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

Signal Generator

(Simplorer)Cable (Q3D)

Magnetic Resolver (Maxwell)

Cable (Q3D)

RDC (Resolver-to- Digital Converter)

(Simplorer)

Resolver System SimulationSimplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

DSO & Optimetrics

Cable (Q3D)

Advantages of Resolver over Optical Encoder

• Higher Resolution (up to 16-bit)• Wider Environment Temperature (-55~+220ºC max)• Higher Tolerance to Vibration (20~40g’s)• Higher Tolerance to Dust• Robust EMC/EMI Performance(no electronics on

board, cab be shielded)• More Sizes Available

Resolver FEA Model

0.00 10.00 20.00 30.00 40.00 50.00Position [deg]

-1.50

-1.00

-0.50

0.00

0.50

1.00

1.50

Y3 [V

]

Ansoft Corporation 2DWinding Quick ReportCurve Info

InducedVoltage(Winding_Out2)Setup1 : Transient

InducedVoltage(Winding_Out1)Setup1 : Transient

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 rowsEach row takes 50 seconds to simulateTotal simulation time on one machine = 181,000 seconds

Use DSO (Distributed Analysis)8 Machines were usedSimulation Time = 9 Hours 10 Minutes50.28 Hours!

Almost 6 Times!

Create an Equivalent Circuit Model for the Resolver

Signal Generator

(Simplorer)Cable (Q3D)

Magnetic Resolver (Maxwell)

Cable (Q3D)

RDC (Resolver-to- Digital Converter)

(Simplorer)

Resolver System SimulationSimplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

DSO & Optimetrics

Cable (Q3D)

Resolver Excitation Signal Generator

E1 E2

-1.80

1.80

-1.00

0

1.00

0 250.00u100.00u

2DGraphS...

E2.V [V]

+ V VM3

-3.46

3.45

-2.00

0

2.00

0 250.00u100.00u

2DGraphS...

VM3.V [V]

N0004

N0045

N0012N0022

N0053

N0051

Signal Generator

E4

+

-OPV52

+

-OPV51

R2 442

R1

1.24k

R3

R4

R5

2.7k

R6

2.7k

R933

R1033+

V VM1

E3

NPN1

PNP1

+

-OPV53

+

-OPV54

R7 442

R8

1.24k

R11

R12

R13

2.7k

R14

2.7k

R1533

R1633+

V VM2

E6

NPN11

PNP11

R17 200

C1 47n

N0051

N0053

N0022N0012

N0045

N0004

250.00m

9.10

2.50

5.00

7.50

0 250.00u

2DGraphSel1

Excit... Excit...

Oscillators

Signal Generator Sub-circuit

Signal Generator

(Simplorer)Cable (Q3D)

Magnetic Resolver (Maxwell)

Cable (Q3D)

RDC (Resolver-to- Digital Converter)

(Simplorer)

Resolver System SimulationSimplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

DSO & Optimetrics

Cable (Q3D)

Resolver-to-Digital ConverterClassical RDC Algorithm

+

-OPV51

R1

C1

R2

R3

+

-

+ V

+

-OPV52

R4

R5

R6

VM1

OPV53

R7

+ V VM2

TRANS1 STATE1

SET: Vin_ref:=1TRC Vin >= 0

ICA:

FML_INIT1

Vin_ref:=0

Vo_square:=0

TRANS2

TRC Vin < 0

STATE2

SET: Vin_ref:=-1

TRANS3

TRC VM1.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM1.V < 0

STATE4

SET: Vo_square:=-1

EQU

Position

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

ICA:

TRANS7

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

STATE7

TRANS8

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

STATE8

FML_INIT2

t2:=0

t1:=0

SET: t1:=t

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=Input_AC_Freq*t3*180

Delay

GZ1

R8

ICA:

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

Phase Shift Magnitude Match

Classical RDC (Resolver-to-Digital Convertor)

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)

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)

0

45.20

20.00

0 75.00m25.00m 50.00m

2DGraphSel1

Rotor_Position Position_out_final

Resolver-to-Digital Converter (continued)

(Refer to Analog Devices AD2S1205 Specifications and Application Notes)

PHI

Excitation

sin

cos

resolver _RD_IC

phi

resolver

theta

sinomegat

V

offset

Vsinomegatsintheta

Vsinomegatcostheta

Theta

Subtract 1Scope 4

Scope 1

Scope

Offset

Offset

E0

E0

1/E1

180 /pi

Type II Position Tracking Loop Algorithmin Matlab/SIMULINK

Signal Generator

(Simplorer)Cable (Q3D)

Magnetic Resolver (Maxwell)

Cable (Q3D)

RDC (Resolver-to- Digital Converter)

(Simplorer)

Resolver System SimulationSimplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

DSO & Optimetrics

Cable (Q3D)

Straight -> Twist -> Multiple Twists

All Parameterized for Optimization RLC Matrix

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

Resolver Cable Paracitics Extraction(Frequency-dependent Model Extraction)

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

N0086

N0053

N0087

N0023

Resolver_Cable_6twists

Resolver_Cable_6twists1

T1

T2

T3

T4

T5

T6

Resolver_Cable_6twists

Resolver_Cable_6twists2

T4

T3

T2

T6

T5

T1Resolver_Cable_6twists

Resolver_Cable_6twists3

T3 T6

T4

T2 T5

T1Resolver_Cable_6twists

Resolver_Cable_6twists4

T5

T1

T2

T4

T6T3

Resolver_Cable_6twists

Resolver_Cable_6twists5

T5

T4

T3

T1

T6

T2

Resolver_Cable_6twists

Resolver_Cable_6twists6

T1

T6T3

T5T2

T4Resolver_Cable_6twists

Resolver_Cable_6twists7

T4

T6T3

T5T2

T1Resolver_Cable_6twists

Resolver_Cable_6twists8

T4

T6T3

T5T2

T1Resolver_Cable_6twists

Resolver_Cable_6twists9

T3

T1

T6

T4

T2 T5

Resolver_Cable_6twists

Resolver_Cable_6twists10

T4

T3 T6

T5

T1

T2

Each Segment is 0.17 meters long,consists of 6 twists

Sub-circuit

Signal Generator

(Simplorer)Cable (Q3D)

Magnetic Resolver (Maxwell)

Cable (Q3D)

RDC (Resolver-to- Digital Converter)

(Simplorer)

Resolver System SimulationSimplorer, Q3D, Maxwell, DSO, Optimetrics

Simplorer as System Simulator

DSO & Optimetrics

Cable (Q3D)

Resolver Behavioral Model

EQU

Initialization

Input_AC_Mag := 1Input_AC_Freq:=12k

Conductor_Ratio:=0.1Number_of_Rotor_Poles :=

EQU

Excitation

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

EQU

Resolver_Outpu

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

Rotor_Speed :=100Rotor_Position := Rotor_Speed *(360/60) * t

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

-1.00

994.27m

0

74.00m 75.00m74.50m

2DGraphSel1

Vin

-100.00m

100.00m

0

0 75.00m25.00m 50.00m

2DGraphSel1 Vout_sin Vout_cos

Tend := 45/(Rotor_Speed*(360/60))Hmin := 1/Input_AC_Freq/100

Hmax := Hmin

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)

Resolver and RDC ModelEQU

Initialization

Input_AC_Mag := 1Input_AC_Freq:=12k

Conductor_Ratio:=0.1Number_of_Rotor_Poles :=2

EQU

Excitation

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

EQU

Resolver_Outpu

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

Rotor_Speed :=100Rotor_Position := Rotor_Speed *(360/60) * t

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

-1.00

994.27m

0

74.00m 75.00m74.50m

2DGraphSel1

Vin

-100.00m

100.00m

0

0 75.00m25.00m 50.00m

2DGraphSel1 Vout_sin Vout_cos

Tend := 45/(Rotor_Speed*(360/60))Hmin := 1/Input_AC_Freq/100

Hmax := Hmin

+

-OPV51

R1

C1

R2

R3

-1.00

1.00

0

74.00m 75.00m74.50m

2DGraphSel1

VM1.... Vin

+

-

+ V

+

-OPV52

R4

R5

R6

VM1

OPV53

R7

+ V VM2

TRANS1 STATE1

SET: Vin_ref:=1TRC Vin >= 0

ICA:

FML_INIT1

Vin_ref:=0

Vo_square:=0

TRANS2

TRC Vin < 0

STATE2

SET: Vin_ref:=-1

-1.00

1.00

0

74.00m 75.00m74.50m

2DGraphSel1

Vin Vin_ref

-1.00

1.00

0

74.00m 75.00m74.50m

2DGraphSel1

Vo_s... VM1....

TRANS3

TRC VM1.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM1.V < 0

STATE4

SET: Vo_square:=-1

EQU

Position

Pulse_pos:=abs(Vin_ref+Vo_square)/2

-100.00m

1.10

500.00m

74.00m 75.00m74.50m

2DGraphSel1

Pulse_pos GZ1.VAL

Position_out:=0

0

45.20

20.00

0 75.00m25.00m 50.00m

2DGraphSel1

Rotor_Position Position_out_final Position_out_temp:=0

ICA:

TRANS7

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

STATE7

TRANS8

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

STATE8

FML_INIT2

t2:=0

t1:=0

SET: t1:=t

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=Input_AC_Freq*t3*180

Delay

GZ1

R8

ICA:

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

-100.00m

100.00m

0

0 75.00m25.00m 50.00m

2DGraphSel1

Us1.... Us.V ...

Phase Shift Magnitude Match

Resolver and RDC Behavial Model

Resolver

Classical RDC (Resolver-to-Digital Convertor

Position Output Accuracy

0

45.00

20.00

0 7.50m5.00m

2DGraphSel1

Rotor_Position Position_out_final

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

12k Hz excitation, 10,000RPM speed, 0.1us sampling time 12k Hz excitation, 100RPM speed, 0.1us sampling time

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

0

45.00

20.00

0 7.50m5.00m

2DGraphSel1

Rotor_Position Position_out_final

0

45.00

20.00

0 750.00u500.00u

2DGraphSel1

Rotor_Position Position_out_final

0

45.20

20.00

0 75.00m25.00m 50.00m

2DGraphSel1

Rotor_Position Position_out_final

Resolver System Integration

E1 E2

-1.80

1.80

-1.00

0

1.00

9.00m 10.00m9.50m

2DGraphSel1

E2.V [V]

-3.35

3.30

-2.00

0

9.00m 10.00m9.50m

2DGraphSel3

VM3.V [V] VM1.V [V]

N0004

N0045

N0012N0022

N0053

N0051

Signal Generator

E4

N0023

N0087N0053

N0086

Cable_Excitation

-3.50

3.50

-2.00

0

2.00

9.00m 10.00m9.50m

2DGraphSel3

VM1.V [V] VM4.V [V]

N0023

N0087 N0053

N0086

Cable_Out_Cos

N0023

N0087 N0053

N0086

Cable_Out_Sin

FEA

source11

source12

out11

out12

out21

out22

Rotor_21

Rotor_22

Resolver_FEA_Link

Φ+

S_ROTB1

R1

R2

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] R2.V [V]

+

-

+

-

+ V

+

-

+ V

ICA: EQU ICA:Delay ICA:

Phase Shift Magnitude Match

Classical RDC (Resolver-to-Digital Convertor)

OPV51

R9

C1

R10

R3

OPV52

R4

R5

R6

VM4

OPV53

R7

VM2

TRANS1

TRC VM1.V >= 0

STATE1

SET: Vin_ref:=1

FML_INIT1

Vo_square:=0

Vin_ref:=0

TRANS2

TRC VM1.V < 0

STATE2

SET: Vin_ref:=-1

TRANS3

TRC VM4.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM4.V < 0

STATE4

SET: Vo_square:=-1

Position

Position_out:=0Position_out_temp:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2

TRANS7

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

STATE7

SET: t1:=t

TRANS8

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

STATE8

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=10000*t3*180

FML_INIT2

t1:=0

t2:=0GZ1

R8

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

+ V VM1

+ VVM3

0

91.77

50.00

0 8.59m5.00m

2DGraphSel3

S_ROTB1... Position_o..

SIMPARAM12.00u

2.00u

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

899.00m

1.10

1.00

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] VM5.V [V]

-910.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R2.V [V] VM6.V [V]

+ V VM5

+ V VM6

E1 E2

-1.80

1.80

-1.00

0

1.00

9.00m 10.00m9.50m

2DGraphSel1

E2.V [V]

-3.35

3.30

-2.00

0

9.00m 10.00m9.50m

2DGraphSel3

VM3.V [V] VM1.V [V]

N0004

N0045

N0012N0022

N0053

N0051

Signal Generator

E4

N0023

N0087N0053

N0086

Cable_Excitation

-3.50

3.50

-2.00

0

2.00

9.00m 10.00m9.50m

2DGraphSel3

VM1.V [V] VM4.V [V]

N0023

N0087 N0053

N0086

Cable_Out_Cos

N0023

N0087 N0053

N0086

Cable_Out_Sin

FEA

source11

source12

out11

out12

out21

out22

Rotor_21

Rotor_22

Resolver_FEA_Link

Φ+

S_ROTB1

R1

R2

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] R2.V [V]

+

-

+

-

+ V

+

-

+ V

ICA: EQU ICA:Delay ICA:

Phase Shift Magnitude Match

Classical RDC (Resolver-to-Digital Convertor)

OPV51

R9

C1

R10

R3

OPV52

R4

R5

R6

VM4

OPV53

R7

VM2

TRANS1

TRC VM1.V >= 0

STATE1

SET: Vin_ref:=1

FML_INIT1

Vo_square:=0

Vin_ref:=0

TRANS2

TRC VM1.V < 0

STATE2

SET: Vin_ref:=-1

TRANS3

TRC VM4.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM4.V < 0

STATE4

SET: Vo_square:=-1

Position

Position_out:=0Position_out_temp:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2

TRANS7

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

STATE7

SET: t1:=t

TRANS8

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

STATE8

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=10000*t3*180

FML_INIT2

t1:=0

t2:=0GZ1

R8

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

+ V VM1

+ VVM3

0

91.77

50.00

0 8.59m5.00m

2DGraphSel3

S_ROTB1... Position_o..

SIMPARAM12.00u

2.00u

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

899.00m

1.10

1.00

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] VM5.V [V]

-910.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R2.V [V] VM6.V [V]

+ V VM5

+ V VM6

Resolver System Integration+

-OPV52

+

-OPV51

R2 442

R1

1.24k

R3

R4

R5

2.7k

R6

2.7k

R933

R1033+

V VM1

E3

NPN1

PNP1

+

-OPV53

+

-OPV54

R7 442

R8

1.24k

R11

R12

R13

2.7k

R14

2.7k

R1533

R1633+

V VM2

E6

NPN11

PNP11

R17 200

C1 47n

N0051

N0053

N0022N0012

N0045

N0004

250.00m

9.10

2.50

5.00

7.50

0 250.00u

2DGraphSel1

Excit... Excit...

N0086

N0053

N0087

N0023

Resolver_Cable_6twists

Resolver_Cable_6twists1

T1

T2

T3

T4

T5

T6

Resolver_Cable_6twists

Resolver_Cable_6twists2

T4

T3

T2

T6

T5

T1Resolver_Cable_6twists

Resolver_Cable_6twists3

T3 T6

T4

T2 T5

T1Resolver_Cable_6twists

Resolver_Cable_6twists4

T5

T1

T2

T4

T6T3

Resolver_Cable_6twists

Resolver_Cable_6twists5

T5

T4

T3

T1

T6

T2

Resolver_Cable_6twists

Resolver_Cable_6twists6

T1

T6T3

T5T2

T4Resolver_Cable_6twists

Resolver_Cable_6twists7

T4

T6T3

T5T2

T1Resolver_Cable_6twists

Resolver_Cable_6twists8

T4

T6T3

T5T2

T1Resolver_Cable_6twists

Resolver_Cable_6twists9

T3

T1

T6

T4

T2 T5

Resolver_Cable_6twists

Resolver_Cable_6twists10

T4

T3 T6

T5

T1

T2

PHI

Excitation

sin

cos

resolver _RD_IC

phi

resolver

theta

sinomegat

V

offset

Vsinomegatsintheta

Vsinomegatcostheta

Theta

Subtract 1Scope 4

Scope 1

Scope

Offset

Offset

E0

E0

1/E1

180 /pi

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 Stand- alone 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

E1 E2

-1.80

1.80

-1.00

0

1.00

9.00m 10.00m9.50m

2DGraphSel1

E2.V [V]

-3.35

3.30

-2.00

0

9.00m 10.00m9.50m

2DGraphSel3

VM3.V [V] VM1.V [V]

N0004

N0045

N0012N0022

N0053

N0051

Signal Generator

E4

N0023

N0087N0053

N0086

Cable_Excitation

-3.50

3.50

-2.00

0

2.00

9.00m 10.00m9.50m

2DGraphSel3

VM1.V [V] VM4.V [V]

N0023

N0087 N0053

N0086

Cable_Out_Cos

N0023

N0087 N0053

N0086

Cable_Out_Sin

FEA

source11

source12

out11

out12

out21

out22

Rotor_21

Rotor_22

Resolver_FEA_Link

Φ+

S_ROTB1

R1

R2

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] R2.V [V]

+

-

+

-

+ V

+

-

+ V

ICA: EQU ICA:Delay ICA:

Phase Shift Magnitude Match

Classical RDC (Resolver-to-Digital Convertor)

OPV51

R9

C1

R10

R3

OPV52

R4

R5

R6

VM4

OPV53

R7

VM2

TRANS1

TRC VM1.V >= 0

STATE1

SET: Vin_ref:=1

FML_INIT1

Vo_square:=0

Vin_ref:=0

TRANS2

TRC VM1.V < 0

STATE2

SET: Vin_ref:=-1

TRANS3

TRC VM4.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM4.V < 0

STATE4

SET: Vo_square:=-1

Position

Position_out:=0Position_out_temp:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2

TRANS7

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

STATE7

SET: t1:=t

TRANS8

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

STATE8

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=10000*t3*180

FML_INIT2

t1:=0

t2:=0GZ1

R8

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

+ V VM1

+ VVM3

0

91.77

50.00

0 8.59m5.00m

2DGraphSel3

S_ROTB1... Position_o..

SIMPARAM12.00u

2.00u

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

899.00m

1.10

1.00

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] VM5.V [V]

-910.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R2.V [V] VM6.V [V]

+ V VM5

+ V VM6

Future Work: 1. Add Termination Impedance, to take into account the harmonics and transmission line reflection

E1 E2

-1.80

1.80

-1.00

0

1.00

9.00m 10.00m9.50m

2DGraphSel1

E2.V [V]

-3.35

3.30

-2.00

0

9.00m 10.00m9.50m

2DGraphSel3

VM3.V [V] VM1.V [V]

N0004

N0045

N0012N0022

N0053

N0051

Signal Generator

E4

N0023

N0087N0053

N0086

Cable_Excitation

-3.50

3.50

-2.00

0

2.00

9.00m 10.00m9.50m

2DGraphSel3

VM1.V [V] VM4.V [V]

N0023

N0087 N0053

N0086

Cable_Out_Cos

N0023

N0087 N0053

N0086

Cable_Out_Sin

FEA

source11

source12

out11

out12

out21

out22

Rotor_21

Rotor_22

Resolver_FEA_Link

Φ+

S_ROTB1

R1

R2

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] R2.V [V]

+

-

+

-

+ V

+

-

+ V

ICA: EQU ICA:Delay ICA:

Phase Shift Magnitude Match

Classical RDC (Resolver-to-Digital Convertor)

OPV51

R9

C1

R10

R3

OPV52

R4

R5

R6

VM4

OPV53

R7

VM2

TRANS1

TRC VM1.V >= 0

STATE1

SET: Vin_ref:=1

FML_INIT1

Vo_square:=0

Vin_ref:=0

TRANS2

TRC VM1.V < 0

STATE2

SET: Vin_ref:=-1

TRANS3

TRC VM4.V >= 0

STATE3

SET: Vo_square:=1

TRANS4

TRC VM4.V < 0

STATE4

SET: Vo_square:=-1

Position

Position_out:=0Position_out_temp:=0

Pulse_pos:=abs(Vin_ref+Vo_square)/2

TRANS7

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

STATE7

SET: t1:=t

TRANS8

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

STATE8

SET: t2:=tSET: t3:=t2-t1

SET: Position_out :=10000*t3*180

FML_INIT2

t1:=0

t2:=0GZ1

R8

Position_out_final:=0

WAIT

STATE5

SET: Position_out_final:=Position_out

NEW_MAX

TRC Position_out>Position_out_final

TRANS5

True

Us1

Uc1

+ V VM1

+ VVM3

0

91.77

50.00

0 8.59m5.00m

2DGraphSel3

S_ROTB1... Position_o..

SIMPARAM12.00u

2.00u

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

899.00m

1.10

1.00

9.00m 10.00m9.50m

2DGraphSel1

SIMP...

-920.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R1.V [V] VM5.V [V]

-910.00m

910.00m

-500.00m

0

500.00m

0 10.00m5.00m

2DGraphSel3

R2.V [V] VM6.V [V]

+ V VM5

+ V VM6

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

PHI

Excitation

sin

cos

resolver _RD_IC

phi

resolver

theta

sinomegat

V

offset

Vsinomegatsintheta

Vsinomegatcostheta

Theta

Subtract 1Scope 4

Scope 1

Scope

Offset

Offset

E0

E0

1/E1

180 /pi