Sin-Cos sensor arrangement, integrated circuit and method therefor
View Patent ↗A Sin-Cos sensor arrangement comprises a Sin-Cos sensor operably coupled to signal processing logic via a hardware interface. The hardware interface is arranged to provide the signal processing logic with analog sine and cosine waveforms indicative of fine position data and binary counterparts of the analog sine and cosine waveforms (Phase_A and Phase_B) indicative of rough position data. The signal processing logic is arranged to determine a position and speed of the Sin-Cos sensor by compensating for inaccuracies between analog sine and cosine waveforms and their binary counterparts. In this manner, a fully software-based solution provides a fast, efficient and high accuracy position and speed estimation based on the processing of the analog sine and cosine signals and the digital representation thereof of the Sin-Cos sensor.
1. A Sin-Cos sensor arrangement comprising:
signal processing logic;
a Sin-Cos sensor operably coupled to the signal processing logic via a hardware interface, wherein the hardware interface is arranged to provide the signal processing logic with analogue sine and cosine waveforms indicative of fine position data and binary counterparts of the analogue sine and cosine waveforms (phase_A and phase_B) indicative of rough position data, wherein the signal processing logic is arranged to determine a position and speed of the Sin-Cos sensor by compensating for inaccuracies between the analogue sine and cosine waveforms and the binary counterparts.
2. The Sin-Cos sensor arrangement of claim 1 wherein the signal processing logic comprises a software driver to perform compensation for the inaccuracies between the analogue sine and cosine waveforms and the binary counterparts.
3. The Sin-Cos sensor arrangement of claim 1 wherein the signal processing logic comprises angle extractor logic arranged to provide the fine position data (θ low ) based on one or more of the following:
analysis performed on the analogue sine and cosine waveforms, analysis of the analogue sine and cosine waveforms or non-linear waveforms, for example where the non-linear waveforms are approximated either by a set of differential functions and/or using a look-up table.
4. The Sin-Cos sensor arrangement of claim 1 wherein the analogue sine and cosine waveforms are generated by either the hardware interface or directly by the Sin-Cos sensor.
5. The Sin-Cos sensor arrangement of claim 1 wherein the signal processing logic comprises digital position extractor logic arranged to provide the rough position data (θ high ) based on phase counting of the binary counterparts (phase_A and phase_B).
6. The Sin-Cos sensor arrangement of claim 5 wherein angle extractor logic and the digital position extractor logic are operably coupled to position composer logic arranged to combine the fine position data (θ low ) with rough position data (θ high ).
7. The Sin-Cos sensor arrangement of claim 6 , wherein the position composer logic is operably coupled to angle tracking observer logic arranged to provide a smooth composed position (θ est ).
8. The Sin-Cos sensor arrangement of claim 6 wherein the position composer logic is operably coupled to angle tracking observer logic arranged to provide speed estimates (ω est ).
9. The Sin-Cos sensor arrangement of claim 6 , wherein the angle tracking observer logic applies a transfer function to provide a smooth composed position (θ est ):
F
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Θ
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K
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K
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K
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wherein {circumflex over (Θ)}(s) is a position at a first time, Θ(s) is a position at a second time, K 1 is a first parameter of the angle tracking observer, K 2 is a second parameter of the angle tracking observer, and s is a time variable.
10. The Sin-Cos sensor arrangement of claim 2 , wherein the software driver is operably coupled to a digital signal controller or microcontroller arranged to utilise Sin-Cos output signals.
11. An integrated circuit for operable coupling to a Sin-Cos sensor, comprising:
signal processing logic operably coupled to a hardware interface, wherein the hardware interface is arranged to provide the signal processing logic with analogue sine and cosine waveforms indicative of fine position data and binary counterparts of the analogue sine and cosine waveforms (phase_A and phase_B) indicative of rough position data, wherein the signal processing logic is arranged to determine a position and speed of the Sin-Cos sensor by compensating for inaccuracies between the analogue sine and cosine waveforms and the binary counterparts.
12. The integrated circuit of claim 11 wherein the signal processing logic comprises a software driver to perform compensation for the inaccuracies between the analogue sine and cosine waveforms and the binary counterparts.
13. The integrated circuit of claim 11 wherein the signal processing logic comprises angle extractor logic arranged to provide the fine position data (θ low ) based on one or more of the following:
analysis performed on the analogue sine and cosine waveforms, analysis of the analogue sine and cosine waveforms or non-linear waveforms, for example where the non-linear waveforms are approximated either by a set of differential functions and/or using a look-up table.
14. The integrated circuit of claim 11 wherein the analogue sine and cosine waveforms are generated by either the hardware interface or directly by the Sin-Cos sensor.
15. The integrated circuit of claim 11 , wherein the signal processing logic comprises digital position extractor logic arranged to provide the rough position data (θ high ) based on phase counting of the binary counterparts (Phase_A and Phase_B).
16. The integrated circuit of claim 15 wherein angle extractor logic and the digital position extractor logic are operably coupled to position composer logic arranged to combine the fine position data (θ low ) with the rough position data (θ high ).
17. The integrated circuit of claim 16 , wherein the position composer logic is operably coupled to angle tracking observer logic arranged to provide a smooth composed position (θ est ).
18. The integrated circuit of claim 16 wherein the position composer logic is operably coupled to angle tracking observer logic arranged to provide speed estimates (ω est ).
19. The integrated circuit of claim 12 the software driver is operably coupled to a digital signal controller or microcontroller arranged to utilise Sin-Cos output signals.
20. A method for determining a position and speed of a Sin-Cos sensor comprising:
sampling, by a hardware interface, analogue sine and analogue cosine signals indicative of fine position data (θ low );
performing phase decoding of the sampled analogue sine and analogue cosine signals to generate binary counterpart signals indicative of rough position data (θ high ); and
combining, by a signal processing logic, the rough position data (θ high ) with the fine position data (θ low ) to compensate for inaccuracies between the analogue sine and cosine waveforms and the binary counterpart signals thereby determining the position and speed of the Sin-Cos sensor.
21. The method for determining the position and speed of the Sin-Cos sensor of claim 20 wherein the step of combining comprises placing the rough position data in higher bits; and adding the higher bits to the fine position data.