A signal processing method and device for vector control, electronic equipment and storage medium

Abstract

The present disclosure relates to a signal processing method and device for vector control, electronic equipment and storage medium. The method comprises the following steps: obtaining an analog current signal; performing analog-digital conversion on the analog current signal to obtain a digital signal; passing the digital signal through an average filter to obtain an input signal; performing filter processing on the input signal based on a target filter corresponding to a target transfer function to obtain an output signal; and using the output signal for vector control. The embodiments of the present disclosure can improve control accuracy and stability on the basis of improving current sampling accuracy, and avoid the risk of motor out of control and other problems.

Description

Technical Field

[0001] This disclosure relates to the technical field of power electronic control, and in particular to a signal processing method, apparatus, electronic device and storage medium for vector control. Background Technology

[0002] With the development of motor control technology, permanent magnet synchronous motors are being used more and more widely. Vector control, as an advanced motor control strategy, can achieve efficient and precise control of permanent magnet synchronous motors. In vector control, the current quantity must be converted from analog to digital before it can be used in the control algorithm. Therefore, how to filter out high-frequency interference and improve the accuracy of current sampling has become the key to maintaining the stability of vector control.

[0003] In related technologies, sampled data is often used directly for calculation and control in vector control. However, the directly sampled data is subject to high-frequency interference, and the accuracy of current sampling is low. Using it directly for vector control results in low control accuracy and stability, which in turn leads to problems such as the risk of motor runaway. Summary of the Invention

[0004] This disclosure provides a signal processing method, apparatus, electronic device, and storage medium for vector control, to at least solve the problems in related technologies where directly sampled data suffers from high-frequency interference, low accuracy of current sampling, and, when directly used for vector control, results in low control accuracy and stability, leading to the risk of motor runaway. The technical solution of this disclosure is as follows:

[0005] According to a first aspect of the present disclosure, a signal processing method for vector control is provided, comprising:

[0006] Acquire an analog current signal, and perform analog-to-digital conversion on the analog current signal to obtain a digital signal;

[0007] The digital signal is passed through an averaging filter to obtain the input signal;

[0008] The input signal is filtered based on the target filter corresponding to the target transfer function to obtain the output signal, which is then used for vector control. The target transfer function is obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula.

[0009] In an optional embodiment, the step of filtering the input signal based on the target filter corresponding to the target transfer function to obtain the output signal includes:

[0010] Based on the target filter corresponding to the target transfer function, the target difference equation is obtained;

[0011] The output signal is obtained based on the target difference equation and the input signal.

[0012] In an optional embodiment, obtaining the output signal based on the target difference equation and the input signal includes:

[0013] Obtain the first input value of the input signal at the current time and the first output value of the output signal relative to the previous sampling time;

[0014] Based on the target difference equation, the first input value, and the first output value, the second output value corresponding to the current moment of the output signal is obtained.

[0015] In an optional embodiment, passing the digital signal through an averaging filter to obtain the input signal includes:

[0016] Obtain the first sample value corresponding to the current moment of the digital signal and the second sample value corresponding to the previous sample moment relative to the current moment, and take the average of the first sample value and the second sample value to obtain the value corresponding to the current moment of the input signal.

[0017] In an optional embodiment, the method further includes:

[0018] Adjust the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the input signal after the first-order low-pass cutoff frequency is adjusted.

[0019] In an optional embodiment, adjusting the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the input signal after the first-order low-pass cutoff frequency adjustment includes:

[0020] Adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency;

[0021] Based on the adjusted cutoff frequency, frequency components in the input signal that are higher than the adjusted cutoff frequency are filtered out to obtain the output signal corresponding to the input signal after adjustment at the first-order low-pass cutoff frequency.

[0022] In an optional embodiment, the method further includes:

[0023] Obtain the first-order low-pass filter transfer function Based on the back Euler formula Discretize the first-order low-pass filter transfer function to obtain the target transfer function.

[0024] Where T is the sampling interval in the analog-to-digital conversion, ω cLet be the cutoff frequency of the first-order low-pass filter, s be a complex variable, z be a complex variable expressed in polar coordinates, Y(s) be the Laplace transform of the output signal of the first-order low-pass filter transfer function, X(s) be the Laplace transform of the input signal of the first-order low-pass filter transfer function, Y(z) be the z-transform of the output signal of the target transfer function, and X(z) be the z-transform of the input signal of the target transfer function.

[0025] According to a second aspect of the present disclosure, a signal processing apparatus for vector control is provided, comprising:

[0026] An analog-to-digital conversion module is used to acquire an analog current signal and perform analog-to-digital conversion on the analog current signal to obtain a digital signal.

[0027] The first filtering module is used to pass the digital signal through an averaging filter to obtain the input signal;

[0028] The second filtering module is used to filter the input signal based on the target filter corresponding to the target transfer function to obtain an output signal, and to use the output signal for vector control; the target transfer function is obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula.

[0029] In an optional embodiment, the second filtering module includes:

[0030] The first output unit is used to obtain the target difference equation based on the target filter corresponding to the target transfer function;

[0031] The second output unit is used to obtain the output signal based on the target difference equation and the input signal.

[0032] In an optional embodiment, the first output signal determining unit includes:

[0033] The acquisition subunit is used to acquire the first input value of the input signal at the current time and the first output value of the output signal relative to the previous sampling time.

[0034] The output subunit is used to obtain the second output value corresponding to the current moment of the output signal based on the target difference equation, the first input value and the first output value.

[0035] In an optional embodiment, the first filtering module includes:

[0036] The acquisition unit is used to acquire the first sample value corresponding to the current time of the digital signal and the second sample value corresponding to the previous sampling time relative to the current time, and to take the average of the first sample value and the second sample value to obtain the value corresponding to the current time of the input signal.

[0037] In an optional embodiment, the apparatus further includes:

[0038] The output module is used to adjust the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the input signal after the first-order low-pass cutoff frequency is adjusted.

[0039] In an optional embodiment, the first output module includes:

[0040] The third output unit is used to adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency.

[0041] The fourth output unit is used to filter out frequency components in the input signal that are higher than the adjusted cutoff frequency based on the adjusted cutoff frequency, so as to obtain the output signal corresponding to the input signal after adjustment by the first-order low-pass cutoff frequency.

[0042] In an optional embodiment, the apparatus further includes:

[0043] The fifth output unit is used to obtain the first-order low-pass filter transfer function. Based on the back Euler formula Discretize the first-order low-pass filter transfer function to obtain the target transfer function.

[0044]

[0045] Where T is the sampling interval in the analog-to-digital conversion, ω c Let be the cutoff frequency of the first-order low-pass filter, s be a complex variable, Z be a complex variable expressed in polar coordinates, Y(s) be the Laplace transform of the output signal of the first-order low-pass filter transfer function, X(s) be the Laplace transform of the input signal of the first-order low-pass filter transfer function, Y(z) be the z-transform of the output signal of the target transfer function, and X(z) be the z-transform of the input signal of the target transfer function.

[0046] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method as described in any one of the first aspects above.

[0047] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided such that, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method described in any of the first aspects of the present disclosure.

[0048] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0049] The acquired analog current signal is converted from analog to digital to obtain a digital signal. The digital signal is then averaged and filtered to obtain the signal used as the input signal of the target filter, which can improve the stability of vector control. The target filter is a filter corresponding to the target transfer function obtained by discretizing the first-order low-pass filter transfer function through the backward Euler formula. This ensures the stability of the low-pass filter and can improve control accuracy and stability while ensuring the accuracy of current sampling, thus avoiding problems such as motor runaway risk.

[0050] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0052] Figure 1 This is a schematic diagram illustrating an application environment according to an exemplary embodiment;

[0053] Figure 2 This is a flowchart illustrating a signal processing method for vector control according to an exemplary embodiment;

[0054] Figure 3 This is a flowchart illustrating the process of filtering an input signal to obtain an output signal, according to an exemplary embodiment.

[0055] Figure 4 This is a block diagram of a signal processing apparatus for vector control according to an exemplary embodiment;

[0056] Figure 5 This is a block diagram illustrating an electronic device for signal processing for vector control according to an exemplary embodiment. Detailed Implementation

[0057] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0058] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar different contents and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0059] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties.

[0060] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application environment according to an exemplary embodiment, such as... Figure 1 As shown, the application environment may include a permanent magnet synchronous motor 100 and a microcontroller 200.

[0061] In an optional embodiment, the permanent magnet synchronous motor 100 can be used for vector control. Specifically, the permanent magnet synchronous motor 100 may be an electronic device including, but not limited to, sinusoidal permanent magnet synchronous motors and trapezoidal permanent magnet synchronous motors.

[0062] In an optional embodiment, the microcontroller 200 can be used to implement signal processing algorithms. Specifically, the microcontroller 200 may be, but is not limited to, electronic devices such as C51 series microcontrollers and STM32 series microcontrollers.

[0063] Figure 2 This is a flowchart illustrating a signal processing method for vector control according to an exemplary embodiment, such as... Figure 2 As shown, this signal processing method for vector control is used in devices such as permanent magnet synchronous motors and microcontrollers, and includes the following steps:

[0064] In step S201, an analog current signal is acquired, and the analog current signal is converted from analog to digital to obtain a digital signal;

[0065] In a specific embodiment, the analog current signal can be a continuously changing current signal, and analog-to-digital conversion can be the process of converting the analog current signal into a discrete digital signal. The digital signal can be a current signal with discrete independent and dependent variables. Specifically, for a continuously changing analog current signal, the analog-to-digital conversion process can be as follows: first, sampling is performed based on a preset sampling frequency; then, the sampled signal value is quantized, that is, the continuously changing signal value is mapped to a discrete digital quantity; finally, the quantized signal value is converted into binary or other digital forms to complete the encoding process and obtain a digital signal.

[0066] In step S203, the digital signal is passed through an averaging filter to obtain the input signal;

[0067] In one specific embodiment, the averaging filter can be a filter that calculates the average value within a sample window of number 2 and uses it as the output for the current point. Specifically, the mathematical expression of the averaging filter can be:

[0068] In an optional embodiment, the above-mentioned method of passing the digital signal through an averaging filter to obtain the input signal includes: obtaining a first sample value corresponding to the current moment of the digital signal and a second sample value corresponding to the previous sampling moment relative to the current moment, and averaging the first sample value and the second sample value to obtain the value corresponding to the current moment of the input signal.

[0069] In a specific embodiment, for a digital signal X, the first sampled value can be x(n), the second sampled value can be x(n-1), and the value corresponding to the input signal at the current moment can be...

[0070] In the above embodiments, the digital signal is first smoothed by passing it through an averaging filter to obtain the average value as the input signal, which can improve the stability of vector control.

[0071] In step S205, the input signal is filtered based on the target filter corresponding to the target transfer function to obtain the output signal, which is then used for vector control.

[0072] In one specific embodiment, the target transfer function can be obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula, the target filter can be a filter designed based on the target transfer function, and the output signal can be the signal obtained after the input signal passes through the target filter. Specifically, when the target transfer function is... The input signal is In this case, the output signal can be

[0073] In an optional embodiment, the above method may further include:

[0074] Obtain the first-order low-pass filter transfer function Based on the back Euler formula Discretize the first-order low-pass filter transfer function to obtain the target transfer function.

[0075] Where T is the sampling interval in analog-to-digital conversion, ω c Let be the cutoff frequency of the first-order low-pass filter, s be a complex variable, Z be a complex variable expressed in polar coordinates, Y(s) be the Laplace transform of the output signal of the first-order low-pass filter transfer function, X(s) be the Laplace transform of the input signal of the first-order low-pass filter transfer function, Y(z) be the z-transform of the output signal of the target transfer function, and X(z) be the z-transform of the input signal of the target transfer function.

[0076] In a specific embodiment, s can be a complex variable σ+jw, and z can be a complex variable re expressed in polar coordinates. jw The transfer function of a first-order low-pass filter can be: Based on the back Euler formula Complete the mapping from the s-domain to the Z-domain to obtain the target transfer function.

[0077] In the above embodiments, the first-order low-pass filter transfer function is discretized based on the backward Euler formula to obtain the target transfer function. The backward Euler method is an implicit method for solving ordinary differential equations, which has better stability than explicit methods.

[0078] In an optional embodiment, the above-mentioned filtering of the input signal based on the target filter corresponding to the target transfer function to obtain the output signal includes: as follows Figure 3 As shown, the following steps may be included:

[0079] In step S301, the target difference equation is obtained based on the target filter corresponding to the target transfer function;

[0080] In a specific embodiment, the target difference equation can be a difference equation obtained based on the filtering characteristics of the target filter. Specifically, for the filtering characteristics being... The target filter, the target difference equation can be:

[0081] In step S303, the output signal is obtained based on the target difference equation and the input signal.

[0082] In one specific embodiment, the target difference equation is And the input signal is In this case, the output signal can be

[0083] In the above embodiments, the input signal is processed by the target filter obtained by backward Euler discretization to obtain the output signal. Under this condition, the output signal is obtained by solving the equation, which is more stable.

[0084] In an optional embodiment, the above-mentioned method of obtaining the output signal based on the target difference equation and the input signal includes:

[0085] Obtain the first input value of the input signal at the current moment and the first output value of the output signal relative to the previous sampling moment;

[0086] Based on the target difference equation, the first input value, and the first output value, the second output value corresponding to the current moment of the output signal is obtained.

[0087] In a specific embodiment, when the input signal is X, the first input value corresponding to the current time of the input signal can be x(n), and the first output value corresponding to the previous sampling time of the output signal relative to the current time can be y(n-1).

[0088] In a specific embodiment, when the output signal is y, the second output value corresponding to the current moment of the output signal can be y(n). Specifically, when the target difference equation is... The first input value is x(n) = n, and the first output value is y(n-1) = n-1. The second output value is...

[0089] In the above embodiments, based on the target difference equation and the input signal, discrete sample values ​​of the output signal are obtained through iteration, thereby obtaining the numerical solution of the target difference equation, which improves the stability of the algorithm.

[0090] In an optional embodiment, the above-described process of passing the digital signal through an averaging filter to obtain the input signal includes:

[0091] Obtain the first sample value of the digital signal at the current moment and the second sample value corresponding to the previous sample moment relative to the current moment. Take the average of the first sample value and the second sample value to obtain the value of the input signal at the current moment.

[0092] In a specific embodiment, specifically, when the digital signal is X, the first sampled value corresponding to the digital signal at the current moment can be x(n), and the second sampled value corresponding to the previous sampled moment can be x(n-1). Therefore, the value corresponding to the current moment of the input signal can be obtained.

[0093] In the above embodiments, the input signal is obtained by averaging the digital signal obtained from analog-to-digital conversion, which smooths the digital signal and improves the stability of the algorithm.

[0094] In an optional embodiment, the above method may further include: adjusting the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the first-order low-pass cutoff frequency adjustment of the input signal.

[0095] In an optional embodiment, the above-mentioned adjustment of the target filter's current first-order low-pass cutoff frequency to obtain the output signal corresponding to the input signal after adjustment of the first-order low-pass cutoff frequency includes:

[0096] Adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency;

[0097] In a specific embodiment, assume that the current first-order low-pass cutoff frequency of the target filter is w. c =2kHz, adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency as w c =1kHz.

[0098] Based on the adjusted cutoff frequency, frequency components in the input signal that are higher than the adjusted cutoff frequency are filtered out to obtain the output signal corresponding to the first-order low-pass cutoff frequency adjustment of the input signal.

[0099] In a specific embodiment, specifically, when the cutoff frequency has been adjusted to w c =1kHz, the resulting output signal can be a signal with components higher than 1kHz filtered out.

[0100] In the above embodiments, the first-order low-pass cutoff frequency of the target filter is adjustable. Based on the current first-order low-pass cutoff frequency of the target filter and the current output signal, the current first-order low-pass cutoff frequency can be adjusted to change the cutoff frequency of the output signal and improve the practicality of the algorithm.

[0101] As can be seen from the technical solutions provided in the embodiments of this specification above, this specification performs analog-to-digital conversion on the acquired analog current signal to obtain a digital signal, and uses the signal obtained by averaging and filtering the digital signal as the input signal of the target filter, which can improve the stability of vector control. The target filter is the filter corresponding to the target transfer function obtained by discretizing the first-order low-pass filter transfer function through the backward Euler formula, which ensures the stability of the low-pass filter. It can improve the control accuracy and stability while ensuring the current sampling accuracy, and avoid problems such as the risk of motor runaway.

[0102] Figure 4This is a block diagram of a signal processing apparatus for vector control according to an exemplary embodiment. (Refer to...) Figure 4 The device includes:

[0103] The analog-to-digital conversion module 410 is used to acquire analog current signals and perform analog-to-digital conversion on the analog current signals to obtain digital signals.

[0104] The first filtering module 430 is used to pass the digital signal through an averaging filter to obtain the input signal;

[0105] The second filtering module 450 is used to filter the input signal based on the target filter corresponding to the target transfer function to obtain the output signal, and then use the output signal for vector control; the target transfer function is obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula.

[0106] In an optional embodiment, the second filtering module 450 includes:

[0107] The first output unit is used to obtain the target difference equation based on the target filter corresponding to the target transfer function;

[0108] The second output unit is used to obtain the output signal based on the target difference equation and the input signal.

[0109] In an optional embodiment, the first output signal determination unit includes:

[0110] The acquisition subunit is used to acquire the first input value of the input signal at the current time and the first output value of the output signal relative to the previous sampling time.

[0111] The output sub-unit is used to obtain the second output value of the output signal at the current time based on the target difference equation, the first input value, and the first output value.

[0112] In an optional embodiment, the first filtering module 430 includes:

[0113] The acquisition unit is used to acquire the first sampled value of the digital signal at the current time and the second sampled value corresponding to the previous sampling time relative to the current time, and to take the average of the first sampled value and the second sampled value to obtain the value of the input signal at the current time.

[0114] In an optional embodiment, the above-described apparatus further includes:

[0115] The output module is used to adjust the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the first-order low-pass cutoff frequency adjustment of the input signal.

[0116] In an optional embodiment, the first output module 430 includes:

[0117] The third output unit is used to adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency.

[0118] The fourth output unit is used to filter out frequency components in the input signal that are higher than the adjusted cutoff frequency based on the adjusted cutoff frequency, so as to obtain the output signal corresponding to the first-order low-pass cutoff frequency adjustment of the input signal.

[0119] In an optional embodiment, the above-described apparatus further includes:

[0120] The fifth output unit is used to obtain the first-order low-pass filter transfer function. Based on the back Euler formula Discretize the first-order low-pass filter transfer function to obtain the target transfer function.

[0121] Where T is the sampling interval in analog-to-digital conversion, ω c Let S be the cutoff frequency of the first-order low-pass filter, S be a complex variable, Z be a complex variable expressed in polar coordinates, Y(s) be the Laplace transform of the output signal of the first-order low-pass filter transfer function, X(s) be the Laplace transform of the input signal of the first-order low-pass filter transfer function, Y(z) be the z-transform of the output signal of the target transfer function, and X(z) be the z-transform of the input signal of the target transfer function.

[0122] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0123] Figure 5 This is a block diagram illustrating an electronic device for signal processing in vector control according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the electronic device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a signal processing method for vector control. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0124] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present disclosure and does not constitute a limitation on the electronic device to which the present disclosure is applied. A specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0125] In an exemplary embodiment, an electronic device is also provided, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement a signal processing method for vector control as described in an embodiment of this disclosure.

[0126] In an exemplary embodiment, a computer-readable storage medium is also provided, wherein when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform a signal processing method for vector control according to an embodiment of the present disclosure.

[0127] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0128] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A signal processing method for vector control, characterized in that, The method includes: Acquire an analog current signal, and perform analog-to-digital conversion on the analog current signal to obtain a digital signal; The digital signal is passed through an averaging filter to obtain the input signal; The input signal is filtered based on the target filter corresponding to the target transfer function to obtain the output signal, which is then used for vector control. The target transfer function is obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula.

2. The signal processing method for vector control according to claim 1, characterized in that, The process of filtering the input signal using the target filter corresponding to the target transfer function to obtain the output signal includes: Based on the target filter corresponding to the target transfer function, the target difference equation is obtained; The output signal is obtained based on the target difference equation and the input signal.

3. The signal processing method for vector control according to claim 2, characterized in that, The process of obtaining the output signal based on the target difference equation and the input signal includes: Obtain the first input value of the input signal at the current time and the first output value of the output signal relative to the previous sampling time; Based on the target difference equation, the first input value, and the first output value, the second output value corresponding to the current moment of the output signal is obtained.

4. The signal processing method for vector control according to claim 1, characterized in that, The step of passing the digital signal through an averaging filter to obtain the input signal includes: Obtain the first sample value corresponding to the current moment of the digital signal and the second sample value corresponding to the previous sample moment relative to the current moment, and take the average of the first sample value and the second sample value to obtain the value corresponding to the current moment of the input signal.

5. The signal processing method for vector control according to claim 1, characterized in that, The method further includes: Adjust the current first-order low-pass cutoff frequency of the target filter to obtain the output signal corresponding to the input signal after the first-order low-pass cutoff frequency is adjusted.

6. The signal processing method for vector control according to claim 5, characterized in that, The step of adjusting the current first-order low-pass cutoff frequency of the target filter to obtain the corresponding output signal of the input signal after the first-order low-pass cutoff frequency adjustment includes: Adjust the current first-order low-pass cutoff frequency of the target filter to obtain the adjusted cutoff frequency; Based on the adjusted cutoff frequency, frequency components in the input signal that are higher than the adjusted cutoff frequency are filtered out to obtain the output signal corresponding to the input signal after adjustment at the first-order low-pass cutoff frequency.

7. The signal processing method for vector control according to claim 1, characterized in that, The method further includes: Obtain the first-order low-pass filter transfer function Based on the back Euler formula Discretize the first-order low-pass filter transfer function to obtain the target transfer function. Where T is the sampling interval in the analog-to-digital conversion, ω c Let S be the cutoff frequency of the first-order low-pass filter, Z be a complex variable, Y(s) be the Laplace transform of the output signal of the first-order low-pass filter transfer function, X(s) be the Laplace transform of the input signal of the first-order low-pass filter transfer function, Y(z) be the z-transform of the output signal of the target transfer function, and X(z) be the z-transform of the input signal of the target transfer function.

8. A signal processing apparatus for vector control, characterized in that, The device includes: An analog-to-digital conversion module is used to acquire an analog current signal and perform analog-to-digital conversion on the analog current signal to obtain a digital signal. The first filtering module is used to pass the digital signal through an averaging filter to obtain the input signal; The second filtering module is used to filter the input signal based on the target filter corresponding to the target transfer function to obtain an output signal, and to use the output signal for vector control; the target transfer function is obtained by processing the first-order low-pass filter transfer function based on the backward Euler formula.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement a signal processing method for vector control as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform a signal processing method for vector control as described in any one of claims 1 to 7.

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