A method and device for extracting vibration information, an electronic device, and a storage medium

Abstract

The application discloses a beat vibration information extraction method and device, electronic equipment and a storage medium. The beat vibration information extraction method comprises the following steps: determining a first projection signal corresponding to each signal in a group of orthogonal signals of a rotation speed signal; and determining the amplitude of a high-frequency component of the rotation speed signal based on all the determined first projection signals.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a method, apparatus, electronic device and storage medium for extracting beat vibration information. Background Technology

[0002] When a motor drive system is operating, it generates shaft current fluctuations that are close to the load fluctuation frequency and its harmonics, resulting in low-frequency beat vibration. To mitigate this, beat vibration information needs to be measured and extracted for feedback control of the beat vibration signal. Related technologies use sensors to determine beat vibration information, which increases system wiring, raises hardware costs, and reduces system reliability. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, apparatus, electronic device, and storage medium for extracting beat vibration information, so as to at least solve the problems in the related art where the setting of sensors increases the connection lines of the system, increases hardware costs, and reduces system reliability.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] This application provides a method for extracting beat vibration information, the method comprising:

[0006] Determine the first projection signal corresponding to each signal in a set of orthogonal signals for the rotational speed signal;

[0007] Based on all the determined first projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0008] In the above scheme, determining the first projection signal corresponding to each signal in a set of orthogonal signals of the rotational speed signal includes:

[0009] The rotational speed signal is determined to correspond to the first projection signal of the first sine signal and the first cosine signal, respectively; the first sine signal and the first cosine signal have the same frequency.

[0010] In the above scheme, determining the amplitude of the high-frequency component of the rotational speed signal based on all determined first projection signals includes:

[0011] Each first projection signal is low-pass filtered to obtain the corresponding second projection signal;

[0012] Based on all the obtained second projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0013] In the above scheme, the step of performing low-pass filtering on each first projection signal to obtain the corresponding second projection signal includes:

[0014] Each first projection signal is low-pass filtered using a second frequency as the cutoff frequency to obtain the corresponding second projection signal; wherein...

[0015] The second frequency is less than the first frequency, and the difference between the second frequency and the first frequency is greater than a set threshold; the first frequency represents the signal frequency corresponding to the set of orthogonal signals.

[0016] In the above scheme, determining the amplitude of the high-frequency component of the rotational speed signal based on all determined first projection signals includes:

[0017] The squares of each of the determined first projection signals are summed to obtain the first accumulated value;

[0018] The square root of the first accumulated value is determined as the amplitude of the high-frequency component of the rotational speed signal.

[0019] The method in the above scheme further includes:

[0020] The rotational speed signal is determined using a position sensor or a sensorless estimation algorithm.

[0021] This application embodiment also provides a beat vibration information extraction device, including:

[0022] The first determining unit is used to determine the first projection signal corresponding to each signal in a set of orthogonal signals of the rotation speed signal;

[0023] The second determining unit is used to determine the amplitude of the high-frequency component of the rotational speed signal based on all the determined first projection signals.

[0024] This application also provides an electronic device, including: a processor and a memory for storing a computer program capable of running on the processor.

[0025] When the processor runs the computer program, it executes the steps of any of the above methods.

[0026] This application also provides an electronic device, which includes an air conditioner.

[0027] This application also provides a storage medium storing a computer program thereon, the computer program being executed by a processor using the steps of any of the above methods.

[0028] In this embodiment, the projection signal corresponding to each signal in a set of orthogonal signals of the rotation speed signal is determined. Based on all the determined projection signals, the amplitude of the high-frequency component of the rotation speed signal is determined. Since the amplitude of the high-frequency component is modulated by the low-frequency component, by extracting the amplitude of the high-frequency component in the rotation speed signal, an equivalent estimation of beat vibration information can be achieved. Therefore, when extracting beat vibration information, no additional sensors are required, simplifying the system's connection lines, reducing hardware costs, and improving system reliability. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of an electronic device for extracting beat vibration information in a related technology.

[0030] Figure 2 A schematic diagram of an electronic device for extracting beat vibration information in another related technology;

[0031] Figure 3 A schematic diagram illustrating the implementation process of a beat vibration information extraction method provided in an embodiment of this application;

[0032] Figure 4 A flowchart illustrating a beat vibration information extraction method provided for an application embodiment of this application;

[0033] Figure 5 A schematic diagram illustrating a beat vibration information extraction method provided for an application embodiment of this application;

[0034] Figure 6 This is a schematic diagram of the structure of a beat vibration information extraction device provided in an embodiment of this application;

[0035] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] Because the bus voltage of the electrolytic capacitor-free motor drive system fluctuates drastically during operation and a power factor correction function is required, shaft current fluctuations that are synchronized with twice the frequency of the grid voltage will occur. When these fluctuations are close to the load fluctuation frequency and the load fluctuation multiple frequency, low-frequency beat vibration will occur.

[0037] To compensate for low-frequency beat vibration, beat vibration information needs to be extracted for feedback control of the beat vibration signal. Currently, the measurement and extraction of beat vibration information requires the use of additional sensors. Figure 1 The diagram shows a structural schematic of a vibration information extraction system in a related technology. In the electric spindle system of a magnetic levitation grinding machine, a displacement sensor is used to measure and extract position vibration information. Figure 2The diagram shows a structural schematic of a beat vibration information extraction system in another related technology, which involves setting up test points at multiple locations in a compressor system to measure beat vibration information in real time. Determining the beat vibration signal by setting up sensors increases the cost of system wiring and hardware, increases circuit size, reduces system robustness and reliability, and limits the use of electronic equipment in harsh environments.

[0038] Based on this, in various embodiments of this application, the projection signal corresponding to each signal in a set of orthogonal signals of the rotation speed signal is determined. Based on all the determined projection signals, the amplitude of the high-frequency component of the rotation speed signal is determined. Since the amplitude of the high-frequency component is modulated by the low-frequency component, the equivalent estimation of the beat vibration information can be achieved by extracting the amplitude of the high-frequency component in the rotation speed signal. In this way, when extracting the beat vibration information, there is no need to set up additional sensors, simplifying the connection lines of the system, reducing hardware costs and improving system reliability.

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] Figure 3 This is a schematic diagram illustrating the implementation flow of the beat vibration information extraction method provided in an embodiment of this application. Figure 3 The illustrated method for extracting beat vibration information includes:

[0041] Step 301: Determine the first projection signal corresponding to each signal in a set of orthogonal signals of the rotational speed signal.

[0042] The rotational speed signal is projected onto each signal in a set of orthogonal signals, and the first projected signal corresponding to each signal is determined. Each signal in the set of orthogonal signals is set as needed. Here, the set of orthogonal signals can be a set of orthogonal signals in two-dimensional space or a set of orthogonal signals in three-dimensional space.

[0043] Step 302: Based on all the determined first projection signals, determine the amplitude of the high-frequency component of the rotation speed signal.

[0044] Based on each first projection signal determined on each orthogonal signal corresponding to the rotation speed signal, the amplitude of the high-frequency component of the rotation speed signal is determined according to all the first projection signals.

[0045] In one embodiment, the first projection signal corresponding to each signal in a set of orthogonal signals for determining the rotational speed signal includes:

[0046] The rotational speed signal is determined to correspond to the first projection signal of the first sine signal and the first cosine signal, respectively; the first sine signal and the first cosine signal have the same frequency.

[0047] By selecting a set of orthogonal signals—a first sine signal and a first cosine signal with the same frequency—and projecting the rotational speed signal onto these signals, the first projected signals corresponding to the rotational speed signal on the first sine and first cosine signals are determined. In this way, by selecting the first sine and first cosine signals with the same frequency, and based on the first projected signals corresponding to these signals, the method for determining the amplitude of the beat vibration signal can be simplified.

[0048] In practical applications, by using a first sine signal and a first cosine signal with the same frequency as a set of orthogonal signals, the first projection signal projected onto the first sine signal and the first cosine signal can be extracted. Referring to formula (1-2), the process for determining the first projection signal is as follows:

[0049]

[0050]

[0051] Where ω is the first frequency.

[0052] In one embodiment, determining the amplitude of the high-frequency component of the rotational speed signal based on all determined first projection signals includes:

[0053] Each first projection signal is low-pass filtered to obtain the corresponding second projection signal;

[0054] Based on all the obtained second projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0055] Each first projection signal is low-pass filtered according to a set cutoff frequency to obtain a second projection signal corresponding to each first projection signal. Based on all the obtained second projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined. Here, the cutoff frequency can be set as needed. In this way, by selecting a first sine signal and a first cosine signal with the same frequency, and based on the first projection signals corresponding to the first sine signal and the first cosine signal respectively, the method for determining the amplitude of the beat vibration signal can be simplified. In one embodiment, the low-pass filtering of each first projection signal to obtain the corresponding second projection signal includes:

[0056] Each first projection signal is low-pass filtered using a second frequency as the cutoff frequency to obtain the corresponding second projection signal; wherein...

[0057] The second frequency is less than the first frequency, and the difference between the second frequency and the first frequency is greater than a set threshold; the first frequency represents the signal frequency corresponding to the set of orthogonal signals.

[0058] Here, the cutoff frequency is set to the second frequency. Each first projection signal is low-pass filtered to obtain a second projection signal corresponding to each first projection signal. The second frequency is less than the signal frequency corresponding to a set of orthogonal signals, i.e., the first frequency, and the difference is greater than a set threshold. Thus, by using the second frequency as the cutoff frequency to low-pass filter each first projection signal, signals with frequencies higher than the second frequency can be blocked, while low-frequency beat signals can pass through. This allows for the determination of the amplitude of the high-frequency component of the low-frequency modulated rotational speed signal, achieving an equivalent estimation of the beat information.

[0059] In practical applications, by using a first sine signal and a first cosine signal with the same frequency as a set of orthogonal signals, the first projection signal projected onto the first sine signal and the first cosine signal can be extracted. Referring to formula (3-5), the process of determining the first projection signal is as follows:

[0060]

[0061] The second frequency of the low-pass filter is 0.05ω, which is less than the first frequency, therefore we have

[0062]

[0063] Similarly, we can obtain

[0064]

[0065] In one embodiment, determining the amplitude of the high-frequency component of the rotational speed signal based on all determined first projection signals includes:

[0066] The squares of each of the determined first projection signals are summed to obtain the first accumulated value;

[0067] The square root of the first accumulated value is determined as the amplitude of the high-frequency component of the rotational speed signal.

[0068] Here, based on each of the determined first projection signals, the square value of each first projection signal is accumulated to obtain a first accumulated value. The square root of the first accumulated value is then calculated to obtain the amplitude of the high-frequency component of the rotational speed signal. This allows for the determination of the amplitude of the beat vibration signal, simplifies the system's wiring, reduces hardware costs, and improves system reliability.

[0069] In practical applications, the amplitude of the high-frequency component of the rotational speed signal can be determined by summing the squares of the two first projection signals and taking the square root of the sum, as shown in formula (6):

[0070] The amplitude of the high-frequency component of the rotational speed signal is

[0071]

[0072] Where u1 is the first projection signal of one of the orthogonal signals in a set of orthogonal signals projected onto a two-dimensional space, and u2 is the first projection signal of another orthogonal signal in a set of orthogonal signals projected onto a two-dimensional space.

[0073] In practical applications, the amplitude of the high-frequency components of the projected signal can also be extracted using the discrete Fourier transform.

[0074] In one embodiment, the method further includes:

[0075] The rotational speed signal is determined using a position sensor or a sensorless estimation algorithm.

[0076] Before determining the first projected signal corresponding to each signal in a set of orthogonal signals, the rotational speed signal is determined using a position sensor or a sensorless estimation algorithm. Here, the position sensor includes vibration sensors such as relative, eddy current, inductive, capacitive, inertial, piezoelectric, resistance strain gauge, and laser sensors. The sensorless estimation algorithm includes methods such as slicker mirror observers, flux linkage observers, model reference adaptation, and high-frequency injection.

[0077] Based on this, the beat vibration information extraction method in various embodiments of this application solves the problem of needing to use a special sensor to measure the beat vibration signal. It requires less computation and can be quickly integrated into the control chip. It only needs to use a microcontroller unit (MCU) or other control chip to determine the beat vibration information without bringing additional performance requirements to the control chip. This achieves sensorless extraction of beat vibration information, simplifies the system connection lines, reduces hardware costs and improves system reliability.

[0078] The present application will now be described in further detail with reference to application examples.

[0079] Assume the equations of two simple harmonic motions are as follows:

[0080]

[0081] and

[0082]

[0083] The combined vibration equation is:

[0084]

[0085] in,

[0086]

[0087] Taking a single-rotor compressor as an example, there is a load fluctuation within one rotor mechanical cycle, meaning the load fluctuation frequency is equal to the rotor's mechanical rotation frequency. In electrolytic capacitor-less drives, to achieve grid-side current power factor control, quadrature-axis current input signals are typically generated, but not limited to, absolute values ​​of sinusoidal waves, trapezoidal waves, and absolute values ​​of sinusoidal waves with third harmonic injection. These quadrature-axis currents will cause the electromagnetic torque output of the motor to exhibit periodic fluctuations, with a fluctuation frequency twice the grid frequency. Taking a 50Hz grid frequency as an example, an electrolytic capacitor-less drive will generate 100Hz electromagnetic torque fluctuations.

[0088] Furthermore, due to the non-standard sinusoidal waveforms of electromagnetic torque and load torque, harmonic torque fluctuation components with integer multiples of the main fluctuation frequency are generated, and the amplitude of the high-frequency component is modulated by the low-frequency component. According to equation (9), it can be found that the amplitude of the high-frequency component is modulated by the low-frequency component. By extracting the amplitude of the high-frequency component in the speed signal, the equivalent estimation of beat vibration information can be realized in real time. Therefore, when extracting beat vibration information, no additional sensor is required, which simplifies the connection circuit of the system, reduces hardware costs, and improves system reliability.

[0089] Meanwhile, the synthesized torque of the electrolytic inverter driver contains the high-frequency component in (9), which corresponds to the high-frequency speed fluctuation component. With a position sensor or with sufficient bandwidth for the position sensor estimation algorithm, the speed feedback signal will contain the corresponding high-frequency component, and the amplitude of the high-frequency component will be modulated by the low-frequency generated by the difference frequency. The sensitive frequency range of the human ear is 20 to 20000 Hz. Taking the mechanical operating frequency of 98 Hz as an example, the load torque fluctuation frequency is also 98 Hz, and the inherent torque fluctuation generated by the electromagnetic torque is 100 Hz. Therefore, according to equation (9), the high-frequency fluctuation torque can be calculated to be 99 Hz. Within the sensitive frequency range of the human ear, the low-frequency signal frequency that generates amplitude modulation is 1 Hz. The effect is that the loudness of a 99 Hz sound changes with a frequency of 1 Hz, fluctuating between high and low.

[0090] High-frequency torque fluctuations interfere with the speed signal, resulting in corresponding fluctuation information in speed signal estimation. By extracting the amplitude of the corresponding high-frequency components in the estimated speed signal, equivalent estimation of beat vibration information can be achieved in real time. Combined with... Figure 4 , Figure 5 A corresponding method for extracting beat vibration information includes the following steps:

[0091] S1: Estimate the rotational speed signal based on a sensorless estimation algorithm.

[0092] Since the rotational speed signal contains high-frequency components modulated by low frequencies, the rotational speed signal can be written as follows (10):

[0093]

[0094] Where N0 is the motor speed. This represents the amplitude of the high-frequency component.

[0095] S2: Using the first sine signal and the first cosine signal with the same frequency as a set of orthogonal signals, project the rotational speed signal onto the first sine signal and the first cosine signal respectively, that is, multiply it by sin(ωt) and cos(ωt) respectively, as shown in equation (11-12):

[0096]

[0097]

[0098] S3: Perform low-pass filtering on each projection signal separately, taking the second frequency of the low-pass filter as 0.10ω, which is less than the first frequency ω, then we have

[0099]

[0100] Similarly, we can obtain

[0101]

[0102] S4: Accumulate the squares of each projected signal processed by the low-pass filter, calculate the square root of the accumulated value, and obtain the amplitude of the high-frequency component of the speed signal.

[0103]

[0104] S5: The amplitude of the high-frequency component of the output real-time speed signal is...

[0105] High-frequency torque fluctuations interfere with the rotational speed, resulting in corresponding fluctuation information in the rotational speed estimation. By extracting the amplitude of the corresponding high-frequency component in the estimated rotational speed signal, the equivalent estimation of the beat vibration information can be achieved in real time.

[0106] To implement the method of the embodiments of this application, the embodiments of this application also provide a beat vibration information extraction device, such as... Figure 6 As shown, the device includes:

[0107] The first determining unit 601 is used to determine the first projection signal corresponding to each signal in a set of orthogonal signals of the rotation speed signal;

[0108] The second determining unit 602 is used to determine the amplitude of the high-frequency component of the rotation speed signal based on all the determined first projection signals.

[0109] In one embodiment, the first determining unit 601 is configured to:

[0110] The rotational speed signal is determined to correspond to the first projection signal of the first sine signal and the first cosine signal, respectively; the first sine signal and the first cosine signal have the same frequency.

[0111] In one embodiment, the second determining unit 602 is configured to:

[0112] Each first projection signal is low-pass filtered to obtain the corresponding second projection signal;

[0113] Based on all the obtained second projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0114] In one embodiment, the second determining unit 602 performs low-pass filtering on each first projection signal to obtain a corresponding second projection signal, including:

[0115] Each first projection signal is low-pass filtered using a second frequency as the cutoff frequency to obtain the corresponding second projection signal; wherein...

[0116] The second frequency is less than the first frequency, and the difference between the second frequency and the first frequency is greater than a set threshold; the first frequency represents the signal frequency corresponding to the set of orthogonal signals.

[0117] In one embodiment, the first determining unit 601 is configured to:

[0118] The squares of each of the determined first projection signals are summed to obtain the first accumulated value;

[0119] The square root of the first accumulated value is determined as the amplitude of the high-frequency component of the rotational speed signal.

[0120] In one embodiment, the apparatus further includes:

[0121] The third determining unit is used to determine the rotational speed signal through a position sensor or a sensorless estimation algorithm.

[0122] In practical applications, the first determining unit 601, the second determining unit 602, and the third determining unit can be implemented by a processor in the beat vibration information extraction device, such as a central processing unit (CPU), a digital signal processor (DSP), an MCU, or a field-programmable gate array (FPGA).

[0123] It should be noted that the beat vibration information extraction device provided in the above embodiments is only illustrated by the division of the above-described program modules. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the beat vibration information extraction device and the beat vibration information extraction method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0124] Based on the hardware implementation of the above program modules, and in order to implement the beat vibration information extraction method of this application embodiment, this application embodiment also provides an electronic device, which includes an air conditioner. For example... Figure 7 As shown, the electronic device 700 includes:

[0125] The communication interface 710 enables information exchange with other devices, such as network devices.

[0126] The processor 720 is connected to the communication interface 710 to enable information interaction with other devices and to execute the methods provided by one or more of the above-described technical solutions when running a computer program. The computer program is stored in the memory 730.

[0127] Specifically, the processor 720 is used for:

[0128] Determine the first projection signal corresponding to each signal in a set of orthogonal signals for the rotational speed signal;

[0129] Based on all the determined first projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0130] In one embodiment, the processor 720 is configured to:

[0131] The rotational speed signal is determined to correspond to the first projection signal of the first sine signal and the first cosine signal, respectively; the first sine signal and the first cosine signal have the same frequency.

[0132] In one embodiment, the processor 720 is configured to:

[0133] Each first projection signal is low-pass filtered to obtain the corresponding second projection signal;

[0134] Based on all the obtained second projection signals, the amplitude of the high-frequency component of the rotational speed signal is determined.

[0135] In one embodiment, the processor 720 is configured to:

[0136] Each first projection signal is low-pass filtered using a second frequency as the cutoff frequency to obtain the corresponding second projection signal; wherein...

[0137] The second frequency is less than the first frequency, and the difference between the second frequency and the first frequency is greater than a set threshold; the first frequency represents the signal frequency corresponding to the set of orthogonal signals.

[0138] In one embodiment, the processor 720 is configured to:

[0139] The squares of each of the determined first projection signals are summed to obtain the first accumulated value;

[0140] The square root of the first accumulated value is determined as the amplitude of the high-frequency component of the rotational speed signal.

[0141] In one embodiment, the processor 720 is configured to:

[0142] The rotational speed signal is determined using a position sensor or a sensorless estimation algorithm.

[0143] Of course, in practical applications, the various components in electronic device 700 are coupled together through bus system 740. It can be understood that bus system 740 is used to realize the connection and communication between these components. In addition to a data bus, bus system 740 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in... Figure 7 The general labeled all buses as Bus System 740.

[0144] The memory 730 in this embodiment is used to store various types of data to support the operation of the electronic device 700. Examples of such data include any computer program used to operate on the electronic device 700.

[0145] It is understood that memory 730 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 730 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0146] The methods disclosed in the embodiments of this application can be applied to or implemented by the processor 720. The processor 720 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 720 or by instructions in the form of software. The processor 720 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 720 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the memory 730. The processor 720 reads the program in the memory 730 and combines it with its hardware to complete the steps of the aforementioned method.

[0147] Optionally, when the processor 720 executes the program, it implements the corresponding processes implemented by the electronic device in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0148] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 730 storing a computer program, which can be executed by a processor 720 of an electronic device to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed apparatus, electronic devices, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0150] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0151] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0152] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0153] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0154] It should be noted that the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict. Unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can refer to an electrical connection, or the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0155] Furthermore, in the examples of this application, "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than those illustrated or described herein.

[0156] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0157] The specific technical features described in the various embodiments in the detailed implementation can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

Claims

1. A method of extracting a beat vibration information, characterized by, The method comprises: determining a first projection signal corresponding to each signal in a set of orthogonal signals of a rotation speed signal; determining an amplitude of a high-frequency component of the rotation speed signal based on all the determined first projection signals; the amplitude of the high-frequency component is used for equivalent estimation of beat vibration information.

2. The method of claim 1, wherein The determination of the first projection signal corresponding to each signal in the set of orthogonal signals of the rotation speed signal comprises: determining a first projection signal corresponding to a first sine signal and a first cosine signal respectively; the first sine signal and the first cosine signal have the same frequency.

3. The method of claim 1, wherein The determination of the amplitude of the high-frequency component of the rotation speed signal based on all the determined first projection signals comprises: performing low-pass filtering processing on each first projection signal to obtain a corresponding second projection signal; determining the amplitude of the high-frequency component of the rotation speed signal based on all the obtained second projection signals.

4. The method of claim 3, wherein The low-pass filtering processing on each first projection signal to obtain a corresponding second projection signal comprises: performing low-pass filtering processing on each first projection signal with a second frequency as a cutoff frequency to obtain a corresponding second projection signal; wherein, the second frequency is less than the first frequency, and the difference between the second frequency and the first frequency is greater than a set threshold; the first frequency represents the signal frequency corresponding to the set of orthogonal signals.

5. The method of claim 3, wherein The determination of the amplitude of the high-frequency component of the rotation speed signal based on all the obtained second projection signals comprises: accumulating the square value of each second projection signal in all the obtained second projection signals to obtain a first accumulated value; determining the square root of the first accumulated value as the amplitude of the high-frequency component of the rotation speed signal.

6. The method of claim 1, wherein The method further comprises: determining the rotation speed signal through a position sensor or a position sensorless estimation algorithm.

7. A device for extracting beat vibration information, characterized in that, Comprise: a first determination unit configured to determine a first projection signal corresponding to each signal in a set of orthogonal signals of a rotation speed signal; a second determination unit configured to determine an amplitude of a high-frequency component of the rotation speed signal based on all the determined first projection signals; the amplitude of the high-frequency component is used for equivalent estimation of beat vibration information. Comprise:

8. An electronic device, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is configured to execute the computer program, and perform the steps of the method according to any one of claims 1 to 6. The electronic device comprises an air conditioner, and the air conditioner comprises a processor and a memory for storing a computer program capable of running on the processor, 9. An electronic device, comprising: wherein the processor is configured to execute the computer program, and perform the steps of the method according to any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the method according to any one of claims 1 to 6.

10. A storage medium having stored thereon a computer program, characterized in that ​

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