Resolver Configuration Page
In the System Explorer window configuration tree, expand the Power Electronics Add-On custom device and select Circuit Model >> PMSM SH >> Resolver to display this page. Use this page to configure the Resolver sensor model.
This page includes the following components:| Resolver |
| Name | Specifies the name of the resolver. |
| Description | Specifies a description for the resolver. |
| Angle Conditioning |
|---|
| Symbol | Units | Default | Description |
|---|
| Number of Pole Pairs | pp |
| 1 | A gain applied to the mechanical angle of the machine, θm, before it is translated to an electrical resolver signal. Modify this parameter if the resolver is attached to a gear box rather than connected directly to the rotor. To generate resolver signals whose speed corresponds to the mechanical speed of the machine, set this value to 1. See the Resolver Model Equations for more information. |
| Angle Offset | θOffset | Degrees | 0° | Offset from the mechanical angle of the machine, θm. |
| Speed Sign |
|
| Clockwise | Select one of the following options: - Clockwise - The resolver outputs a positive speed when the machine rotates clockwise.
- Counter Clockwise - The resolver outputs a positive speed when the machine rotates counter clockwise.
|
| Gain Configuration |
| Symbol | Units | Default | Description |
|---|
| Sine.Sine Gain | Sin.Sin |
| 1 | Sine gain applied to the Sine output signal. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. |
| Sine.Cos Gain | Sin.Cos |
| 0 | Cosine gain applied to the Sine output signal. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. |
| Cos.Sin Gain | Cos.Sin |
| 0 | Sine gain applied to the Cosine output signal. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. |
| Cos.Cos Gain | Cos.Cos |
| 1 | Cosine gain applied to the Cosine Output signals. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. |
| Excitation Conditioning |
| Symbol | Units | Default | Description |
|---|
| Carrier Sampling Time | Ts | Seconds | 1E-6 | The period at which the Excitation Carrier signal is sampled to determine the Sine and Cosine outputs. |
| Carrier Phase Delay | Tpd | Seconds | 0 | Creates a phase delay in the output Sine and Cosine signals. This is used to simulate a physical delay in non-ideal resolvers. |
| Carrier Measurement |
|
|
| Selects the Analog Input channel to use as the carrier. |
| Internal Carrier (Optional) |
| Symbol | Units | Default | Description |
|---|
| Initial Carrier Angle | θinit | Degrees | 0° | Angle of the resolver upon initialization. |
| Excitation Frequency | fex | Hz | 10000 | Sets the frequency of the internal excitation carrier |
| Enable Internal Carrier |
|
| False | Enables the resolver model to use an internal excitation signal rather than an external signal from an Analog Input channel. |
| Force Initial Angle |
|
| False | Forces the Initial Carrier Angle parameter to be used during initialization. |
| Enable Resolver Parameters as Channels |
|
| False | Allows certain Resolver parameters to be exposed as tunable VeriStand Channels. See the Advanced Channels section below for more details. |
Resolver Channels
This section includes the following custom device channels:
| Channel Name | Symbol | Type | Units | Default Value | Description |
|---|
| Sine | Sin | Output |
| 0 | Sine signal generated by the resolver. When combined with Cosine, can be used to determine the machine's position. |
| Cosine | Cos | Output |
| 0 | Cosine signal generated by the resolver. When combined with Sine, can be used to determine the machine's position. |
| Carrier |
| Output |
| 0 | The Excitation signal used to calculate Sine and Cosine outputs as defined in equations (1) and (2). |
| Angle | θresolve | Output | Degrees | 0 | The angle the resolver is "resolving," defined as  |
Advanced Resolver Channels
The following VeriStand channels are displayed under the Advanced section when the Enable Resolver Parameters as Channels option is enabled on the Resolver configuration page.
| Channel Name | Symbol | Type | Units | Default Value | Description |
|---|
| θOffset | Input | Degrees | 0° (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value describes the offset from the mechanical angle of the machine, θm. This value can be modified while the simulation is running. |
| Tpd | Input | Seconds | 0s (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value creates a phase delay in the output Sine and Cosine signals. This is used to simulate a physical delay in non-ideal resolvers. This value can be modified while the simulation is running. |
| Cos.Cos | Input |
| 1 (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a Cosine Gain to the Cosine Output signals. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. This value can be modified while the simulation is running. |
| Cosine Sine Gain | Cos.Sine | Input |
| 0 (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a Sine Gain to the Cosine Output signals. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. This value can be modified while the simulation is running. |
| Number of Pole Pairs | pp | Input |
| 1 (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a gain to the mechanical angle of the machine, θm, before it is translated to an electrical resolver signal. Modify this parameter if the resolver is attached to a gear box rather than connected directly to the rotor. To generate resolver signals whose speed corresponds to the mechanical speed of the machine, set this value to 1. See the Resolver Model Equations for more information. This value can be modified while the simulation is running. |
| Sine Cosine Gain | Sin.Cos | Input |
| 0 (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a Cosine Gain to the Sine Output signals. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. This value can be modified while the simulation is running. |
| Sine Sine Gain | Sin.Sin | Input |
| 1 (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a Sine Gain to the Sine Output signals. This value must be a number between 0 and 1. See the Resolver Model Equations for more information. This value can be modified while the simulation is running. |
| Speed Sign |
| Input |
| Clockwise (value defined in the Resolver Configuration page) | When the Enable Resolver Parameters as Channels checkbox is checked, this value determines the speed sign based on the rotation of the resolver as follows: - Clockwise - The resolver outputs a positive speed when the machine rotates clockwise.
- Counter Clockwise - The resolver outputs a positive speed when the machine rotates counter clockwise.
This value can be modified while the simulation is running. |
Resolver Model Description
A resolver is a sensor that provides feedback about the angular position and velocity of a rotating component, such as the rotor of an electrical motor.
Figure 1. An example of a operating resolver where a sinusoidal excitation signal is input into the resolver and the result is two output signals, Sine Output and Cosine Output
During operation, a sinusoidal excitation signal is provided to the resolver. The resolver modulates the input excitation signal to produce two outputs representing sin(x) and cos(x), where x is the angle of the rotor. From the sin(x) and cos(x) signals controllers are reconstituted to calculate angular position of the machine.
Figure 2. Sine and Cosine signals generated by a resolver with an input Excitation sinusoidal signal.
Resolver Model Equations
The resolver model outputs are calculated using the following sets of equations:
| (1) |
 |
| (2) |
 |
Where Sin.Sin, Sin.Cos, Cos.Sin, and Cos.Cos represent gains that are applied to simulate a non-ideal resolver. To simulate an ideal resolver, set the Sin.Sin and Cos.Cos gains to 1, set the Sin.Cos and Cos.Sin gains to 0, set the pp to 1, and set the θOffset to 0. This results in the following equations:
| (3) |
 |
| (4) |
 |
Depending on the selected Hardware Configuration, some resolvers allow for their excitation to come from an external source and/or some excitation signals can come from a simulated circuit. Typical excitation signals are sinusoidal and greater than 1 kHz frequency.
