Software-based resolver-to-digital converter

Abstract

A software-based resolver-to-digital converter (RDC) ( 80 ) for computing an angle of rotation Θ of gimbal-mounted instrumentation ( 16 ) in a gimbal system. The RDC ( 80 ) computes the angle of rotation of the instrumentation using parameter signals received from a resolver ( 32 ) in the system. The parameter signals, along with a resolver reference signal are input into a multiplexor ( 60 ) and are multiplexed. The signals are then fed to an analog to digital converter ( 38 ) and converted to digital form. The digital signals are then input into a processor ( 36 ) associated with the system. This processor, in addition to performing numerous system computations, is programmed through appropriate software to filter the digital signals received, compute the value for the angle of rotation Θ and output the computed value to system circuitry ( 31 ) for processing to enhance system operation. The present invention eliminates the need for additional resolver-to-digital converter hardware components ( 40, 42, 44 ), as the converter ( 80 ) is implemented at the existing system processor ( 36 ). The present invention thus reduces the system cost and circuit board space needed for system implementation.

What is claimed is:  
     
       1. A gimbal system, comprising: 
       instrumentation mounted on a gimbal;  
       control circuitry for controlling said instrumentation;  
       a resolver for measuring parameters of an angle of rotation of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;  
       multiplexor means for multiplexing said parameter and reference signals;  
       an analog to digital converter, coupled to the multiplexor means, for converting said parameter and reference signals to digital signals;  
       digital processing means for performing system computations based on data collected from said instrumentation, said digital processing means including:  
       a) filter means for receiving said signals from said multiplexor means and for filtering said signals, said filter means further comprising a pre-filter and a post-filter means thereby reducing unwanted noise and signal sensitivity;  
       b) computing means for digitally computing a value for said angle of rotation of the instrumentation from the signals from said filter means; and  
       c) means for coupling said computed angle of rotation value to said control circuitry;  
       wherein said system minimizes hardware component requirements.  
     
     
       2. The system of  claim 1 , wherein said computing means is programmed to perform fast Fourier transform calculations using said parameter and reference signals to compute said angle of rotation value. 
     
     
       3. The system of  claim 1 , wherein said computing means comprises: 
       means for computing a magnitude value of said angle of rotation from said parameter and reference signals;  
       means for computing quadrant and resulting sign values of said angle of rotation from said parameter and reference signals; and  
       means for computing quadrature voltage values for said parameter and reference signals.  
     
     
       4. The system of  claim 1 , wherein said parameter and reference signals from said resolver comprise differential signals. 
     
     
       5. The system of  claim 4 , further comprising means for converting said differential signals from said resolver to single-ended signals before said signals are input into said multiplexor means. 
     
     
       6. The system of  claim 1 , further comprising digital post-filtering means for post-filtering said computed value of said angle of rotation, before said computed value is coupled to the control circuitry. 
     
     
       7. The system of  claim 6 , wherein said post-filtering means comprises an averaging block. 
     
     
       8. The system of  claim 6 , wherein said post-filtering means comprises a digital low pass filter. 
     
     
       9. A gimbal system, comprising: 
       instrumentation mounted on a gimbal;  
       control circuitry, for controlling said instrumentation;  
       a resolver for measuring parameters of an angle of rotation of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;  
       multiplexor means for multiplexing said parameter and reference signal;  
       an analog to digital converter, coupled to the multiplexor means, for converting said parameter and reference signals to digital signals;  
       digital processing means for performing system computations based on data collected from said instrumentation, said digital processing means including:  
       a) filter means for receiving said signals from said multiplexor means and for filtering said signals, thereby reducing unwanted noise and signal sensitivity, wherein said filter means comprises means for implementing a Hanning window;  
       b) computing means for digitally computing a value for said angle of rotation of the instrumentation from the signals from said filter means; and  
       c) means for coupling said computed angle of rotation value to said control circuitry;  
       wherein said system minimizes hardware component requirements.  
     
     
       10. A gimbal system, comprising: 
       instrumentation mounted on a gimbal;  
       control circuitry for controlling said instrumentation;  
       a resolver for measuring parameters of an angle of rotation of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;  
       multiplexor means for multiplexing said parameter and reference signals;  
       an analog to digital converter, coupled to the multiplexor means for converting said parameter and reference signals to digital signals;  
       digital processing means for performing system computations based on data collected from said instrumentation, said digital processing means including:  
       a) filter means for receiving said signals from said multiplexor means and for filtering said signals, thereby reducing unwanted noise and signal sensitivity wherein said filter means comprises means for implementing a Blackman window;  
       b) computing means for digitally computing a value for said angle of rotation of the instrumentation from the signals from said filter means; and  
       c) means for coupling said computed angle of rotation value to said control circuitry;  
       wherein said system minimizes hardware component requirements.  
     
     
       11. A gimbal system, comprising: 
       instrumentation mounted on a gimbal;  
       control circuitry for controlling said instrumentation;  
       a resolver for measuring parameters of an angle of rotation of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;  
       multiplexor means for multiplexing said parameter and reference signals;  
       an analog to digital converter, coupled to the multiplexor means, for converting said parameter and reference signals to digital signals;  
       digital processing means for performing system computations based on data collected from said instrumentation, said digital processing means including:  
       a) filter means for receiving said signals from said multiplexor means and for filtering said signals, thereby reducing unwanted noise and signal sensitivity wherein said filter means comprises means for implementing a Blackman window;  
       b) computing means for digitally computing a value for said angle of rotation of the instrumentation from the signals from said filter means; and  
       c) means for coupling said computed angle of rotation value to said control circuitry;  
       wherein said system minimizes hardware component requirements.  
     
     
       12. The system of  claim 1 , further comprising an amplifier for scaling said parameter and reference signals. 
     
     
       13. A method for determining the angle of rotation of gimbal mounted instrumentation in a gimbal system having control circuitry for controlling said instrumentation, comprising the steps of: 
       a) receiving signals from said instrumentation;  
       b) measuring parameters of said angle of rotation from said received signals;  
       c) outputting said parameters as analog signals along with an analog reference signal;  
       d) converting said signals from differential signals to single ended signals;  
       e) multiplexing said signals;  
       f) converting said analog signals to digital signals;  
       g) pre-filtering and post-filtering said multiplexed, single ended digital signals to reduce noise and signal sensitivity;  
       h) digitally computing an angle of rotation value from said digital signals; and  
       i) outputting said computed value for said angle of rotation to said control circuitry controlling said instrumentation.  
     
     
       14. The method of  claim 13 , wherein said step b) comprises determining sine and cosine values for said angle of rotation. 
     
     
       15. The method of  claim 13 , wherein said step h) value comprises: 
       computing a magnitude value for said angle of rotation;  
       computing quadrant and resulting sign values of said angle of rotation;  
       computing quadrature voltage values associated with said angle of rotation parameters; and  
       digital post-filtering signals representing said angle of rotation before outputting said signals to said control circuitry to reduce noise associated with said signal.  
     
     
       16. A gimbal system, comprising: 
       instrumentation mounted on a gimbal;  
       control circuitry for controlling said instrumentation;  
       a resolver for measuring parameters of an angle of rotation (Θ) of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;  
       multiplexor means for multiplexing said parameter and reference signals;  
       an analog digital convertor coupled to the multiplexor means for converting said parameter and reference signals to digital signals;  
       digital processing means for performing system computations based on data collected from said instrumentation, said digital processing means including:  
       a) filter means for receiving said signals from the multiplexor means and for filtering said signals, thereby reducing unwanted noise and signal sensitivity;  
       b) computing means for digitally computing a value for the magnitude of said angle of rotation of the instrumentation through the following equation:                |   θ   |     =       tan     -   1            (             (       Y   sin          (     f   ref     )       )     2     -       (     q   s     )     2             (       Y   cos          (     f   ref     )       )     2     -       (     q   c     )     2           )               (   1   )                         
       where Y sin  is a sine output from said resolver, f ref  is a reference frequency, q s  is a quadrature magnitude for a sine winding of said resolver, and q c  is a quadrature magnitude for a cosine winding of said resolver; 
       c) means for computing a quadrant of said angle of rotation by computing values from the following equations:                A                 cos                   (   θ   )         2             (   2   )                 A                 sin                   (   θ   )         2             (   3   )                         
       where A is a constant and Θ is said angle of rotation;  
       said angle of rotation being located in a first quadrant if computed values for equations (2) and (3) are positive, said angle of rotation being located in a second quadrant if said computed value of equation (2) is negative and said computed value of equation (3) is positive, said angle of rotation being located in a third quadrant if said computed values of equations (2) and (3) are negative, said angle of rotation being located in a fourth quadrant if said computed value of equation (2) is positive and said computed value of equation (3) is negative;  
       d) means for estimating quadrature voltage values for said sine and cosine windings of said resolver by detecting a voltage associated with said instrumentation as said instrumentation rotates through a zero degree reference point of said resolver, and then subtracting said estimated quadrature voltage; and  
       e) means for outputting said system computations to said control circuitry to control said instrumentation.  
     
     
       17. A resolver to digital converter for use with a resolver for measuring parameters of an angle of rotation of a gimbal as said gimbal rotates, said resolver outputting said measured parameters as analog output parameter signals and as an analog reference signal, said resolver- to - digital converter comprising:    
       
         analog to digital converter means for converting said analog signals to digital signals;  
       
       
         a programmable digital signal processor; and  
       
       
         software executable by said processor for digitally computing a value for an angle of rotation of aid gimbal from said digitized measured parameters, said software including:  
       
       
         means for computing a magnitude value of said angle of rotation from said parameter and reference signals;  
       
       
         means for computing quadrant and resulting sign values of said angle of rotation from said parameter and reference signals; and  
       
       
         means for computing quadrature voltage values for said parameter and reference signals. 
       
     
     
       18. The system of  claim 17  wherein said means for computing said magnitude value of said angle of rotation includes means for performing fast Fourier transform calculations using said parameter and reference signals to compute said angle of rotation value. 
     
     
       19. The system of  claim 17  wherein said parameter and reference signals from said resolver comprise differential signals. 
     
     
       20. The system of  claim 19  further comprising means for converting said differential signals from said resolver to single- ended signals.   
     
     
       21. The system of  claim 17  further comprising digital post- filtering means for post - filtering said computed value of said angle of rotation.   
     
     
       22. The system of  claim 21  wherein said post- filtering means comprises an averaging block.   
     
     
       23. The system of  claim 21  wherein said post- filtering means comprises a digital low pass filter.   
     
     
       24. A Resolver to digital converter comprising: 
         a resolver for measuring parameters of an angle of rotation  (Θ)  of said instrumentation as said instrumentation rotates on said gimbal, said resolver outputting said measured parameters as analog output parameter signals, along with an analog reference signal;    
       
         multiplexor means for multiplexing said parameter and reference signals;  
       
       
         an analog digital convertor coupled to the multiplexor means for converting said parameter and reference signals to digital signals;  
       
       
         digital processing means for performing system computations based on data collected from instrumentation, said digital processing means including:  
       
         a )  filter means for receiving said signals from the multiplexor means and for filtering said signals, thereby reducing unwanted noise and signal sensitivity;    
         b )  computing means for digitally computing a value for the magnitude of said angle of rotation of the instrumentation through the following equation;    
         c )  means for outputting said system computations to said control circuitry to control said instrumentation.