System Optimization of Motor Resolver including Drive Circuitry and Cable Parasitics

Ansoft Corporation

Abstract
Resolver as an angular position sensor is widely used Resolver system is complicated, equation based method is insufficient Resolver normally operates in the environment that has EMI/EMC issue Fast response and accurate position feedback is critical in the electrification of automotives and aircrafts A system level circuit simulator is needed to accurately account for all the above-mentioned factors

Outline
Variable Reluctance Resolver FEA Model Resolver Excitation Signal Generator Resolver-to-Digital Converter Ideal Resolver System Behavioral Model Resolver Cable Parasitics Resolver System Integration Conclusions

Resolver System Simulation Simplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

Signal Generator (Simplorer)

Cable (Q3D)

Magnetic Resolver (Maxwell)

RDC (Resolver-toDigital Converter)

Cable (Q3D) Cable (Q3D)

DSO & Optimetrics

(Simplorer)

Advantages of Resolver over Optical Encoder

Higher Resolution (up to 16-bit) Wider Environment Temperature (-55~+220C max) Higher Tolerance to Vibration (20~40gs) Higher Tolerance to Dust Robust EMC/EMI Performance(no electronics on board, cab be shielded) More Sizes Available

Resolver FEA Model

Ansoft Corporation
1.50

Winding Quick Report

Curve Info InducedVoltage(Winding_Out2) Setup1 : Transient InducedVoltage(Winding_Out1) Setup1 : Transient

2D

1.00

0.50

Y3 [V]

0.00

-0.50

-1.00

-1.50 0.00 10.00 20.00 Position [deg] 30.00 40.00 50.00

Resolver Design Optimization

-Parametric Sweep Geometry -Sweep Number of Turns in the Slots -Check Different Winding Arrangements -Try Different Materials -Innovate New Designs -Etc.

Goal:
* Optimize Outputs * Reduce Cost

Creating an Equivalent Circuit Model for the Resolver

Sweep Angle (0~90 deg, in steps of 0.5 deg) Sweep Source Magnitude (-2.5~2.5 Amp Turns, 20 counts) Total: 181*20 = 3,620 rows Each row takes 50 seconds to simulate Total simulation time on one machine = 181,000 seconds

50.28 Hours!

Use DSO (Distributed Analysis) 8 Machines were used Simulation Time = 9 Hours 10 Minutes

Almost 6 Times!

Create an Equivalent Circuit Model for the Resolver

Resolver System Simulation Simplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

Signal Generator (Simplorer)

Cable (Q3D)

Magnetic Resolver (Maxwell)

RDC (Resolver-toDigital Converter)

Cable (Q3D) Cable (Q3D)

DSO & Optimetrics

(Simplorer)

Resolver Excitation Signal Generator

1.24k R1 2.7k NPN1 R5 33 R9 E3

Oscillators

OPV52 N0004 R2 442

+ -

OPV51
-

N0012

R3

N0004 N0012 N0022

+
33 R10
V

N0022 VM1

R4

Signal Generator
N0045

N0053

VM3
2DGraphSel1 9.10 7.50 5.00 2.50 250.00m 0 250.00u Excit... Excit...

2.7k PNP1 R6 R17 200

E1

E2 E4

N0051

C1

47n

2DGraphS... 1.80 1.00 0 -1.00 -1.80 0 100.00u 250.00u E2.V [V] 3.45 2.00 0 -2.00 -3.46 0

2DGraphS... VM3.V [V]

N0045 R7 442

1.24k R8 2.7k NPN11 R13 33 R15 N0053 E6

OPV53
+

OPV54
-

N0051

R11

+
33 R12 2.7k PNP11 R14 R16
V

100.00u

250.00u

VM2

Signal Generator Sub-circuit

Resolver System Simulation Simplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

Signal Generator (Simplorer)

Cable (Q3D)

Magnetic Resolver (Maxwell)

RDC (Resolver-toDigital Converter)

Cable (Q3D) Cable (Q3D)

DSO & Optimetrics

(Simplorer)

Resolver-to-Digital Converter
Classical RDC Algorithm
Us1

Phase Shift
+
R2 C1
+

Magnitude Match
VM2
+ +

OPV53
-

OPV52
-

+
V

OPV51
-

R7

VM1

R1

R4

Resolver:
V_excitation = U1*sin(2*PI*Freq*t) V_Out_Sin = U2*sin(2*PI*Freq*t)*sin(Thita) V_Out_Cos = U2*sin(2*PI*Freq*t)*cos(Thita)
R8 R3 R6 R5 Uc1

RDC:
90 Degree Phase shift: V_Out_Sin_1 = U2*sin(2*PI*Freq*t+90deg)*sin(Thita) = U2*cos(2*PI*Freq)*sin(Thita) Summation: V_sc = V_Out_Sin_1 + V_Out_Cos = U2_2 *sin(2*PI*Freq*t + Thita) Magnitude Match: V_sc_1 = U1 *sin(2*PI*Freq*t + Thita) Comparison: V_excitation = U1*sin(2*PI*Freq*t) V_sc_1 = U1 *sin(2*PI*Freq*t + Thita)

TRANS1

STATE1

TRANS3

STATE3

TRC Vin >= 0

SET: Vin_ref:=1

TRC VM1.V >= 0

SET: Vo_square:=1

STATE2

TRANS2

STATE4

TRANS4

SET: Vin_ref:=-1

TRC Vin < 0

SET: Vo_square:=-1

TRC VM1.V < 0

FML_INIT1
ICA:

Position
EQU

FML_INIT2
ICA:
Delay

ICA:

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

Position_out_final:=0

TRANS7

STATE7 TRC Position_out>Position_out_final SET: t1:=t

TRC (GZ1.VAL > 0) AND (Pulse_pos =0) NEW_MAX

2DGraphSel1 45.20 Rotor_Position Position_out_final

STATE8 TRANS8 WAIT

STATE5 TRANS5 SET: Position_out_final:=Position_out

SET: t2:=t

True TRC (GZ1.VAL < 1) AND (Pulse_pos = 1)

20.00

SET: t3:=t2-t1

SET: Position_out :=Input_AC_Freq*t3*180

0 0 25.00m 50.00m 75.00m

Classical RDC (Resolver-to-Digital Convertor)

Resolver-to-Digital Converter (continued)

(Refer to Analog Devices AD2S1205 Specifications and Application Notes)
Scope 1

PHI
theta

sin
Vsinomegatsintheta

phi

Theta
sinomegat

E0 E0

V Vsinomegatcostheta offset

cos Offset Offset resolver

Excitation

resolver _RD_IC

180 /pi 1/E1 Scope Subtract 1 Scope 4

Type II Position Tracking Loop Algorithm in Matlab/SIMULINK

Resolver System Simulation Simplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

Signal Generator (Simplorer)

Cable (Q3D)

Magnetic Resolver (Maxwell)

RDC (Resolver-toDigital Converter)

Cable (Q3D) Cable (Q3D)

DSO & Optimetrics

(Simplorer)

Resolver Cable Paracitics Extraction (3 Cables, 1.7 meters long each)

Straight -> Twist -> Multiple Twists

All Parameterized for Optimization

RLC Matrix

Resolver Cable Paracitics Extraction (Frequency-dependent Model Extraction)

Resolver Cable Paracitics Extraction (3 Cables, 1.7 meters long each)

Each Segment is 0.17 meters long, consists of 6 twists

Sub-circuit

T3 N0023 T2 T1 N0053
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

Resolver_Cable_6twists1 Resolver_Cable_6twists2 Resolver_Cable_6twists3 Resolver_Cable_6twists4 Resolver_Cable_6twists5

N0086 T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4 N0087

Resolver_Cable_6twists6 Resolver_Cable_6twists7 Resolver_Cable_6twists8 Resolver_Cable_6twists9 Resolver_Cable_6twists10

Resolver System Simulation Simplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

Signal Generator (Simplorer)

Cable (Q3D)

Magnetic Resolver (Maxwell)

RDC (Resolver-toDigital Converter)

Cable (Q3D) Cable (Q3D)

DSO & Optimetrics

(Simplorer)

Resolver Behavioral Model

Excitation Initialization
EQU EQU

Vin := Input_AC_Mag * sin(2*PI*Input_AC_Freq*t) Resolver_Outpu

EQU

Input_AC_Mag := 1 Input_AC_Freq:=12k Conductor_Ratio:=0.1 Number_of_Rotor_Poles := Rotor_Speed :=100 Tend := 45/(Rotor_Speed*(360/60)) Hmin := 1/Input_AC_Freq/100 Hmax := Hmin

Vout_sin := Conductor_Ratio * sin(Number_of_Rotor_Poles*Rotor_Position*(PI/180))*V Vout_cos := Conductor_Ratio * cos(Number_of_Rotor_Poles*Rotor_Position*(PI/180))*V

Rotor_Position := Rotor_Speed *(360/60) * t

V_excitation = U1*sin(2*PI*Freq*t) V_Out_Sin = U2*sin(2*PI*Freq*t)*sin(Thita) V_Out_Cos = U2*sin(2*PI*Freq*t)*cos(Thita)

Resolver
2DGraphSel1 994.27m 100.00m 2DGraphSel1 Vout_sin Vout_cos

Vin

-1.00 74.00m 74.50m 75.00m

-100.00m 0 25.00m 50.00m 75.00m

Resolver and RDC Model

Excitation Initialization
EQU EQU

Resolver and RDC Behavial Model

Phase Shift
+
R2 C1
+

Vin := Input_AC_Mag * sin(2*PI*Input_AC_Freq*t) Resolver_Outpu

EQU

Input_AC_Mag := 1 Input_AC_Freq:=12k Conductor_Ratio:=0.1 Number_of_Rotor_Poles :=2 Rotor_Speed :=100 Tend := 45/(Rotor_Speed*(360/60)) Hmin := 1/Input_AC_Freq/100 Hmax := Hmin

Vout_sin := Conductor_Ratio * sin(Number_of_Rotor_Poles*Rotor_Position*(PI/180))*Vin Vout_cos := Conductor_Ratio * cos(Number_of_Rotor_Poles*Rotor_Position*(PI/180))*Vin

Magnitude Match
VM2
+ +

Rotor_Position := Rotor_Speed *(360/60) * t

OPV53
-

OPV52
-

+
V

OPV51
-

R7

VM1

Us1

R1

R4

R8 R3

Resolver
R5 Uc1
2DGraphSel1 994.27m 100.00m 2DGraphSel1 Vout_sin Vout_cos

R6

TRANS1

STATE1

TRANS3

STATE3

Vin

TRC Vin >= 0

-1.00 74.00m 74.50m 75.00m -100.00m 0 25.00m 50.00m 75.00m

SET: Vin_ref:=1

TRC VM1.V >= 0

SET: Vo_square:=1

2DGraphSel1 1.00 100.00m

2DGraphSel1

STATE2

TRANS2

STATE4

TRANS4

VM1.... Vin

Us1.... Us.V ...

SET: Vin_ref:=-1

TRC Vin < 0

SET: Vo_square:=-1

TRC VM1.V < 0

-1.00 74.00m 74.50m 75.00m

-100.00m 0 25.00m 50.00m 75.00m

FML_INIT1
ICA:

Position
EQU

FML_INIT2
ICA:
Delay

ICA:

2DGraphSel1 1.00 45.20

2DGraphSel1 Rotor_Position Position_out_final

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

Position_out_final:=0

Vo_s... VM1....

20.00

TRANS7

STATE7 TRC Position_out>Position_out_final SET: t1:=t

-1.00 74.00m 74.50m 2DGraphSel1 1.00 75.00m

0 0 25.00m 50.00m 75.00m

2DGraphSel1 1.10

TRC (GZ1.VAL > 0) AND (Pulse_pos =0) NEW_MAX STATE5

Pulse_pos GZ1.VAL

Vin Vin_ref

500.00m

STATE8

TRANS8

WAIT

TRANS5 SET: Position_out_final:=Position_out

-1.00 74.00m 74.50m 75.00m

-100.00m 74.00m 74.50m 75.00m

SET: t2:=t SET: t3:=t2-t1 TRC (GZ1.VAL < 1) AND (Pulse_pos = 1) SET: Position_out :=Input_AC_Freq*t3*180

True

Classical RDC (Resolver-to-Digital Convertor

Position Output Accuracy

2DGraphSel1 45.00 Rotor_Position Position_out_final

2DGraphSel1 45.00 Rotor_Position Position_out_final

20.00

20.00

0 0 5.00m 7.50m

0 0 5.00m 7.50m

12k Hz excitation, 1,000RPM speed, 0.1us sampling time

2DGraphSel1 45.00 Rotor_Position Position_out_final

12k Hz excitation, 1,000RPM speed, 0.01us sampling time

2DGraphSel1 45.20 Rotor_Position Position_out_final

20.00

20.00

0 0 500.00u 750.00u

0 0 25.00m 50.00m 75.00m

12k Hz excitation, 10,000RPM speed, 0.1us sampling time

12k Hz excitation, 100RPM speed, 0.1us sampling time

Resolver System Integration

+
V
N0004 N0012 N0022 N0023 N0086 source11 Rotor_21

VM1

S_ROTB1

Signal Generator N0053

N0045 N0051

Cable_Excitation
N0053 source12 N0087 Rotor_22

+
VM3
V

+
V
N0086 N0023

out11

E1

E2

E4

VM5
out12

R1

Cable_Out_Cos
N0087 N0053

out21

out22

Resolver_FEA_Link
FEA

Phase Shift
+
R10 C1
+

Magnitude Match
VM2
+ +
N0086 N0023

VM6

R2

Cable_Out_Sin
N0087 N0053

OPV53
-

OPV52
-

+
V

Us1 R9 Uc1

OPV51
-

R7

VM4

R4

R8 R3 R6

2DGraphSel1 1.80 1.00 910.00m 500.00m E2.V [V] 0 -500.00m -920.00m 9.00m 9.50m 10.00m 0

2DGraphSel3 R1.V [V] VM5.V [V] 910.00m 500.00m 0 -500.00m -910.00m 5.00m 10.00m 2DGraphSel3 VM3.V [V] VM1.V [V] 91.77 0

2DGraphSel3 R2.V [V] VM6.V [V]

TRANS1

STATE1

R5

TRANS3

STATE3

0 -1.00 -1.80

TRC VM1.V >= 0 STATE2

SET: Vin_ref:=1 TRANS2

TRC VM4.V >= 0 STATE4

SET: Vo_square:=1 TRANS4

3.30

5.00m

10.00m

2DGraphSel3

SET: Vin_ref:=-1 FML_INIT1

ICA:

TRC VM1.V < 0 Position

EQU

SET: Vo_square:=-1 FML_INIT2

ICA:
Delay

TRC VM4.V < 0

0 -2.00 -3.35 9.00m 9.50m 10.00m 50.00 S_ROTB1... Position_o..

ICA:

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

Position_out_final:=0
3.50 2.00 0

2DGraphSel3 VM1.V [V] VM4.V [V]

TRANS7

STATE7

TRC Position_out>Position_out_final

SET: t1:=t TRC (GZ1.VAL > 0) AND (Pulse_pos =0) STATE8 TRANS8 WAIT

NEW_MAX STATE5 TRANS5 SET: Position_out_final:=Position_out

-2.00 -3.50 9.00m 9.50m 10.00m

0 0 5.00m 8.59m

2DGraphSel3

2DGraphSel1 R1.V [V] R2.V [V] 2.00u 1.10

2DGraphSel1

SET: t2:=t SET: t3:=t2-t1 TRC (GZ1.VAL < 1) AND (Pulse_pos = 1) SET: Position_out :=10000*t3*180

True

910.00m 500.00m 0 -500.00m -920.00m 0 5.00m

SIMP...

1.00

SIMP...

Classical RDC (Resolver-to-Digital Convertor)

2.00u 10.00m 9.00m SIMPARAM1 10.00m 9.50m

899.00m 9.00m 9.50m 10.00m

Resolver System Integration

1.24k R1 N0004
N0004 R2 442 N0012

+
+

2.7k NPN1 R5 33 R9

E3

VM1
source11 Rotor_21

S_ROTB1

OPV52
N0022
+ -

N0023

N0086

Signal Generator N0053 N0012 R3 N0045

OPV51

Cable_Excitation
+
V

N0053

source12 N0087

Rotor_22

33
N0051

R10 +

N0022 VM1

R4 2.7k
2DGraphSel1

VM3
PNP1 R6

+
V
N0086 N0023

out11

E1

E2

E4
9.10 7.50 5.00 2.50 250.00m Excit... Excit...

VM5
out12

R17

200

R1

Cable_Out_Cos
N0087 N0053

out21

C1

47n

out22

Resolver_FEA_Link
FEA

+
V
N0086 N0023

Phase Shift 0
1.24k

250.00u

Magnitude Match
VM2
+

VM6

R10

C1
N0045 R7 442

R8

2.7k NPN11 R13

E6

R2

Cable_Out_Sin
N0087 N0053

OPV53 +

+
+ OPV51

OPV53
N0053

OPV52
-

+
V

Us1
N0051

OPV54 --

R9 R11

R4

R7 R15 33
+

VM4

T3
33 R16

T6 T5 T4
Resolver_Cable_6twists

T3 T2 T1
1.80 1.00
Resolver_Cable_6twists

T6 T5 T4

T3 T2 2DGraphSel1 T1
Resolver_Cable_6twists

T6 T5 T4
E2.V [V]

T3 T2
910.00m

T6 T5
500.00m
Resolver_Cable_6twists

T3 T2 2DGraphSel3 T1
R1.V [V] VM5.V [V]
Resolver_Cable_6twists

T6 T5
910.00m 2DGraphSel3 500.00m 0 -500.00m -910.00m R2.V [V] VM6.V [V]

Uc1
R12

N0023 V VM2
R8

T2 T1

R3

R6

2.7k PNP11 R14

T1

T4

T4

TRANS1

STATE1

R5

TRANS3

N0053

STATE3 Resolver_Cable_6twists1 Resolver_Cable_6twists2 Resolver_Cable_6twists3 Resolver_Cable_6twists4 Resolver_Cable_6twists5

-1.00 -1.80 -500.00m -920.00m 9.00m 9.50m 10.00m 0 5.00m 10.00m 2DGraphSel3 VM3.V [V] VM1.V [V] 91.77

TRC VM1.V >= 0 STATE2

SET: Vin_ref:=1 TRANS2

TRC VM4.V >= 0 STATE4

SET: Vo_square:=1 TRANS4

3.30

5.00m

10.00m

2DGraphSel3

N0086 T6 T5 T4 T3 T2 T1
Resolver_Cable_6twists

SET: Vin_ref:=-1 FML_INIT1

ICA:

TRC VM1.V < 0 Position

EQU

SET: Vo_square:=-1 FML_INIT2

ICA:
Delay

T3
TRC VM4.V < 0

T6 T5 T4

T3
0

T6 T5
-2.00 -3.35
Resolver_Cable_6twists

T3 T2 T1

T6 T5

T3 T2 T1
Resolver_Cable_6twists

T6 T5 T4 N0087
S_ROTB1... Position_o..

T2 T1 ICA:
Position_out_final:=0 Resolver_Cable_6twists

T2 T1

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

9.00m

T4

9.50m

10.00m

T4

Resolver_Cable_6twists

50.00

Resolver_Cable_6twists6 Resolver_Cable_6twists7 Resolver_Cable_6twists8 Resolver_Cable_6twists9 Resolver_Cable_6twists10

TRC Position_out>Position_out_final
3.50 2.00 0 VM1.V [V] VM4.V [V]

2DGraphSel3

TRANS7

STATE7

SET: t1:=t TRC (GZ1.VAL > 0) AND (Pulse_pos =0) STATE8 TRANS8 WAIT

NEW_MAX STATE5 TRANS5 SET: Position_out_final:=Position_out

-2.00 -3.50 9.00m 9.50m 10.00m

0 0
theta

Scope 1

5.00m
sin
Vsinomegatsintheta

8.59m
PHI phi

Theta

2DGraphSel3

sinomegat

2DGraphSel1 1.10
Vsinomegatcostheta

2DGraphSel1

SET: t2:=t SET: t3:=t2-t1 TRC (GZ1.VAL < 1) AND (Pulse_pos = 1) SET: Position_out :=10000*t3*180

True

910.00m 500.00m 0 -500.00m -920.00m 0 5.00m

E0

R1.V [V] E0R2.V [V]

Offset Offset

2.00u

offset

SIMP...
resolver

cos

1.00

SIMP... Excitation

Classical RDC (Resolver-to-Digital Convertor)

2.00u 10.00m 9.00m SIMPARAM1 10.00m 9.50m

899.00m 9.00m 9.50m 10.00m

resolver _RD_IC

180 /pi 1/E1 Scope Subtract 1 Scope 4

Conclusions
Resolver Deserves More Attention for Applications where Rugged, High-accuracy Position Sensing is Needed A Systematic Approach is Necessary for Signal Generator / Resolver / Cable / Resolver-to-Digital Converter System Optimization Simplore as a Multi-level / Multi-domain System Simulator is an Ideal Tool for Applications where Electric Circuitry, Field Simulation and Paracitics are Involved Each Tool (Simplorer / Maxwell / Q3D) can be Used as a Standalone Design Tool to Optimize Components (Signal Generator / RDC Algorithm / Resolver / Cable) in the System This Systematic Approach Ensures Engineers from both Sides of Component Design / System Integration to be Successful

Future Work:
N0004 N0012 N0022

1. Add Termination Impedance, to take into account the harmonics and transmission line reflection
+
V

VM1
source11 Rotor_21

S_ROTB1

N0023

N0086

Signal Generator N0053

N0045 N0051

Cable_Excitation
N0053 source12 N0087 Rotor_22

+
VM3
V

+
V
N0086 N0023

out11

E1

E2

E4

VM5
out12

R1

Cable_Out_Cos
N0087 N0053

out21

out22

Resolver_FEA_Link
FEA

Phase Shift
+
R10 C1
+

Magnitude Match
VM2
+ +
N0086 N0023

VM6

R2

Cable_Out_Sin
N0087 N0053

OPV53
-

OPV52
-

+
V

Us1 R9 Uc1

OPV51
-

R7

VM4

R4

R8 R3 R6

2DGraphSel1 1.80 1.00 910.00m 500.00m E2.V [V] 0 -500.00m -920.00m 9.00m 9.50m 10.00m 0

2DGraphSel3 R1.V [V] VM5.V [V] 910.00m 500.00m 0 -500.00m -910.00m 5.00m 10.00m 2DGraphSel3 VM3.V [V] VM1.V [V] 91.77 0

2DGraphSel3 R2.V [V] VM6.V [V]

TRANS1

STATE1

R5

TRANS3

STATE3

0 -1.00 -1.80

TRC VM1.V >= 0 STATE2

SET: Vin_ref:=1 TRANS2

TRC VM4.V >= 0 STATE4

SET: Vo_square:=1 TRANS4

3.30

5.00m

10.00m

2DGraphSel3

SET: Vin_ref:=-1 FML_INIT1

ICA:

TRC VM1.V < 0 Position

EQU

SET: Vo_square:=-1 FML_INIT2

ICA:
Delay

TRC VM4.V < 0

0 -2.00 -3.35 9.00m 9.50m 10.00m 50.00 S_ROTB1... Position_o..

ICA:

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

Position_out_final:=0
3.50 2.00 0

2DGraphSel3 VM1.V [V] VM4.V [V]

TRANS7

STATE7

TRC Position_out>Position_out_final

SET: t1:=t TRC (GZ1.VAL > 0) AND (Pulse_pos =0) STATE8 TRANS8 WAIT

NEW_MAX STATE5 TRANS5 SET: Position_out_final:=Position_out

-2.00 -3.50 9.00m 9.50m 10.00m

0 0 5.00m 8.59m

2DGraphSel3

2DGraphSel1 R1.V [V] R2.V [V] 2.00u 1.10

2DGraphSel1

SET: t2:=t SET: t3:=t2-t1 TRC (GZ1.VAL < 1) AND (Pulse_pos = 1) SET: Position_out :=10000*t3*180

True

910.00m 500.00m 0 -500.00m -920.00m 0 5.00m

SIMP...

1.00

SIMP...

Classical RDC (Resolver-to-Digital Convertor)

2.00u 10.00m 9.00m SIMPARAM1 10.00m 9.50m

899.00m 9.00m 9.50m 10.00m

Future Work:
N0004 N0012 N0022

2. Replace the classical RDC with Type II Position Tracking mode

+
V

VM1
source11 Rotor_21

S_ROTB1

N0023

N0086

Signal Generator N0053

N0045 N0051

Cable_Excitation
N0053 source12 N0087 Rotor_22

+
VM3
V

+
V
N0086 N0023

out11

E1

E2

E4

VM5
out12

R1

Cable_Out_Cos
N0087 N0053

out21

out22

Resolver_FEA_Link
FEA

Phase Shift
+
R10 C1
+

Magnitude Match
VM2
+ +
N0086 N0023

VM6

R2

Cable_Out_Sin
N0087 N0053

OPV53
-

OPV52
-

+
V

Us1 R9 Uc1

OPV51
-

R7

VM4

R4

R8 R3 R6

2DGraphSel1 1.80 1.00 910.00m 500.00m E2.V [V] 0 -500.00m -920.00m 9.00m 9.50m 10.00m 0

2DGraphSel3 R1.V [V] VM5.V [V] 910.00m 500.00m 0

2DGraphSel3 R2.V [V] VM6.V [V]

TRANS1

STATE1

R5

TRANS3

STATE3

0 -1.00 -1.80

Scope 1
5.00m 10.00m

-500.00m -910.00m 0 2DGraphSel3 5.00m 10.00m

TRC VM1.V >= 0 STATE2

SET: Vin_ref:=1 TRANS2

TRC VM4.V >= 0 STATE4

SET: Vo_square:=1 TRANS4

3.30

PHI
2DGraphSel3 theta 91.77 VM3.V [V] Vsinomegatsintheta VM1.V [V]

sin

phi

Theta
SET: Vin_ref:=-1 FML_INIT1
ICA:

TRC VM1.V < 0 Position

EQU

SET: Vo_square:=-1 FML_INIT2

ICA:
Delay

TRC VM4.V < 0

sinomegat
0 S_ROTB1... Position_o..

E0
ICA:

-2.00 -3.35 9.00m

V
9.50m 10.00m

Vin_ref:=0 Vo_square:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2 Position_out:=0 Position_out_temp:=0

t1:=0 t2:=0

GZ1

Position_out_final:=0

E0

Vsinomegatcostheta
50.00

offset
2DGraphSel3

cos resolver VM1.V [V] VM4.V [V]

Offset
TRC Position_out>Position_out_final

3.50 2.00 0

Excitation

TRANS7

STATE7

Offset
-2.00 -3.50

SET: t1:=t TRC (GZ1.VAL > 0) AND (Pulse_pos =0) STATE8 TRANS8 WAIT

NEW_MAX STATE5 TRANS5 SET: Position_out_final:=Position_out

0 9.00m 9.50m 10.00m 0 5.00m

resolver _RD_IC

8.59m

2DGraphSel3

2DGraphSel1 R1.V [V] R2.V [V] 2.00u 1.10

2DGraphSel1

SET: t2:=t SET: t3:=t2-t1 TRC (GZ1.VAL < 1) AND (Pulse_pos = 1) SET: Position_out :=10000*t3*180

True

910.00m 500.00m 0 -500.00m -920.00m 0 5.00m

SIMP...

1.00

SIMP...

Classical RDC (Resolver-to-Digital Convertor)

2.00u 10.00m 9.00m SIMPARAM1 10.00m 9.50m

180 /pi
899.00m 9.00m 9.50m 10.00m

1/E1 Subtract 1

Scope 4

Scope