3URFHHGLQJVRIWKHVW&KLQHVH&RQWURO&RQIHUHQFH

-XO\+HIHL&KLQD

෎Ѣᮟ䕀বय़఼ⱘԎ᳡⬉ᴎԡ㕂ঞ䗳ᑺ㾖⌟఼䆒䅵
๑ᄱē๑ၩඁ
࣫Ҁ㟾ぎ㟾໽໻ᄺҾ఼⾥ᄺϢ‫⬉ܝ‬Ꮉ⿟ᄺ䰶, ࣫Ҁ 100191
E-mail: [email protected]

ᨬ 㽕: ᮟ䕀বय़఼ᐌ⫼ѢẔ⌟Ԏ᳡⬉ᴎ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺֵᙃˈ݊䕧ߎֵোᰃࣙ৿䕀ᄤ㾦ԡ㕂ֵᙃⱘ䇗ᐙֵোDŽЎ
㦋প䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺֵᙃˈ䆒䅵њϔ⾡෎Ѣ⢊ᗕ㾖⌟఼ⱘᮟ䕀বय़఼-᭄ᄫ䕀ᤶ(RDC)ㅫ⊩DŽ⧚䆎ߚᵤ㸼ᯢˈᔧԎ
᳡⬉ᴎࣔ䗳䖤䕀ᯊˈ෎ѢѠ䰊੠ϝ䰊⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩Ԅ䅵䇃Ꮒഛৃ⏤䖥ᬊᬯ㟇䳊˗ᔧԎ᳡⬉ᴎࣔࡴ䗳䖤䕀ᯊˈ
ࠡ㗙ᄬ೼ॳ⧚ᗻ‫أ‬Ꮒˈ㗠ৢ㗙Ԅ䅵䇃Ꮒձ✊ৃҹ⏤䖥ᬊᬯ㟇䳊DŽϢডℷߛ⊩Ⳍ↨ˈ䆹ㅫ⊩ϡ䳔䗮䖛᭄ؐᏂߚेৃ㦋ᕫ
㾦䗳ᑺֵᙃˈ‫݋‬᳝䕗ᔎⱘᑆᡄᡥࠊ㛑࡯DŽϢ㾦ᑺ䎳䏾㾖⌟఼⊩Ⳍ↨ˈ䆹ㅫ⊩㗗㰥њ⬉ᴎ䕀䗳ব࣪ⱘᚙ‫ˈމ‬㾦ԡ㕂੠㾦
䗳ᑺԄ䅵㊒ᑺ䕗催DŽᅲ偠㒧ᵰ㸼ᯢˈ䆹RDCㅫ⊩ᰃৃ㸠ⱘDŽ
݇䬂䆡: ᮟ䕀বय़఼-᭄ᄫ䕀ᤶ, ⢊ᗕ㾖⌟఼, 㾦ԡ㕂Ԅ䅵, 㾦䗳ᑺԄ䅵

Design of Angular Position and Velocity Observer for Servo

Motors With Reslovers
WU Zhong, WU Yuntao
School of Instrumentation Science & Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191
E-mail: [email protected]

Abstract: Resolvers are extensively used to measure absolute angular position and velocity of servo systems; the analog outputs
of the resolver are amplitude modulated signals that contain the angular position information. In order to obtain the rotor angular
position and velocity information, a state-observer-based resolver-to-digital conversion (RDC) method is presented in this paper.
Theoretical analysis shows that both the second-order state observer and the third-order one can drive the tracking error converge
to zero when the velocity is constant. But once the velocity varies, the tracking error of the former method exist bias in principle
while another still can converge to zero. Compared with the arctangent method, the proposed method can obtain angular velocity
without a differential operator, and has the ability to suppress disturbances. Compared with angular tracking observer, the
proposed method can obtain angular position and velocity in higher precision since the changes of the motor speed is considered.
Experimental results demonstrate effectiveness of the proposed method.
Key Words: Resolver-to-Digital Conversion, State Observer, Position Estimation, Velocity Estimation

(ATO)⊩[3]DŽ⬅Ѣডℷߛ䖤ㅫऴ⫼䖛໮䅵ㅫ䌘⑤੠䖤
1 ᓩ㿔 ㅫЁⱘ༛⚍䯂乬ˈℸᮍ⊩䗮ᐌ䞛⫼ᶹ㸼ⱘᮍᓣ[6]DŽ᭛
‫⹂ޚ‬ǃৃ䴴ⱘ䕀ᄤ㾦ԡ㕂ঞ㾦䗳ᑺẔ⌟ᰃᅲ⦄Ԏ ⤂[7]ᓎゟњϔ⾡Ѡ㓈᭄᥂㸼ˈҹᦤ催ᶹ㸼㊒ᑺDŽৃҹ
᳡⬉ᴎ催ᗻ㛑᥻ࠊⱘᖙ㽕ᴵӊDŽЎ㦋প䕀ᄤ㾦ԡ㕂ঞ Փ⫼᭛⤂[8]Ё᠔ᦤⱘതᷛᮟ䕀᭄ᄫ䅵ㅫᮍ⊩ˈᴹ䖯㸠
㾦䗳ᑺֵᙃˈ䗮ᐌ೼⬉ᴎ䕀䕈Ϟᅝ㺙ᮟ䕀বय़఼ǃ⺕ ডℷߛ䖤ㅫDŽডℷߛ⊩ҙ㛑Ԅ䅵ᕫࠄ䕀ᄤⱘ㾦ԡ㕂ˈ
㓪ⷕ఼ǃ‫⬉ܝ‬㓪ⷕ఼ㄝ䕈㾦Ӵᛳ఼DŽᮟ䕀বय़఼ҹ݊ 䳔㽕䗮䖛䅵ㅫ㾦ԡ㕂Ꮒߚᕫࠄ㾦䗳ᑺⱘԄ䅵ؐˈ䖭ḋ
ᡫᑆᡄ㛑࡯ᔎǃ㊒ᑺ催㹿ᑓ⊯⫼Ѣ㟾ぎ㟾໽ǃ‫ݯ‬џǃ Ԅ䅵ߎᴹⱘ㾦䗳ᑺ㊒ᑺ䕗Ꮒˈ‫ܝ‬⒥ᑺϡ໳⧚ᛇDŽ㾦ᑺ
ᎹϮᴎ఼Ҏㄝ䳔㽕催ৃ䴴Ӵᛳ఼ⱘԎ᳡㋏㒳Ё[1, 2]DŽ 䎳䏾㾖⌟఼⊩[9-12]⬅ϔϾ䯁⦃㋏㒳ᵘ៤ˈᰃ෎Ѣ䫕Ⳍ
ᮟ䕀বय़఼ⱘ䕧ߎᰃࣙ৿㾦ԡ㕂ֵᙃⱘ䇗ᐙֵ ⦃ᡔᴃᦤߎⱘˈ݊Ё⌟䞣㾦ᑺྟ㒜ϢԄ䅵㾦ᑺ䖯㸠ᇍ
োˈЎ㦋ᕫ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺֵᙃˈᖙ乏ᇍ݊䕧ߎ ↨ˈ䯁⦃㋏㒳᥻ࠊ㾦ᑺԄ䅵䇃Ꮒ䍟Ѣ䳊ˈ✊㗠ᔧ⬉ᴎ
ֵো䖯㸠໘⧚DŽⳂࠡᐌ⫼ⱘ໘⧚ᮍ⊩ᰃ‫ܜ‬Ẕ⊶ᕫࠄ䇗 䕀ᄤ䕀䗳ব࣪ᯊˈATO⊩ᄬ೼〇ᗕ䇃ᏂDŽADㄝ݀ৌ
ᐙֵোⱘࣙ㒰ˈ‫ݡ‬䗮䖛㾷䇗ᕫࠄ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺ ⫳ѻⱘᮟ䕀বय़఼-᭄ᄫ䕀ᤶ఼㢃⠛ℷᰃ෎ѢATO⊩
ֵᙃDŽᮟ䕀বय़఼ⱘẔ⊶ᮍ⊩Џ㽕᳝Ь⿃Ẕ⊶ǃৠℹ 䆒䅵ⱘDŽ᭛⤂[13]෎Ѣ䫕Ⳍ⦃㒧ᵘ䆒䅵㾖⌟఼⫼Ѣᇍ
ᐙؐẔ⊶੠㞾䗖ᑨৠℹᐙؐẔ⊶[3-5]DŽ㗠㾷䇗ᮍ⊩ৃ ᮟ䕀বय़఼䕧ߎֵো䖯㸠Ԅ䅵DŽ㱑✊㾦ᑺ䎳䏾㾖⌟఼
ߚЎϸ໻㉏ˈߚ߿Ўডϝ㾦ߑ᭄⊩੠㾦ᑺ䎳䏾㾖⌟఼ ⊩Ϣডℷߛ⊩Ⳍ↨㛑Ԅ䅵ᕫࠄ催㊒ᑺⱘ㾦ԡ㕂੠㾦
䗳ᑺֵᙃˈ݊೼催䗳៪催ࡴ䗳ᑺⱘᚙ‫މ‬ϟਜ⦄ϡ〇ᅮ
ⱘ⡍ᕕ[9]DŽ
*
ℸ乍Ꮉ԰ᕫࠄ೑ᆊ㞾✊⾥ᄺ෎䞥੠Ё༂催᷵෎ᴀ⾥ⷨϮࡵ䌍ϧ乍
䌘䞥䌘ࡽˈ乍Ⳃᡍ‫ޚ‬ো˖10772011/YWF-10-01-A22

4350 on March 10,2024 at 04:11:55 UTC from IEEE Xplore. Restrictions apply.
Authorized licensed use limited to: Rajiv Gandhi Institute of Technology. Downloaded
 ᴀ᭛䆒䅵њϔ⾡෎Ѣ⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩ˈ䆹 Փ⫼᭛⤂ [3-5] ᠔ᦤⱘӏϔ⾡Ẕ⊶ㅫ⊩ᇍᮟ䕀ব
ㅫ⊩߽⫼⢊ᗕ㾖⌟ⱘᮍᓣˈ㛑ৠᯊԄ䅵ߎӏᛣᯊࠏ䕀 य़఼䕧ߎֵো䖯㸠Ẕ⊶ˈᕫࠄⱘࣙ㒰ֵোЎuaǃubˈ
ᄤⱘ㾦ԡ㕂੠㾦䗳ᑺֵᙃˈ‫݋‬᳝ᇍ῵ൟϡ⹂ᅮᗻঞᑆ े˖
ᡄⱘᔎ䗖ᑨᗻˈৃҹᕫࠄ催㊒ᑺⱘ㾦ԡ㕂੠㾦䗳ᑺֵ ­u a Ea sin T
ᙃDŽ ® (3)
¯ub Eb cos T
2 ᮟ䕀বय़఼Ꮉ԰ॳ⧚ ᓣЁ˖EaˈEbЎẔ⊶ৢࣙ㒰ֵোⱘᐙؐˈ⧚䆎Ϟϸ㗙
ᰃⳌㄝⱘDŽ
ᮟ䕀বय़఼ⱘ㒧ᵘϢ㒩㒓ᓣᓖℹ⬉ᴎⳌԐˈᔧࢅ
⺕㒩㒘R1R2ᮑҹϔᅮ乥⥛ⱘѸ⌕⬉य़ࢅ⺕ᯊˈ䕧ߎ㒩 3.1 ডϝ㾦ߑ᭄⊩
㒘S1S2੠S3S4ⱘ⬉य़ᐙؐϢ䕀ᄤ䕀㾦៤ℷԭᓺ݇㋏ˈ
ЎᦤপԎ᳡⬉ᴎ䕀ᄤԡ㕂ֵᙃˈৃ䞛⫼ডℷߛ
݊㒧ᵘ⼎ᛣ೒བ೒1᠔⼎DŽ
⊩ˈᇍuaˈubⳌ䰸ৢⳈ᥹∖ডℷߛDŽे˖
T arctan(ua ub ) (4)
ᕫࠄ㾦ԡ㕂ֵᙃৢˈ‫ݡ‬㒣Ꮒߚ䖤ㅫᕫࠄ৘䞛ḋᯊ
ࠏⱘ㾦䗳ᑺؐ˖
Zj (T j  T j 1 ) Ts (5)
݊Ё˖TsЎ䞛ḋ਼ᳳˈTjǃȦjߚ߿Ўt=jTs (j=1,2…)ᯊ
ࠏⱘ㾦ԡ㕂ؐ੠㾦䗳ᑺؐDŽ⬅Ѣᅲ䰙ᮟ䕀বय़఼ֵো
ᄬ೼䇌བᐙؐϡᑇ㸵ǃϡᅠܼℷѸㄝ䇃Ꮒˈ㗠Ϩϸ䏃
೒1 ℷԭᓺᮟ䕀বय़఼㒧ᵘ⼎ᛣ೒
ֵোߚᓔẔ⊶䖬Ӯᏺᴹᮄⱘ䇃Ꮒˈua੠ubϡ㛑㊒⹂ⱘ
㢹ᮟ䕀বय़఼ᮑࡴ乥⥛ЎZcⱘℷᓺ▔ࢅ⬉य़˖ 㸼⼎㾦ԡ㕂ⱘℷԭᓺֵᙃˈℸᮍ⊩㊒ᑺᇚফᕜ໻ᕅ
ve E sin(Z c t ) (1) ડˈϨ䗮䖛ᇍ㾦ԡ㕂Ꮒߚ∖প㾦䗳ᑺᯊˈ∖ᕫⱘ㾦䗳
߭䕧ߎⱘℷԭᓺᮟ䕀বय़఼ֵোЎ˖ ᑺЎ䞛ḋᯊ䯈‫ⱘݙ‬ᑇഛؐˈ঺໪Ꮒߚᇍాໄ᳝ᬒ໻԰
⫼DŽ䞛⫼Ⓒ⊶ⱘ᠟↉㱑✊ৃҹ‫ޣ‬ᇣాໄˈԚৠᯊӮᓩ
­vsin kve sin T kE sin(Zct ) sin T
ܹⳌԡ⒲ৢDŽ
® (2)
¯vcos kve cosT kE sin(Zct ) cos T
3.2 ATO⊩
݊Ё˖EЎ▔⺕ֵোⱘᐙؐˈTЎ䕀ᄤ䕀䖛ⱘ㾦ᑺˈk
Ўᮟ䕀বय़఼ⱘবय़↨DŽҢᓣ(2)ৃҹⳟߎˈᮟ䕀বय़ ATO⊩ⱘᎹ԰ॳ⧚བ೒3᠔⼎ˈҢẔ⊶ৢⱘࣙ㒰
఼ⱘ䕧ߎֵোЎϸ䏃ࣙ৿䕀ᄤ䕀㾦 T ⱘℷѸ䇗ᐙֵ ֵোԄ䅵ᕫࠄ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺֵᙃDŽ೒Ёˈ
োDŽ೒2㸼⼎њℷԭᓺᮟ䕀বय़఼ࢅ⺕ֵো੠䕧ߎֵ e u cosTˆ  u sin Tˆ ˈ Tˆ ੠ Ẑ ߚ߿Ў䕀ᄤ㾦ԡ㕂੠㾦
a b
োⱘ⊶ᔶDŽ 䗳ᑺԄ䅵ؐDŽ㢹ᇚẔ⊶⦃㡖ᬒ೼ATOЁˈℸᯊRDCㅫ
⊩⿄Ўবᤶᓣ䎳䏾ᮍḜDŽ
ve

cos
ua Ẑ
+ e 1 1 + Tˆ
vsin

¦ K1 ¦
ub - s s +
K2
sin
vcos

೒3 㾦ᑺ䎳䏾㾖⌟఼⊩ॳ⧚
time
೼Ԏ᳡⬉ᴎ䕀䗳ᘦᅮ៪㗙᜶বᯊˈ㾦ᑺ䎳䏾㾖⌟
೒2 ᮟ䕀বय़఼䕧ߎֵোᔶᓣ
఼⊩䎳䏾ᬜᵰ䕗དˈ㗠ᕙ⌟䕀䗳ᖿ䗳ব࣪ᯊԄ䅵䇃Ꮒ
䕗໻DŽ
3 ᐌ㾘RDCㅫ⊩
ЎҢᮟ䕀বय़఼䕧ߎⱘ䇗ᐙֵোЁᦤপ䕀ᄤ㾦 4 ෎ѢѠ䰊⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩
ԡ㕂੠㾦䗳ᑺֵᙃˈᐌ⫼ⱘ໘⧚ᮍ⊩ᰃ‫ܜ‬Ẕ⊶ᕫࠄ䇗 ‫؛‬䆒Ԏ᳡⬉ᴎࣔ䗳䖤䕀ˈ䕀ᄤ㾦ԡ㕂Tঞ㾦䗳ᑺZ
ᐙֵোⱘࣙ㒰ˈ‫ݡ‬䗮䖛㾷䇗ᕫࠄ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺ П䯈ⱘ݇㋏ৃ㸼⼎Ў˖
ֵᙃDŽ
­T Z
® (6)
¯Z 0

4351 on March 10,2024 at 04:11:55 UTC from IEEE Xplore. Restrictions apply.
Authorized licensed use limited to: Rajiv Gandhi Institute of Technology. Downloaded
 ҹᓣ(6)Ў⢊ᗕᮍ⿟ˈᓣ(2)Ў䞣⌟ᮍ⿟ˈৃҹ䆒 Ў߸ᅮѠ䰊⢊ᗕ㾖⌟఼ⱘ〇ᅮᗻˈ䆒㾦䗳ᑺԄ䅵
䅵⢊ᗕ㾖⌟఼ᇍ䕀ᄤ㾦ԡ㕂ঞ㾦䗳ᑺ䖯㸠㾖⌟DŽ⢊ᗕ 䇃ᏂЎ Ze Z  Zˆ ˈ⬅ᓣ(6)ǃ(7)ৃᕫ䇃Ꮒᮍ⿟Ў˖
㾖⌟఼ⱘ෎ᴀᔶᓣЎ˖
­°Te Ze  kTc 2 sin T e
­°Tˆ Zˆ  k H ® (13)
T2 °̄Z e  kZc 2 sin T e
® (7)

°̄Zˆ kZ 2H ᓣЁ˖kTc 2 kT 2 k ˈkZc 2 kZ 2 k DŽ⬅Ѣതᷛॳ⚍Ўᓣ(13)
ᓣЁ˖ H k sin(T e ) ˈЎ㒣䖛䡈Ⳍ੠Ẕ⊶ৢⱘ䇃Ꮒֵ ⱘϔϾᑇ㸵⢊ᗕˈৃ∖ᕫᓣ(13)೼തᷛॳ⚍໘ϔ⃵䖥
ԐৢⱘJacobi㋏᭄ⶽ䰉Ў˖
োˈ݊Ё T T  Tˆ ˈЎ㾦ԡ㕂Ԅ䅵䇃ᏂˈkЎᮟ䕀ব
e
ª k c 1º
य़఼ⱘবय़↨ˈkT2ǃkZ2ЎѠ䰊⢊ᗕ㾖⌟఼ⱘ๲Ⲟ㋏ A « T2 »
᭄DŽѠ䰊⢊ᗕ㾖⌟఼ⱘ㒧ᵘḚ೒བ೒4᠔⼎DŽ ¬ kZc 2 0¼
ve ḍ᥂ⶽ䰉Aৃ∖ᕫᓣ(13)ⱘ⡍ᕕᮍ⿟Ў
kT 2
O2  kTc O  kZc 0 (14)
vsin +
H
vcos PD 1 Ẕ⊶ H 1 + 1 Tˆ Ҹ kTc 2 ੠ kZc 2 ഛ໻Ѣ䳊ˈ߭ⶽ䰉Aⱘܼ䚼⡍ᕕؐ䛑
kZ 2 ¦
s Ẑ s ‫݋‬᳝䋳ᅲ䚼ˈḍ᥂Lyapunov㄀ϔᮍ⊩ˈ䇃Ꮒᮍ⿟ᓣ(13)
sin(Tˆ) ⱘ೼ॳ⚍໘ᰃ⏤䖥〇ᅮⱘˈेѠ䰊⢊ᗕ㾖⌟఼(7)ⱘ䕧
sin
ߎৃҹ䳊䇃Ꮒ䘐䖥ⳳؐDŽ
cos(Tˆ)
cos ḍ᥂㋏㒳ᇍᑇ〇ᗻ੠ᖿ䗳ᗻⱘ㽕∖ˈ䗝প⡍ᕕᮍ
⿟ ᓣ (14) ⱘ ϸ Ͼ ⡍ ᕕ ḍ O1 ǃ O2 ˈ ߭ ৃ ⹂ ᅮ ㋏ ᭄
೒4 Ѡ䰊⢊ᗕ㾖⌟఼㒧ᵘḚ೒ kTc 2 O1  O2 ˈ kZc 2 O1O2 DŽϔ㠀ᚙ‫މ‬ϟˈᮟ䕀বय़
೒ЁPDЎ䡈Ⳍ఼ˈ݊䕧ߎЎ˖ ఼ⱘবय़↨kᰃᏆⶹⱘˈ಴ℸৃҹḍ᥂ kTc 2 ˈ kZc 2 ੠k
H1 vsin cos(Tˆ)  vcos sin(Tˆ) kE sin(Zc t ) sin(T e ) (8) ⹂ᅮ㾖⌟఼๲ⲞkT2ǃkZ2ؐDŽ
ᴀ ᭛ Փ ⫼ ⱘ Ẕ ⊶ ㅫ ⊩ Ў 㞾 䗖 ᑨৠℹᐙؐẔ⊶ Ў֓Ѣ䅵ㅫᴎᅲ⦄ˈৃᇚᓣ(7)⾏ᬷ࣪Ў˖
(ASAD)ˈ݊ॳ⧚Ḛ೒བ೒5᠔⼎DŽ ­°Tˆ j Tˆ j 1  Ts (Zˆ j 1  kT 2 ˜ H j )
® (15)
°̄ Zˆ j Zˆ j 1  Ts ˜ kZ 2 ˜ H j
1
ᓣЁ˖Tˆ j ǃẐ j Ўt=jTsᯊࠏⱘ㾦ԡ㕂੠㾦䗳ᑺԄ䅵ؐˈ
z
HjЎt=jTsᯊࠏⱘ䇃ᏂؐDŽ

¦ ¦ 5 ෎Ѣϝ䰊⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩
P mˆ (nT )
ᔧԎ᳡⬉ᴎ䴲ࣔ䗳䖤䕀ᯊˈे Z z 0 ᯊˈѠ䰊⢊
ᗕ㾖⌟఼ᇚᄬ೼ॳ⧚ᗻ䇃Ꮒ㗠ϡ㛑‫⹂ޚ‬䎳䏾ⳳؐDŽЎ
೒5 㞾䗖ᑨৠℹᐙؐẔ⊶ॳ⧚Ḛ೒ ℸˈ䳔㽕ᇍѠ䰊⢊ᗕ㾖⌟఼䖯㸠ᬍ䖯DŽ
‫؛‬䆒Ԏ᳡⬉ᴎࣔࡴ䗳䖤䕀ˈे㾦ࡴ䗳ᑺЎᐌ᭄
೒Ёc(nT)ˈs(nT)ߚ߿Ў䞛ḋৢⱘ▔⺕ֵো੠䇗ᐙ
ᯊˈ䕀ᄤ㾦ԡ㕂Tǃ㾦䗳ᑺZ੠㾦ࡴ䗳ᑺDП䯈ⱘ݇㋏
ֵোˈm(nT)Ў䇗ࠊֵোˈгेЎ䳔㽕Ԅ䅵ⱘֵোDŽ
ৃ㸼⼎Ў˖
䖭䞠‫؛ܜ‬䆒bnЎẔ⊶ৢᕫࠄⱘࣙ㒰ֵোˈ߭෎ѢԄ䅵
ⱘࣙ㒰ֵোৃҹ∖ߎԄ䅵ⱘ䇗ᐙֵোЎ˖ ­T Z
°
sˆ(nT ) bn c(nT ) (9) ®Z D (16)
° D 0
䖭ḋᅲ䰙䇗ᐙֵোϢԄ䅵䇗ᐙֵোⱘ䇃ᏂЎ˖ ¯
e(nT ) s (nT )  bn c(nT ) (10) ҹᓣ(16)Ў⢊ᗕᮍ⿟ˈҹᓣ(2)Ў䞣⌟ᮍ⿟ৃ䆒䅵
߽⫼ẃᑺㅫ⊩Փ䇃Ꮒֵোe(nT)䍟Ѣ䳊ˈे˖ ϝ䰊⢊ᗕ㾖⌟఼DŽ㾖⌟఼ⱘ෎ᴀᔶᓣЎ˖
bn 1 bn  P e(nT ) c(nT ) (11) ­Tˆ Zˆ  k H
° T3
ᓣЁ˖PЎ᥻ࠊASAD〇ᅮᗻ੠ᬊᬯᖿ䗳ᗻⱘখ᭄DŽ ° ˆ ˆ
®Z D  kZ 3H (17)
ᇚPD䕧ߎֵোH1㒣ASADৢᕫࠄⱘ䇃ᏂֵোЎ˖ °
°¯Dˆ kD 3H
H k sin(T e ) (12)
П᠔ҹᇚẔ⊶⦃㡖ᬒࠄPDৢˈᰃЎњ䙓‫ܡ‬ϸ䏃䇗 ᓣЁ˖kT3ǃkZ3੠kD3Ўϝ䰊⢊ᗕ㾖⌟఼ⱘ๲Ⲟ㋏᭄ˈ
ᐙֵোẔ⊶ᗻ㛑ϡϔ㟈㗠ᓩܹᮄⱘ䇃ᏂDŽ ϝ䰊⢊ᗕ㾖⌟఼㒧ᵘḚ೒བ೒6᠔⼎DŽ

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 kT 3 ᠔ҹ䞛⫼ᮟ䕀বय़఼῵ᢳ఼᳓ҷⳳᅲⱘᮟ䕀বय़
ve ఼ˈЏ㽕ᰃЎњ㦋পᮟ䕀বय़఼䕧ߎֵোЁࣙ৿ⱘ㾦
kZ 3 ԡ㕂੠㾦䗳ᑺⳳؐˈ֓Ѣ䆘Ԅ৘⾡Ԅ䅵ㅫ⊩ⱘᗻ㛑DŽ
vsin + +
vcos PD 1+ 1 + 1 Tˆ Ϣऩ㒃ⱘ䅵ㅫᴎӓⳳⳌ↨ˈ⬅ѢRDCㅫ⊩ⱘᅲ⦄Ϣⳳ
H1 Ẕ⊶ H kD 3 s D̂
¦
s Ẑ
¦
s ᅲⱘ⠽⧚ᅲ偠෎ᴀϔ㟈ˈञ⠽⧚ӓⳳᅲ偠ⱘ㒧ᵰ᳈‫݋‬
sin(Tˆ) 䇈᳡࡯DŽ
sin
cos(Tˆ) SPI DDS AD
cos 䞛ḋ
੠
DA
೒6 ϝ䰊⢊ᗕ㾖⌟఼㒧ᵘḚ೒ ᭄ᄫ
䕀ᤶ
Ⓒ⊶
೒Ё PD ⦃㡖੠Ẕ⊶⦃㡖ϢѠ䰊⢊ᗕ㾖⌟఼Ⳍ Resolver syn ໪䚼Ё
ৠDŽӓ✻Ѡ䰊⢊ᗕ㾖⌟఼ⱘߚᵤˈ䆒㾦ࡴ䗳ᑺԄ䅵䇃 Simulator GPIO RDCㅫ⊩
ᮁ᥹ষ
ᏂЎ D e D  Dˆ ˈ⬅ᓣ(16)ǃ(17)ৃᕫ˖
­Te Ze  kTc 3 sin T e
°
®Z e D e  kZc 3 sin T e (18)
°D k c sin T ೒7 ञ⠽⧚ӓⳳᅲ偠㺙㕂㒧ᵘ೒
¯ e D3 e
೼ञ⠽⧚ӓⳳᅲ偠Ёˈপ䞛ḋ਼ᳳTs=40PsˈѠ
ᓣЁ˖ kTc 3 kT 3 k ˈ kZc 3 kZ 3 k ˈ kDc 3 kD 3 k DŽᓣ (18) 䰊㾖⌟఼ⱘ๲ⲞkT2=33.6ˈkZ2=441ˈϝ䰊㾖⌟఼๲Ⲟ
೼തᷛॳ⚍໘ϔ⃵䖥ԐৢⱘJacobi㋏᭄ⶽ䰉Ў˖ ЎkT3=12.8ˈkZ3=56.96ˈkD3=102.4DŽᔧԎ᳡⬉ᴎߚ߿
ª  kTc 3 1 0º ҹࣔ䗳ǃࣔࡴ䗳ǃℷᓺ㾘ᕟ䖤䕀ᯊˈߚ߿䞛⫼෎Ѣড
A «« kZc 3 0 1»»
' ℷߛ⊩ǃ෎ѢѠ䰊㾖⌟఼ⱘRDCㅫ⊩ǃ෎Ѣϝ䰊㾖⌟
«¬ kDc 3 0 0»¼ ఼ⱘRDCㅫ⊩ˈৃᕫᅲ偠㒧ᵰབ೒8-13᠔⼎DŽ
Ą 0.02
ḍ᥂ⶽ䰉A ৃ∖ᕫᓣ(18)ⱘ⡍ᕕᮍ⿟Ў˖
Te(rad/s)

O3  kTc 3O2  kZc 3O  kDc 3 0 (19) 0

Ҹ kTc 3 ǃkZc 3 ੠ kDc 3 ഛ໻Ѣ䳊ˈϨ kTc 3 kZc 3 > kDc 3 ˈ߭
Ą
A ⱘ⡍ᕕؐ䛑‫݋‬᳝䋳ᅲ䚼DŽḍ᥂Lyapunov㄀ϔᮍ⊩ˈ -0.02
䇃Ꮒᮍ⿟ᓣ(18)ⱘ೼ॳ⚍໘ᰃ⏤䖥〇ᅮⱘˈेϝ䰊⢊ 0 0.5 1 1.5 2
ᗕ㾖⌟఼(17)ⱘ䕧ߎ㛑ҹ䳊䇃Ꮒⱘ䘐䖥ⳳؐDŽ t(s)

ḍ᥂㋏㒳ᇍᑇ〇ᗻ੠ᖿ䗳ᗻⱘ㽕∖ˈৃ䗝প⡍ᕕ (a) ডℷߛ⊩

ᮍ⿟(19)ⱘ3Ͼ⡍ᕕḍˈ✊ৢᣝ✻ᕙᅮ㋏᭄⊩⹂ᅮ㾖⌟ 0.02
఼๲Ⲟ㋏᭄kT3ǃkZ3੠kD3DŽ
Te(rad)

ৠḋˈЎ֓Ѣ䅵ㅫᴎᅲ⦄ˈৃᇚᓣ(17)䕀࣪៤⾏ 0
ᬷᔶᓣЎ˖
­Tˆ j Tˆ j 1  Ts (Zˆ j 1  kT 3 ˜ H j ) -0.02
0 0.5 1 1.5 2
°°
®Zˆ j Zˆ j 1  Ts (Dˆ j 1  kZ 3 ˜ H j ) (20) t(s)
°ˆ (b) Ѡ䰊⢊ᗕ㾖⌟఼
°¯D j Dˆ j 1  Ts ˜ kD 3 ˜ H j
0.02
ᓣЁ˖ D̂ j Ўt=jTsᯊࠏⱘ㾦ࡴ䗳ᑺԄ䅵ؐDŽ
Te(rad)

0
6 ᅲ偠㒧ᵰঞߚᵤ
Ў偠䆕ᴀ᭛ᮍ⊩ⱘ᳝ᬜᗻˈ䞛⫼೒7᠔⼎ⱘञ⠽ -0.02
⧚ӓⳳᅲ偠㺙㕂ˈᇍ෎Ѣ⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩䖯㸠 0 0.5 1 1.5 2
ᅲ偠偠䆕ˈᑊϢডℷߛ⊩䖯㸠ᇍ↨DŽᅲ偠㺙㕂Ё䞛⫼ t(s)
ϔϾDSP(TMS320F28335)ѻ⫳䇗ࠊֵোˈᑊ䗮䖛SPI (c) ϝ䰊⢊ᗕ㾖⌟఼
᥻ࠊDDS㢃⠛ѻ⫳▔⺕ֵোˈϢ䇗ࠊֵোⳌЬᕫࠄᮟ ೒8 ⬉ᴎࣔ䗳䖤䕀ᯊ3⾡ㅫ⊩ⱘ㾦ԡ㕂䇃Ꮒ᳆㒓
䕀বय़఼ⱘ䕧ߎֵোDŽ㒣ֵো䇗⧚੠Ⓒ⊶ৢˈ䞛⫼঺
ϔϾ DSP(TMS320F28335) ᇍ▔⺕ֵো੠ϸ䏃䇗ᐙֵ
ো䖯㸠䞛䲚໘⧚ˈԄ䅵ᕫࠄ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺDŽП

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 Ze(rad/s) 1 2

Ze(rad/s)
1
0
0

-1 -1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(a) ডℷߛ⊩ (a) ডℷߛ⊩
0.04 1

Ze(rad/s)
0.02
Ze(rad/s)

0.8
0
-0.02 0.6
-0.04
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(b) Ѡ䰊⢊ᗕ㾖⌟఼ (b) Ѡ䰊⢊ᗕ㾖⌟఼
0.04 0.04
0.02 0.02
Ze(rad/s)

0 Ze(rad/s) 0
-0.02 -0.02
-0.04 -0.04
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(c) ϝ䰊⢊ᗕ㾖⌟఼ (c) ϝ䰊⢊ᗕ㾖⌟఼
೒9 ⬉ᴎࣔ䗳䖤䕀ᯊ3⾡ㅫ⊩ⱘ㾦䗳ᑺ䇃Ꮒ᳆㒓 ೒11 ⬉ᴎࣔࡴ䗳䖤䕀ᯊ3⾡ㅫ⊩ⱘ㾦䗳ᑺ䇃Ꮒ᳆㒓

0.1
0.05
Te(rad)
Te(rad)

0 0
-0.05
-0.1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(a) ডℷߛ⊩ (a) ডℷߛ⊩
0.1
0.04
Te(rad)
Te(rad)

0
0.02
-0.1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(b) Ѡ䰊⢊ᗕ㾖⌟఼ (b) Ѡ䰊⢊ᗕ㾖⌟఼
0.01 0.1
Te(rad)

Te(rad)

0 0

-0.01 -0.1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
t(s) t(s)
(c) ϝ䰊⢊ᗕ㾖⌟఼ (c) ϝ䰊⢊ᗕ㾖⌟఼
೒10 ⬉ᴎࣔࡴ䗳䖤䕀ᯊ3⾡ㅫ⊩ⱘ㾦ԡ㕂䇃Ꮒ᳆㒓 ೒12 ⬉ᴎ䕀䗳ᣝℷᓺব࣪ᯊ3⾡ㅫ⊩ⱘ㾦ԡ㕂䇃Ꮒ᳆㒓

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 4 1) ⬅Ѣ෎Ѣ⢊ᗕ㾖⌟఼ⱘRDC ㅫ⊩ϡ䳔䗮䖛᭄
2 ؐᏂߚेৃ㦋ᕫ㾦䗳ᑺֵᙃˈ䙓‫ܡ‬њᏂߚ䖤ㅫᇍాໄ
Ze(rad/s)

0 ⱘᬒ໻԰⫼DŽ
-2 2) ೼ϝ䰊⢊ᗕ㾖⌟఼Ёˈ㗗㰥њԎ᳡⬉ᴎⱘ䕀䗳
-4 ব࣪ˈ⬅Ѣᓩܹࡴ䗳ᑺֵᙃˈᯢᰒ‫ޣ‬ᇣњѠ䰊⢊ᗕ㾖
0 0.5 1 1.5 2 ⌟఼೼䕀䗳ব࣪ᯊ䕧ߎֵোⱘⳌԡ⒲ৢDŽ
t(s) 3) ᅲ偠㒧ᵰ㸼ᯢˈᴀ᭛᠔䆒䅵ⱘ෎Ѣ⢊ᗕ㾖⌟఼
(a) ডℷߛ⊩ ⱘRDCㅫ⊩ˈ㊒ᑺӬѢᐌ㾘ডℷߛㅫ⊩੠㾦ᑺ䎳䏾㾖
2 ⌟఼⊩ˈ‫݋‬᳝䕗ᔎⱘᡫᑆᡄ㛑࡯੠ᅲ⫼ӋؐDŽ
Ze(rad/s)

0
খ㗗᭛⤂
[1] Benammar M., Ben-Brahim L., Alhamadi M.A., A Novel
Resolver-to-360 Degrees Linearized Converter. IEEE
-2 Sensors Journal, 2004, 4(1): 96-101.
0 0.5 1 1.5 2
[2] Kimura F., Gondo M., Yamamoto A., et al, Resolver
t(s) Compatible Capacitive Rotary Position Sensor, Industrial
(b) Ѡ䰊⢊ᗕ㾖⌟఼ Electronics, 2009. IECON '09. 35th Annual Conference of
1 IEEE. 2009: 1923-1928
[3] Bouallaga K., Idkhajine L., Prata A., et al, Demodulation
Ze(rad/s)

Methods on Fully FPGA-Based System for Resolver Signals

0 Treatment, 2007 European Conference on Power Electronics
and Applications. 2007: 1-6
[4] Yassa F. F., Noujaim S.E., Adaptive Synchronous Amplitude
-1 Demodulation, Twenty-Second Asilomar Conference on
0 0.5 1 1.5 2
Signals, Systems and Computers. 1988: 107-111
t(s)
[5] Tseng P. H., Tong C. J., Lin M. T., Design a Fast Tracking
(c) ϝ䰊⢊ᗕ㾖⌟఼ Resolver to Digital Conversion Method Using FPGA for
Rotary Motion Applications. Journal of the Chinese Institute
೒13 ⬉ᴎ䕀䗳ᣝℷᓺব࣪ᯊ3⾡ㅫ⊩ⱘ㾦䗳ᑺ䇃Ꮒ᳆㒓 of Engineers, 2009, 32(6): 745-753.
1) ᔧZ=4S rad/sᯊˈϝ⾡Ԅ䅵ㅫ⊩ⱘ䇃Ꮒ᳆㒓བ [6] Sarma S., Agrawal V. K., Udupa S., Software-Based
Resolver-to-Digital Conversion Using a DSP. IEEE
೒8ǃ9᠔⼎ˈ݊Ё೒8Ў㾦ԡ㕂䇃Ꮒ᳆㒓ˈ೒9Ў㾦䗳 Transactions on Industrial Electronics, 2008, 55(1):
ᑺ䇃Ꮒ᳆㒓DŽ⬅೒ৃⶹˈѠ䰊Ϣϝ䰊⢊ᗕ㾖⌟఼䇃Ꮒ 371-379.
໻ᇣ෎ᴀⳌৠˈ䛑↨ডℷߛᮍ⊩Ԅ䅵ⱘ㾦ԡ㕂䇃Ꮒᇣ [7] Hagiwara N., Suzuki Y., Murase H., A Method of Improving
ϔ‫ˈס‬㾦䗳ᑺ䇃Ꮒᇣ᥹䖥ϸϾ᭄䞣㑻DŽ the Resolution and Accuracy of Rotary Encoders Using a
Code Compensation Technique. IEEE Transactions on
2) ᔧZ=10t rad/sᯊˈϝ⾡Ԅ䅵ㅫ⊩ⱘ䇃Ꮒ᳆㒓བ Instrumentation and Measurement, 1992, 41(1): 98-101.
೒10ǃ11᠔⼎ˈ݊Ё೒10Ў㾦ԡ㕂䇃Ꮒ᳆㒓ˈ೒11Ў [8] Andraka R., A Survey of CORDIC Algorithms for FPGA
㾦䗳ᑺ䇃Ꮒ᳆㒓DŽ⬅೒ৃⶹˈϢ䆎᭛ⱘ⧚䆎ߚᵤⳌ Based Computers, Proceedings of the 1998 ACM/SIGDA
Sixth International Symposium on Field Programmable Gate
ৠˈᔧ⬉ᴎࣔࡴ䗳䖤䕀ᯊˈѠ䰊⢊ᗕ㾖⌟఼ⱘԄ䅵㒧
Arrays, 1998: 191-200.
ᵰᄬ೼ॳ⧚ᗻⱘᐌؐ‫أ‬Ꮒˈ㗠ϝ䰊⢊ᗕ㾖⌟఼㛑‫⹂ޚ‬ [9] Hoseinnezhad R., Harding P., A Novel Hybrid Angle
Ԅ䅵ߎ⬉ᴎ䕀ᄤⱘ㾦ԡ㕂੠㾦䗳ᑺDŽ Tracking Observer for Resolver to Digital Conversion, 44th
3) ᔧZ [4S8sin(2St)] rad/sᯊˈϝ⾡Ԅ䅵ㅫ⊩ IEEE Conference on Decision and Control, 2005 & 2005
European Control Conference, 2005: 7020-7025.
ⱘ䇃Ꮒ᳆㒓བ೒12ǃ13᠔⼎ˈ݊Ё೒12Ў㾦ԡ㕂䇃Ꮒ
[10] Choong-Hyuk Yim., In-Joong Ha., Myoung-Sam Ko, A
᳆㒓ˈ೒13Ў㾦䗳ᑺ䇃Ꮒ᳆㒓DŽ⬅೒ৃⶹˈ⬅Ѣ䗳ᑺ Resolver-to-Digital Conversion Method for Fast Tracking.
ᣝℷᓺব࣪ˈ⢊ᗕ㾖⌟఼䛑ᄬ೼ϔᅮⳌԡ⒲ৢ㗠Փᕫ IEEE Transactions on Industrial Electronics, 1992, 39(5):
Ԅ䅵䇃Ꮒ᳝᠔๲໻ˈԚ݊ᗻ㛑ҡӬѢডℷߛᮍ⊩DŽ 369-378.
[11] Seon-Hwan Hwang, Hyun-Jim Kim, Jang-Mok Kim, et al,
ᘏ㒧Ԏ᳡⬉ᴎ೼ϝ⾡‫݌‬ൟᎹ԰⢊ᗕϟⱘᅲ偠㒧 Compensation of Amplitude Imbalance and Imperfect
ᵰˈ෎Ѣ⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩಴‫݋‬᳝Ⓒ⊶ࡳ㛑ˈϨ Quadrature in Resolver Signals for PMSM Drives. IEEE
ϡ䳔䗮䖛᭄ؐᏂߚेৃ㦋ᕫ㾦䗳ᑺֵᙃˈᗻ㛑ӬѢড Transactions on Industry Applications, 2011, 47(1): 134-143.
ℷߛᮍ⊩DŽৠᯊˈϝ䰊⢊ᗕ㾖⌟఼㗗㰥њ⬉ᴎ䕀䗳ⱘ [12] Idkhajine L., Prata A., Monmasson E., et al, System on Chip
Controller for Electrical Actuator, IEEE International
ব࣪ˈᗻ㛑ӬѢѠ䰊⢊ᗕ㾖⌟఼DŽ Symposium on Industrial Electronics, 2008. ISIE 2008, 2008:
2481-2486.
7 㒧䆎 [13] Harnefors L., Nee H. P., A General Algorithm for Speed and
Position Estimation of AC Motors. IEEE Transactions on
ᴀ᭛䩜ᇍℷԭᓺᮟ䕀বय़఼䕧ߎⱘ䇗ᐙֵোˈ䆒
Industrial Electronics, 2000, 47(1): 77-83.
䅵њϔ⾡෎Ѣ⢊ᗕ㾖⌟఼ⱘRDCㅫ⊩ˈ⫼ѢᇍԎ᳡⬉
ᴎ䕀ᄤ㾦ԡ㕂੠㾦䗳ᑺ䖯㸠Ẕ⌟ˈᕫߎҹϟ㒧䆎˖

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