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Open AccessArticle

Angle Tracking Observer with Improved Accuracy for Resolver-to-Digital Conversion

by Haoye Qin and Zhong Wu *
School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Symmetry 2019, 11(11), 1347; https://doi.org/10.3390/sym11111347
Received: 11 October 2019 / Revised: 28 October 2019 / Accepted: 29 October 2019 / Published: 1 November 2019
(This article belongs to the Special Issue Symmetry in Engineering Sciences II)
A resolver is an absolute shaft sensor which outputs pair signals with ortho-symmetric amplitudes. Ideally, they are sinusoidal and cosinusoidal functions of the shaft angle. In order to demodulate angular position and velocity from resolver signals, resolver-to-digital conversion (RDC) is necessary. In software-based RDC, most algorithms mainly employ a phase-locked loop (PLL)-based angle tracking observer (ATO) to form a type-II system. PLL can track the detected angle by regulating the phase error from the phase detector which depends on the feature of orthogonal symmetry in the resolver outputs. However, a type-II system will result in either steady-state errors or cumulative errors in the estimation of angular position with constant accelerations. Although type-III ATOs can suppress these errors, they are still vulnerable to high-order acceleration signals. In this paper, an improved PLL-based ATO with a compensation model is proposed. By using dynamic compensation, the proposed ATO becomes a type-IV system and can reduce position estimation errors for high-order acceleration signals. In addition, the parameters of ATO can be tuned according to the bandwidth, noise level and capability of error suppression. Simulation and experimental results demonstrate the effectiveness of the proposed method. View Full-Text
Keywords: shaft angle sensors; resolver-to-digital conversion (RDC); orthogonal symmetry; position measurement; angle tracking observer; phase-locked loop (PLL); error suppression shaft angle sensors; resolver-to-digital conversion (RDC); orthogonal symmetry; position measurement; angle tracking observer; phase-locked loop (PLL); error suppression
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Qin, H.; Wu, Z. Angle Tracking Observer with Improved Accuracy for Resolver-to-Digital Conversion. Symmetry 2019, 11, 1347.

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