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Resolver (PMSM BLDC)
Resolver Configuration Page
In the System Explorer window configuration tree, expand the Power Electronics AddOn custom device and select Circuit Model >> PMSM BLDC >> 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, θ_{m}, 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  θ_{Offset}  deg  0°  Offset from the mechanical angle of the machine, θ_{m}. 
Speed Sign  R_{dir}  Clockwise  Select one of the following options:
 
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  T_{s}  s  1E6  The period at which the Excitation Carrier signal is sampled to determine the Sine and Cosine outputs. 
Carrier Phase Delay  T_{pd}  s  0  Creates a phase delay in the output Sine and Cosine signals. This is used to simulate a physical delay in nonideal resolvers. 
Carrier Measurement 


 Selects the Analog Input channel to use as the carrier. 
Internal Carrier (Optional)  
 Symbol  Units  Default  Description 
Initial Carrier Angle  θ_{init}  deg  0°  Angle of the resolver upon initialization. 
Excitation Frequency  f_{ex}  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  θ_{resolve}  Output  deg  0  The angle the resolver is "resolving," as defined by the equation . The Speed Sign parameter does not affect the output of this channel. If this signal is routed to a Waveform Channel or an Analog Output Channel, its value is expressed in Turns. The signal ranges in value from 0 to 1, with 1 representing a full rotation. 
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. The value of an input channel can be modified dynamically at execution time.
Channel Name  Symbol  Type  Units  Default Value  Description 

Angle Offset  θ_{Offset}  Input  deg  Read from configuration page.  When the Enable Resolver Parameters as Channels checkbox is checked, this value describes the offset from the mechanical angle of the machine, θ_{m}. This value can be modified while the simulation is running. 
Carrier Phase Delay  T_{pd}  Input  s  Read from 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 nonideal resolvers. This value can be modified while the simulation is running. 
Cosine Cosine Gain  Cos.Cos  Input  Read from 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  Read from 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  Read from configuration page.  When the Enable Resolver Parameters as Channels checkbox is checked, this value applies a gain to the mechanical angle of the machine, θ_{m}, 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  Read from 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  Read from 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  R_{dir}  Input  Read from 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:
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.
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.
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 nonideal 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 θ_{Offset} to 0. This results in the following equations:
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.
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