-1.00<br />
1.00<br />
0<br />
-1.00<br />
2DGraphSel1<br />
Excitation<br />
EQU<br />
<strong>Resolver</strong> <strong>and</strong> RDC Model<br />
Vin := Input_AC_Mag * sin(2*PI*Input_AC_Freq*t)<br />
<strong>Resolver</strong>_Outpu<br />
EQU<br />
74.00m 74.50m 75.00m<br />
2DGraphSel1<br />
74.00m 74.50m<br />
75.00m<br />
2DGraphSel1<br />
74.00m 74.50m<br />
75.00m<br />
2DGraphSel1<br />
74.00m 74.50m<br />
75.00m<br />
Vout_sin := Conductor_Ratio * sin(Number_<strong>of</strong>_Rotor_Poles*Rotor_Position*(PI/180))*Vin<br />
Vout_cos := Conductor_Ratio * cos(Number_<strong>of</strong>_Rotor_Poles*Rotor_Position*(PI/180))*Vin<br />
<strong>Resolver</strong><br />
Vin<br />
VM1....<br />
Vin<br />
Vo_s...<br />
VM1....<br />
Vin<br />
Vin_ref<br />
100.00m<br />
0<br />
-100.00m<br />
100.00m<br />
45.20<br />
20.00<br />
0<br />
0<br />
-100.00m<br />
1.10<br />
500.00m<br />
-100.00m<br />
2DGraphSel1 Vout_sin<br />
Vout_cos<br />
0 25.00m 50.00m 75.00m<br />
2DGraphSel1<br />
0 25.00m 50.00m 75.00m<br />
2DGraphSel1<br />
Rotor_Position<br />
Position_out_final<br />
0 25.00m 50.00m 75.00m<br />
2DGraphSel1<br />
74.00m 74.50m 75.00m<br />
Us1....<br />
Us.V ...<br />
Pulse_pos<br />
GZ1.VAL<br />
<strong>Resolver</strong> <strong>and</strong> RDC Behavial Model<br />
Us1<br />
Uc1<br />
TRANS1<br />
TRC Vin >= 0<br />
STATE2<br />
SET: Vin_ref:=-1<br />
FML_INIT1<br />
ICA:<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
Phase Shift<br />
+<br />
Magnitude Match<br />
R2<br />
V VM2<br />
C1<br />
+<br />
+<br />
+<br />
OPV52<br />
OPV53<br />
-<br />
R1<br />
OPV51<br />
-<br />
R4<br />
-<br />
R7<br />
R3<br />
STATE1<br />
SET: Vin_ref:=1<br />
TRANS2<br />
TRC Vin < 0<br />
Position<br />
EQU<br />
R5<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
Position_out:=0<br />
Position_out_temp:=0<br />
STATE7<br />
SET: t1:=t<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
TRANS8<br />
SET: Position_out :=Input_AC_Freq*t3*180<br />
R6<br />
WAIT<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
TRANS3<br />
TRC VM1.V >= 0<br />
STATE4<br />
SET: Vo_square:=-1<br />
FML_INIT2<br />
ICA:<br />
t1:=0<br />
t2:=0<br />
R8<br />
Delay<br />
GZ1<br />
NEW_MAX<br />
STATE3<br />
+<br />
V VM1<br />
SET: Vo_square:=1<br />
TRANS4<br />
TRC VM1.V < 0<br />
ICA:<br />
Position_out_final:=0<br />
TRC Position_out>Position_out_final<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor<br />
True
45.00<br />
20.00<br />
0<br />
12k Hz excitation, 1,000RPM speed, 0.1us sampling time<br />
45.00<br />
20.00<br />
0<br />
Rotor_Position<br />
Position_out_final<br />
0 5.00m 7.50m<br />
Rotor_Position<br />
Position_out_final<br />
2DGraphSel1<br />
2DGraphSel1<br />
0 500.00u 750.00u<br />
Position Output Accuracy<br />
45.00<br />
20.00<br />
0<br />
Rotor_Position<br />
Position_out_final<br />
2DGraphSel1<br />
0 5.00m 7.50m<br />
12k Hz excitation, 1,000RPM speed, 0.01us sampling time<br />
12k Hz excitation, 10,000RPM speed, 0.1us sampling time 12k Hz excitation, 100RPM speed, 0.1us sampling time<br />
45.20<br />
20.00<br />
0<br />
Rotor_Position<br />
Position_out_final<br />
2DGraphSel1<br />
0 25.00m 50.00m 75.00m
E1<br />
E2<br />
Us1<br />
Uc1<br />
E4<br />
TRANS1<br />
TRC VM1.V >= 0<br />
ICA:<br />
STATE2<br />
SET: Vin_ref:=-1<br />
FML_INIT1<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
N0004<br />
N0012<br />
N0045<br />
N0051<br />
Signal Generator<br />
N0022<br />
N0053<br />
Phase Shift<br />
+<br />
Magnitude Match<br />
R10<br />
V VM2<br />
C1<br />
+<br />
+<br />
+<br />
OPV52<br />
OPV53<br />
-<br />
R9<br />
OPV51<br />
-<br />
R4<br />
-<br />
R7<br />
R3<br />
STATE1<br />
SET: Vin_ref:=1<br />
TRANS2<br />
TRC VM1.V < 0<br />
Position<br />
EQU<br />
Position_out:=0<br />
Position_out_temp:=0<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
R5<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
STATE7<br />
SET: t1:=t<br />
TRANS8<br />
SET: Position_out :=10000*t3*180<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor)<br />
R6<br />
WAIT<br />
<strong>Resolver</strong> <strong>System</strong> Integration<br />
ICA:<br />
TRANS3<br />
TRC VM4.V >= 0<br />
STATE4<br />
SET: Vo_square:=-1<br />
FML_INIT2<br />
t1:=0<br />
t2:=0<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
+<br />
VM3 V<br />
R8<br />
Delay<br />
GZ1<br />
STATE3<br />
+<br />
V VM4<br />
SET: Vo_square:=1<br />
TRANS4<br />
TRC VM4.V < 0<br />
TRC Position_out>Position_out_final<br />
ICA:<br />
Position_out_final:=0<br />
NEW_MAX<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
True<br />
R1<br />
R2<br />
1.80<br />
1.00<br />
0<br />
-1.00<br />
-1.80<br />
3.30<br />
0<br />
-2.00<br />
-3.35<br />
3.50<br />
2.00<br />
0<br />
N0023<br />
N0086<br />
Cable_Excitation<br />
N0053<br />
N0086<br />
N0087<br />
Cable_Out_Cos<br />
2DGraphSel1<br />
9.00m 9.50m 10.00m<br />
2DGraphSel3<br />
N0087<br />
9.00m 9.50m 10.00m<br />
2DGraphSel3<br />
N0023<br />
N0053<br />
N0086<br />
N0023<br />
Cable_Out_Sin<br />
N0087<br />
N0053<br />
-2.00<br />
-3.50<br />
9.00m 9.50m 10.00m<br />
910.00m<br />
500.00m<br />
0<br />
2DGraphSel3<br />
-500.00m<br />
-920.00m<br />
0 5.00m 10.00m<br />
E2.V [V]<br />
VM3.V [V]<br />
VM1.V [V]<br />
VM1.V [V]<br />
VM4.V [V]<br />
R1.V [V]<br />
R2.V [V]<br />
91.77<br />
50.00<br />
+<br />
V VM1<br />
910.00m<br />
500.00m<br />
source11<br />
source12<br />
out11<br />
out12<br />
out21<br />
out22<br />
2DGraphSel3<br />
<strong>Resolver</strong>_FEA_Link<br />
S_ROTB1...<br />
Position_o..<br />
0<br />
0 5.00m<br />
8.59m<br />
2.00u<br />
+<br />
V VM5<br />
+<br />
V VM6<br />
0<br />
2DGraphSel3<br />
-500.00m<br />
-920.00m<br />
0 5.00m 10.00m<br />
2DGraphSel1<br />
2.00u<br />
9.00m<br />
SIMPARAM1<br />
9.50m 10.00m<br />
R1.V [V]<br />
VM5.V [V]<br />
SIMP...<br />
910.00m<br />
500.00m<br />
-500.00m<br />
-910.00m<br />
0 5.00m 10.00m<br />
1.10<br />
1.00<br />
0<br />
2DGraphSel3<br />
2DGraphSel1<br />
899.00m<br />
9.00m 9.50m 10.00m<br />
Rotor_21 +<br />
SIMP...<br />
Rotor_22<br />
R2.V [V]<br />
VM6.V [V]<br />
FEA<br />
S_ROTB1<br />
Φ
E1<br />
1.24k<br />
+<br />
R1<br />
+<br />
2.7k<br />
E3<br />
V VM1<br />
S_ROTB1<br />
N0004<br />
N0004<br />
OPV52<br />
R2 442<br />
-<br />
N0022<br />
N0012 +<br />
OPV51<br />
Signal - Generator N0053<br />
R5<br />
NPN1<br />
33 R9<br />
N0023<br />
N0086<br />
Cable_Excitation<br />
source11<br />
Rotor_21 + Φ<br />
N0012 R3<br />
N0045<br />
33 R10+<br />
+<br />
V VM1<br />
N0022<br />
N0053<br />
N0087<br />
source12<br />
Rotor_22<br />
N0051 R4<br />
VM3 V<br />
+<br />
out11<br />
E2<br />
E4<br />
9.10<br />
2DGraphSel1<br />
2.7k<br />
R6<br />
PNP1<br />
N0086<br />
N0023<br />
V VM5<br />
out12<br />
7.50<br />
R17 200<br />
R1<br />
Cable_Out_Cos<br />
out21<br />
5.00<br />
2.50<br />
Excit...<br />
Excit...<br />
C1 47n<br />
N0087<br />
N0053<br />
+<br />
out22<br />
<strong>Resolver</strong>_FEA_Link<br />
FEA<br />
250.00m<br />
Phase 0 Shift 250.00u<br />
+<br />
Magnitude Match<br />
V VM6<br />
1.24k<br />
R10<br />
V VM2<br />
N0086<br />
N0023<br />
N0045<br />
Us1<br />
N0051<br />
Uc1<br />
TRANS1<br />
C1<br />
R7 442<br />
R11 R9<br />
R8<br />
+<br />
OPV51 +<br />
- OPV54<br />
-<br />
R12<br />
R3<br />
STATE1<br />
R4<br />
R5<br />
2.7k<br />
+<br />
OPV53 +<br />
NPN11<br />
- OPV52 R13<br />
-<br />
33 R7 R15<br />
33 R16<br />
R6 2.7k<br />
PNP11<br />
R14<br />
TRANS3<br />
E6<br />
R2<br />
+<br />
Cable_Out_Sin<br />
OPV53<br />
+<br />
N0087<br />
N0053<br />
-<br />
V VM4<br />
N0053<br />
T3<br />
T6 T3<br />
T6 T3 T6 T3<br />
T6 T3<br />
T6<br />
+<br />
N0023 V VM2<br />
T2<br />
T5 T2<br />
T5 T22DGraphSel1 T5 T2<br />
T5 2DGraphSel3 T2<br />
T5<br />
R8<br />
1.80<br />
910.00m<br />
R1.V [V]<br />
T1<br />
T4 T1<br />
1.00 T4 T1<br />
T4 T1<br />
500.00m T4 T1<br />
VM5.V [V] T4<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists<br />
<strong>Resolver</strong>_Cable_6twists<br />
N0053<br />
0<br />
E2.V [V]<br />
0<br />
STATE3<strong>Resolver</strong>_Cable_6twists1<br />
<strong>Resolver</strong>_Cable_6twists2 <strong>Resolver</strong>_Cable_6twists3 <strong>Resolver</strong>_Cable_6twists4 <strong>Resolver</strong>_Cable_6twists5<br />
910.00m<br />
500.00m<br />
0<br />
2DGraphSel3<br />
R2.V [V]<br />
VM6.V [V]<br />
-1.00<br />
-500.00m<br />
-500.00m<br />
-1.80<br />
-920.00m<br />
-910.00m<br />
TRC VM1.V >= 0<br />
SET: Vin_ref:=1<br />
TRC VM4.V >= 0<br />
SET: Vo_square:=1<br />
9.00m 9.50m 10.00m<br />
0 5.00m 10.00m<br />
0 5.00m 10.00m<br />
FML_INIT1<br />
ICA:<br />
STATE2<br />
SET: Vin_ref:=-1<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
TRANS2<br />
TRC VM1.V < 0<br />
Position<br />
EQU<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
Position_out:=0<br />
Position_out_temp:=0<br />
STATE7<br />
SET: t1:=t<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
TRANS8<br />
SET: Position_out :=10000*t3*180<br />
WAIT<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor)<br />
<strong>Resolver</strong> <strong>System</strong> Integration<br />
STATE4<br />
TRANS4<br />
2DGraphSel3<br />
2DGraphSel3<br />
3.30<br />
VM3.V [V] 91.77<br />
N0086<br />
SET: Vo_square:=-1<br />
T3<br />
TRC VM4.V < 0<br />
T6 T3<br />
0<br />
T6 T3<br />
VM1.V [V]<br />
T6 T3<br />
T6 T3 T6<br />
FML_INIT2<br />
ICA:<br />
t1:=0<br />
Delay<br />
GZ1<br />
T2<br />
T5<br />
ICA: T1<br />
T4<br />
Position_out_final:=0<br />
<strong>Resolver</strong>_Cable_6twists<br />
T2<br />
T5<br />
-2.00<br />
-3.35<br />
T1<br />
T4<br />
9.00m<br />
<strong>Resolver</strong>_Cable_6twists<br />
T2<br />
T5<br />
T1<br />
T4<br />
9.50m 10.00m<br />
<strong>Resolver</strong>_Cable_6twists<br />
T2 T5<br />
T1<br />
T4<br />
50.00<br />
<strong>Resolver</strong>_Cable_6twists<br />
T2<br />
T5<br />
T1<br />
T4<br />
<strong>Resolver</strong>_Cable_6twists<br />
N0087<br />
t2:=0<br />
2DGraphSel3<br />
<strong>Resolver</strong>_Cable_6twists6 <strong>Resolver</strong>_Cable_6twists7 <strong>Resolver</strong>_Cable_6twists8 <strong>Resolver</strong>_Cable_6twists9 <strong>Resolver</strong>_Cable_6twists10<br />
TRC Position_out>Position_out_final<br />
3.50<br />
2.00<br />
0<br />
VM1.V [V]<br />
VM4.V [V]<br />
NEW_MAX<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
True<br />
-2.00<br />
-3.50<br />
9.00m 9.50m 10.00m<br />
910.00m<br />
500.00m<br />
Theta<br />
2DGraphSel3<br />
0<br />
-500.00m<br />
-920.00m<br />
Offset<br />
Offset<br />
0 5.00m 10.00m<br />
E0R1.V<br />
[V]<br />
E0R2.V<br />
[V]<br />
S_ROTB1...<br />
Position_o..<br />
0<br />
Scope 1<br />
0 5.00m<br />
8.59m<br />
PHI<br />
theta<br />
sin<br />
phi<br />
sinomegat<br />
Vsinomegatsintheta<br />
2DGraphSel1<br />
2DGraphSel1<br />
V<br />
2.00u<br />
1.10<br />
<strong>of</strong>fset<br />
Vsinomegatcostheta<br />
resolver<br />
2.00u<br />
9.00m<br />
SIMPARAM1<br />
9.50m 10.00m<br />
SIMP...<br />
cos<br />
1.00<br />
899.00m<br />
9.00m 9.50m 10.00m<br />
resolver _RD_IC<br />
Scope<br />
Subtract 1<br />
180 /pi<br />
SIMP... Excitation<br />
1/E1<br />
Scope 4
Conclusions<br />
• <strong>Resolver</strong> Deserves More Attention for Applications where Rugged,<br />
High-accuracy Position Sensing is Needed<br />
• A <strong>System</strong>atic Approach is Necessary for Signal Generator /<br />
<strong>Resolver</strong> / Cable / <strong>Resolver</strong>-to-Digital Converter <strong>System</strong><br />
<strong>Optimization</strong><br />
• Simplore as a Multi-level / Multi-domain <strong>System</strong> Simulator is an<br />
Ideal Tool for Applications where Electric <strong>Circuitry</strong>, Field Simulation<br />
<strong>and</strong> Paracitics are Involved<br />
• Each Tool (Simplorer / Maxwell / Q3D) can be Used as a St<strong>and</strong>-<br />
alone Design Tool to Optimize Components (Signal Generator /<br />
RDC Algorithm / <strong>Resolver</strong> / Cable) in the <strong>System</strong><br />
• This <strong>System</strong>atic Approach Ensures Engineers from both Sides <strong>of</strong><br />
Component Design / <strong>System</strong> Integration to be Successful
Future Work: 1. Add Termination Impedance, to take into account<br />
the harmonics <strong>and</strong> transmission line reflection<br />
E1<br />
E2<br />
Us1<br />
Uc1<br />
E4<br />
TRANS1<br />
TRC VM1.V >= 0<br />
ICA:<br />
STATE2<br />
SET: Vin_ref:=-1<br />
FML_INIT1<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
N0004<br />
N0022<br />
N0012<br />
Signal Generator N0053<br />
N0045<br />
N0051<br />
Phase Shift<br />
+<br />
Magnitude Match<br />
R10<br />
V VM2<br />
C1<br />
+<br />
+<br />
+<br />
OPV52<br />
OPV53<br />
-<br />
R9<br />
OPV51<br />
-<br />
R4<br />
-<br />
R7<br />
R3<br />
STATE1<br />
SET: Vin_ref:=1<br />
TRANS2<br />
TRC VM1.V < 0<br />
Position<br />
EQU<br />
R5<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
Position_out:=0<br />
Position_out_temp:=0<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
STATE7<br />
SET: t1:=t<br />
TRANS8<br />
SET: Position_out :=10000*t3*180<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor)<br />
R6<br />
WAIT<br />
ICA:<br />
TRANS3<br />
TRC VM4.V >= 0<br />
STATE4<br />
SET: Vo_square:=-1<br />
FML_INIT2<br />
t1:=0<br />
t2:=0<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
+<br />
VM3 V<br />
R8<br />
Delay<br />
GZ1<br />
STATE3<br />
+<br />
V VM4<br />
SET: Vo_square:=1<br />
TRANS4<br />
TRC VM4.V < 0<br />
TRC Position_out>Position_out_final<br />
ICA:<br />
Position_out_final:=0<br />
NEW_MAX<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
True<br />
R1<br />
R2<br />
1.80<br />
1.00<br />
0<br />
-1.00<br />
-1.80<br />
3.30<br />
0<br />
-2.00<br />
-3.35<br />
3.50<br />
2.00<br />
0<br />
N0023<br />
N0086<br />
Cable_Excitation<br />
N0053<br />
2DGraphSel1<br />
9.00m 9.50m 10.00m<br />
2DGraphSel3<br />
N0087<br />
N0086<br />
Cable_Out_Cos<br />
N0023<br />
N0087<br />
N0053<br />
N0086<br />
N0023<br />
Cable_Out_Sin<br />
N0087<br />
9.00m 9.50m 10.00m<br />
2DGraphSel3<br />
N0053<br />
-2.00<br />
-3.50<br />
9.00m 9.50m 10.00m<br />
910.00m<br />
500.00m<br />
0<br />
2DGraphSel3<br />
-500.00m<br />
-920.00m<br />
0 5.00m 10.00m<br />
E2.V [V]<br />
VM3.V [V]<br />
VM1.V [V]<br />
VM1.V [V]<br />
VM4.V [V]<br />
R1.V [V]<br />
R2.V [V]<br />
91.77<br />
50.00<br />
+<br />
V VM1<br />
910.00m<br />
500.00m<br />
source11<br />
source12<br />
out11<br />
out12<br />
out21<br />
out22<br />
2DGraphSel3<br />
<strong>Resolver</strong>_FEA_Link<br />
S_ROTB1...<br />
Position_o..<br />
0<br />
0 5.00m<br />
8.59m<br />
2.00u<br />
+<br />
V VM5<br />
+<br />
V VM6<br />
0<br />
2DGraphSel3<br />
-500.00m<br />
-920.00m<br />
0 5.00m 10.00m<br />
2DGraphSel1<br />
2.00u<br />
9.00m<br />
SIMPARAM1<br />
9.50m 10.00m<br />
R1.V [V]<br />
VM5.V [V]<br />
SIMP...<br />
910.00m<br />
500.00m<br />
-500.00m<br />
-910.00m<br />
0 5.00m 10.00m<br />
1.10<br />
1.00<br />
0<br />
2DGraphSel3<br />
2DGraphSel1<br />
899.00m<br />
9.00m 9.50m 10.00m<br />
Rotor_21 +<br />
Rotor_22<br />
R2.V [V]<br />
VM6.V [V]<br />
SIMP...<br />
FEA<br />
S_ROTB1<br />
Φ
Future Work: 2. Replace the classical RDC with Type II Position<br />
Tracking mode<br />
E1<br />
E2<br />
Us1<br />
Uc1<br />
ICA:<br />
E4<br />
TRANS1<br />
TRC VM1.V >= 0<br />
STATE2<br />
SET: Vin_ref:=-1<br />
FML_INIT1<br />
Vin_ref:=0<br />
Vo_square:=0<br />
TRANS7<br />
N0004<br />
N0022<br />
N0012<br />
Signal Generator N0053<br />
N0045<br />
N0051<br />
Phase Shift<br />
+<br />
Magnitude Match<br />
R10<br />
V VM2<br />
C1<br />
+<br />
+<br />
+<br />
OPV52<br />
OPV53<br />
-<br />
R9<br />
OPV51<br />
-<br />
R4<br />
-<br />
R7<br />
R3<br />
STATE1<br />
SET: Vin_ref:=1<br />
TRANS2<br />
TRC VM1.V < 0<br />
Position<br />
EQU<br />
R5<br />
Pulse_pos:=abs(Vin_ref+Vo_square)/2<br />
Position_out:=0<br />
Position_out_temp:=0<br />
TRC (GZ1.VAL > 0) AND (Pulse_pos =0)<br />
STATE8<br />
SET: t2:=t<br />
SET: t3:=t2-t1<br />
STATE7<br />
SET: t1:=t<br />
TRANS8<br />
SET: Position_out :=10000*t3*180<br />
Classical RDC (<strong>Resolver</strong>-to-Digital Convertor)<br />
R6<br />
WAIT<br />
ICA:<br />
TRANS3<br />
TRC VM4.V >= 0<br />
STATE4<br />
SET: Vo_square:=-1<br />
FML_INIT2<br />
t1:=0<br />
t2:=0<br />
TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)<br />
+<br />
VM3 V<br />
R8<br />
Delay<br />
GZ1<br />
STATE3<br />
+<br />
V VM4<br />
SET: Vo_square:=1<br />
TRANS4<br />
TRC VM4.V < 0<br />
TRC Position_out>Position_out_final<br />
ICA:<br />
Position_out_final:=0<br />
NEW_MAX<br />
STATE5<br />
TRANS5<br />
SET: Position_out_final:=Position_out<br />
True<br />
R1<br />
R2<br />
Theta<br />
E0<br />
E0<br />
Offset<br />
Offset<br />
1.80<br />
1.00<br />
0<br />
-1.00<br />
-1.80<br />
3.30<br />
0<br />
N0023<br />
N0086<br />
Cable_Excitation<br />
N0053<br />
2DGraphSel1<br />
9.00m 9.50m 10.00m<br />
2DGraphSel3<br />
theta<br />
N0087<br />
E2.V [V]<br />
VM3.V [V] 91.77<br />
Vsinomegatsintheta<br />
VM1.V [V]<br />
sinomegat<br />
-2.00<br />
-3.35<br />
V<br />
9.00m 9.50m 10.00m<br />
<strong>of</strong>fset<br />
2DGraphSel3<br />
Vsinomegatcostheta<br />
50.00<br />
3.50<br />
2.00<br />
VM1.V resolver [V]<br />
VM4.V [V]<br />
0<br />
N0086<br />
Cable_Out_Cos<br />
N0023<br />
N0087<br />
N0053<br />
N0086<br />
N0023<br />
Cable_Out_Sin<br />
N0087<br />
N0053<br />
-2.00<br />
-3.50<br />
9.00m 9.50m 10.00m<br />
910.00m<br />
500.00m<br />
0<br />
2DGraphSel3<br />
-500.00m<br />
-920.00m<br />
0 5.00m 10.00m<br />
R1.V [V]<br />
R2.V [V]<br />
+<br />
V VM1<br />
910.00m<br />
500.00m<br />
-500.00m<br />
-920.00m<br />
Scope 1<br />
0 5.00m 10.00m<br />
source11<br />
source12<br />
out11<br />
out12<br />
out21<br />
out22<br />
2DGraphSel3<br />
sin<br />
<strong>Resolver</strong>_FEA_Link<br />
S_ROTB1...<br />
Position_o..<br />
0<br />
0 5.00m resolver _RD_IC 8.59m<br />
2.00u<br />
+<br />
V VM5<br />
+<br />
V VM6<br />
0<br />
2DGraphSel3<br />
2DGraphSel1<br />
2.00u<br />
9.00m<br />
SIMPARAM1<br />
9.50m 10.00m<br />
R1.V [V]<br />
VM5.V [V]<br />
SIMP...<br />
cos<br />
910.00m<br />
500.00m<br />
-500.00m<br />
-910.00m<br />
0 5.00m 10.00m<br />
1.10<br />
1.00<br />
0<br />
2DGraphSel3<br />
2DGraphSel1<br />
899.00m<br />
9.00m 9.50m 10.00m<br />
Scope<br />
Rotor_21 +<br />
Rotor_22<br />
R2.V [V]<br />
VM6.V [V]<br />
SIMP...<br />
FEA<br />
Subtract 1<br />
S_ROTB1<br />
Φ<br />
phi<br />
180 /pi<br />
1/E1<br />
PHI<br />
Excitation<br />
Scope 4
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