The invention relates to an
encoder signal processing method based on
time domain averaging and depth unwinding. The method comprises the following steps: firstly, acquiring an angular position
signal by using a
rotary encoder, and converting the angular position
signal into an instantaneous
angular acceleration signal by using a second-order difference method; then, a
time domain synchronous averaging method is used for dividing the whole instantaneous
angular acceleration signal into segments containing five cycle lengths, averaging is carried out, and
noise components are removed; setting N
layers of neural networks, and for each layer of network, sequentially initializing a weight matrix, taking related kurtosis as a target function, utilizing an L-BFGS
algorithm, and using the target function and a
weight coefficient of previous iteration to update the weight matrix; and finally, performing dimension reduction
processing on a plurality of signals output by the neural network, and reserving the signal with the maximum envelope spectrum kurtosis value as a final calculation result. According to the method, the correlation kurtosis is used as a target function, and robustness is achieved for interference of
impulse noise; a Hanning window is adopted to initialize the
filter bank, and the efficiency of the filtering process can be effectively improved.