Amplitude limiting filtering method, control method based on amplitude limiting filtering and controller

A technology of limiting filtering and control method, applied in the field of limiting filtering method, control method and controller based on limiting filtering, can solve the problems of unstable analog waveform, affecting the stability of automatic control, etc., to ensure the stability Effect

Inactive Publication Date: 2020-03-31
GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the collected analog quantity is changing all the time, and sometimes a sudden change will be sent. Coupled with environmental problems or other factors, the analog quantity waveform will be unstable, and there will be many abnormal sharp waves or large value difference jumps. The acquisition of these abnormal waveforms will affect the stability of automation control

Method used

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  • Amplitude limiting filtering method, control method based on amplitude limiting filtering and controller
  • Amplitude limiting filtering method, control method based on amplitude limiting filtering and controller
  • Amplitude limiting filtering method, control method based on amplitude limiting filtering and controller

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Embodiment 1

[0038] refer to figure 1 , figure 1 It is a flow chart of the limiting filtering method in the first embodiment. The limiting filtering method in this embodiment includes the following steps:

[0039] S1, according to the real-time analog value of the waveform, obtain n consecutive values ​​N between point (a+p) and point (b+p) n+p .

[0040] S2, calculate n consecutive values ​​​​N n+p The maximum value Nmax and the minimum value Nmin, and calculate the continuous n values ​​​​N n+p The summation value Nsum.

[0041] S3. Calculate the average analog value Mp according to the formula (Nsum-Nmax-Nmin)÷(n-2).

[0042] S4, forming a limiting filter according to the average analog value Mp output in sequence.

[0043] By continuously outputting the average value of the real-time analog value in the continuous data segment of the waveform, and then forming a limit filter, the abnormal sharp wave or the large value of the difference jump in the waveform is eliminated, and the...

Embodiment 2

[0055] refer to image 3 , image 3 It is a flow chart of the control method based on limiting filtering in the second embodiment. The control method based on limiting filtering in this embodiment includes the following steps:

[0056] Acquire real-time analog waveforms.

[0057] The clipping filter is obtained according to the clipping filter method.

[0058] The automatic control is carried out with the limiting filter as the control input.

[0059] The waveform of the real-time analog quantity collected is the waveform formed by the length and distance analog quantity released or wound by the tape collected by the ultrasonic ranging sensor. The above-mentioned limiting filtering method is a limiting filtering method of the embodiment, and the automatic control is Control the control of the motor to wind or release the tape, so that the motor takes in and out the tape in a stable state.

Embodiment 3

[0061] The controller in this embodiment includes an acquisition module for acquiring real-time analog quantities and a control module for executing a control method based on limiting filtering. The control module is connected with the acquisition module. Wherein, the acquisition module can be an ultrasonic distance measuring sensor, the control module can be the cooperation of PLC and the motor, and the PLC can execute the program of the control method based on the limiting filter in the second embodiment, and carry out the real-time analog value transmitted by the ultrasonic distance measuring sensor After limiting filtering, the motor is controlled to drive smoothly.

[0062] To sum up, by continuously outputting the average value of the real-time analog value in the continuous data segment of the waveform, and then forming a limit filter, the abnormal sharp wave or the large value of the difference jump in the waveform is eliminated, so as to form a limit filter. Amplitud...

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Abstract

The invention discloses an amplitude limiting filtering method, which comprises the following steps of acquiring n continuous numerical values Nn + p between a (a + p) point and a (b + p) point according to a real-time analog quantity numerical value of a waveform; calculating a maximum value Nmax and a minimum value Nmin in the continuous n numerical values Nn + p, and calculating a summation value Nsum of the continuous n numerical values Nn + p; calculating according to a formula (Nsum-Nmax-Nmin)/(n-2) to obtain a numerical value Mp of the average analog quantity; forming amplitude limitingfiltering according to the average analog quantity value Mp output in sequence. The invention further discloses a control method based on amplitude limiting filtering. The invention further disclosesa controller. According to the method, the average value of the real-time analog quantity values in the continuous data segments of the waveform is continuously output, then amplitude limiting filtering is formed, abnormal sharp waves or large difference bounce values in the waveform are removed, the formed amplitude limiting filtering serves as the control input quantity, and the stability of automatic control is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of filter control, in particular to a limiting filtering method, a limiting filtering based control method and a controller. Background technique [0002] Existing automatic control systems are often based on the collected analog quantities for automatic control. For example, for automatic control based on the distance analog quantities collected by the ultrasonic ranging wave sensor, the continuous collection of input analog quantities will form an analog quantity waveform, and the control The controller can be automatically controlled according to the analog waveform. However, the collected analog quantity is changing all the time, and sometimes a sudden change will be sent. Coupled with environmental problems or other factors, the analog quantity waveform will be unstable, and there will be many abnormal sharp waves or large value difference jumps. The acquisition of these abnormal waveforms will...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/06
CPCG05B11/06
Inventor 周元甲郤能杜义贤周俊雄周俊杰
Owner GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION CO LTD
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