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System Optimization of Motor Resolver including Drive Circuitry and Cable Parasitics 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 Simulation
Simplorer, 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 (20~40gs)

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
50.00
Position [deg]
-1.50
-1.00
-0.50
0.00
0.50
1.00
1.50
Y3
[
V]
Ansoft Corporation
2D
Winding Quick Report
Curve 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 rows
Each row takes 50 seconds to simulate
Total simulation time on one machine = 181,000 seconds
Use DSO (Distributed Analysis)
8 Machines were used
Simulation Time = 9 Hours 10 Minutes
50.28 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 Simulation
Simplorer, 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
250.00u
100.00u
2DGraphS...
E2.V [V]
+
V
VM3
-3.46
3.45
-2.00
0
2.00
0
250.00u
100.00u
2DGraphS...
VM3.V [V]
N0004
N0045
N0012
N0022
N0053
N0051
Signal Generator
E4
+
-
OPV52
+
-
OPV51
R2 442
R1
1.24k
R3
R4
R5
2.7k
R6
2.7k
R9
33
R10
33
+
V
VM1
E3
NPN1
PNP1
+
-
OPV53
+
-
OPV54
R7 442
R8
1.24k
R11
R12
R13
2.7k
R14
2.7k
R15
33
R16
33
+
V
VM2
E6
NPN11
PNP11
R17
200
C1
47n
N0051
N0053
N0022
N0012
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 Simulation
Simplorer, Q3D, Maxwell, DSO, Optimetrics
Simplorer as System Simulator
DSO &
Optimetrics
Cable
(Q3D) Resolver-to-Digital Converter
Classical RDC Algorithm
+
-
OPV51
R1
C1
R2
R3
+
-
+
V
+
-
OPV52
R4
R5
R6
VM1
OPV53
R7
+
V
VM2
TRANS1
STATE1
SET: Vin_ref:=1
TRC 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)/2
Position_out:=0
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:=t
SET: 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
75.00m
25.00m
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 1
Scope 4
Scope 1
Scope
Offset
Offset
E0
E0
1/E1
180 /pi
Type II Position Tracking Loop Algorithm
in Matlab/SIMULINK Signal Generator
(Simplorer)
Cable
(Q3D)
Magnetic Resolver
(Maxwell)
Cable
(Q3D)
RDC (Resolver-to-
Digital Converter)
(Simplorer)
Resolver System Simulation
Simplorer, 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
T1
Resolver_Cable_6twists
Resolver_Cable_6twists3
T3
T6
T4
T2
T5
T1
Resolver_Cable_6twists
Resolver_Cable_6twists4
T5
T1
T2
T4
T6
T3
Resolver_Cable_6twists
Resolver_Cable_6twists5
T5
T4
T3
T1
T6
T2
Resolver_Cable_6twists
Resolver_Cable_6twists6
T1
T6
T3
T5
T2
T4
Resolver_Cable_6twists
Resolver_Cable_6twists7
T4
T6
T3
T5
T2
T1
Resolver_Cable_6twists
Resolver_Cable_6twists8
T4
T6
T3
T5
T2
T1
Resolver_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 Simulation
Simplorer, Q3D, Maxwell, DSO, Optimetrics
Simplorer as System Simulator
DSO &
Optimetrics
Cable
(Q3D) Resolver Behavioral Model
EQU
Initialization
Input_AC_Mag := 1
Input_AC_Freq:=12k
Conductor_Ratio:=0.1
Number_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 :=100
Rotor_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
75.00m
74.50m
2DGraphSel1
Vin
-100.00m
100.00m
0
0
75.00m
25.00m
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 Model
EQU
Initialization
Input_AC_Mag := 1
Input_AC_Freq:=12k
Conductor_Ratio:=0.1
Number_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 :=100
Rotor_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
75.00m
74.50m
2DGraphSel1
Vin
-100.00m
100.00m
0
0
75.00m
25.00m
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
75.00m
74.50m
2DGraphSel1
VM1....
Vin
+
-
+
V
+
-
OPV52
R4
R5
R6
VM1
OPV53
R7
+
V
VM2
TRANS1
STATE1
SET: Vin_ref:=1
TRC Vin &