Method, device, equipment and medium for suppressing low-frequency error signals of eddy current sensors

Abstract

The present invention provides a method, device, equipment and medium for suppressing low-frequency error signals of eddy current sensors, which relate to the field of motor control technology. The method comprises: sampling the eddy current sensor to obtain initial data; performing low-frequency identification based on the initial data to obtain identification data including the change of the low-frequency error signal relative to the basic signal in the initial data, reconstructing the waveform according to the identification data, and generating a reconstructed component signal; after low-pass filtering the reconstructed component signal, determining the initial phase angle according to the maximum point in any cycle; establishing a compensation function, wherein the compensation function is a sinusoidal function established based on the electric angular velocity, amplitude and initial phase angle collected by the eddy current sensor, generating an alternating signal according to the compensation function, and injecting it into the initial data in an open circuit to suppress the low-frequency error signal in the initial data, thereby solving the problem of inaccurate angle calculation caused by low-frequency signal interference in existing eddy current sensors.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a method, device, equipment and medium for suppressing a low-frequency error signal of an eddy current sensor. Background Art

[0002] The control of the main drive motor requires the use of a position sensor to obtain the real-time rotor position. Currently, the most widely used ones are rotary transformers, eddy current sensors, etc.; specifically, the commonly used eddy current sensors include full-circular and semi-circular types. Among them, the semi-circular eddy current sensor has lower hardware cost, but it is more sensitive to mechanical installation accuracy. Mechanical alignment deviation will cause a low-frequency signal error to be mixed into the final angle solution result. A low-frequency error signal suppression method for the eddy current sensor is needed to reduce the interference caused by the low-frequency signal. Summary of the Invention

[0003] In order to overcome the above technical defects, the purpose of the present invention is to provide a low-frequency error signal suppression method, device, equipment and medium for an eddy current sensor, which is used to solve the problem of inaccurate angle calculation caused by low-frequency signal interference in existing eddy current sensors.

[0004] The present invention discloses a method for suppressing low-frequency error signals of an eddy current sensor, comprising:

[0005] Sampling the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal;

[0006] Performing low-frequency identification based on the initial data to obtain identification data including a change in a low-frequency error signal relative to a base signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal;

[0007] After low-pass filtering the reconstructed component signal, an initial phase angle is determined according to a maximum point in any cycle;

[0008] A compensation function is established, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity, amplitude and initial phase angle collected by the eddy current sensor, an alternating signal is generated according to the compensation function, and an open circuit is injected into the initial data to suppress the low-frequency error signal in the initial data.

[0009] Preferably, performing low-frequency identification based on the initial data to obtain identification data including changes in a low-frequency error signal relative to a base signal in the initial data, performing waveform reconstruction according to the identification data, and generating a reconstructed component signal comprises:

[0010] Presetting a first comparison function according to a maximum value within any period of a basic signal in the initial data, and using the first comparison function as a reference in the initial data;

[0011] For any signal point in the initial data, when the amplitude of the signal point exceeds the first comparison function, a first preset value is output; when the amplitude of the signal point does not exceed the first comparison function, a second preset value is output to generate identification data;

[0012] Waveform reconstruction is performed based on the first preset value and the second preset value in the comparison data to generate a reconstructed component signal.

[0013] Preferably, the performing low-pass filtering on the reconstructed component signal comprises:

[0014] Setting a first-order low-pass filter and determining filter parameters so that the passband frequency of the reconstructed component signal is greater than the frequency of the low-frequency error signal collected by the eddy current sensor and is less than the electrical angular velocity collected by the eddy current sensor;

[0015] The reconstructed component signals are subjected to phase delays based on the filter parameters.

[0016] Preferably, determining the initial phase angle according to the maximum point in any period includes:

[0017] superimposing a linear function with a preset slope on the reconstructed component signal after low-pass filtering;

[0018] A second comparison function is preset, and a maximum point in any period of the reconstructed component signal is determined according to the second comparison function, and a phase angle corresponding to the maximum point is obtained as an initial phase angle.

[0019] Preferably, the linear function with a preset slope is set as a ramp function.

[0020] Preferably, the compensation function is expressed as:

[0021]

[0022] Where, ω is the electrical angular velocity; A is the amplitude; is the initial phase angle.

[0023] Preferably, generating an alternating signal according to the compensation function and injecting the alternating signal into the initial data in an open circuit to suppress a low-frequency error signal in the initial data comprises:

[0024] The initial data and the alternating signal are summed to suppress a low-frequency error signal in the initial data.

[0025] The present invention also provides a low-frequency error signal suppression device for an eddy current sensor, comprising:

[0026] An acquisition module is used to sample the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal;

[0027] a reconstruction module for performing low-frequency identification based on the initial data, obtaining identification data including a change of a low-frequency error signal relative to a basic signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal;

[0028] a processing module, configured to perform low-pass filtering on the reconstructed component signal and determine an initial phase angle according to a maximum point in any cycle;

[0029] A compensation module is used to establish a compensation function, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity, amplitude and initial phase angle collected by the eddy current sensor, and an alternating signal is generated according to the compensation function and injected into the initial data in an open circuit to suppress low-frequency error signals in the initial data.

[0030] The present invention also provides a computer device,

[0031] including a memory for storing executable program code; and

[0032] A processor is used to call the executable program code in the memory, and the execution step includes the method described.

[0033] The present invention also provides a readable storage medium having a computer program stored thereon.

[0034] The computer program implements the steps when executed by a processor.

[0035] Compared with the existing technology, the above technical solution has the following beneficial effects:

[0036] The present invention provides a method, device, equipment and medium for suppressing low-frequency error signals of eddy current sensors, which obtain initial data of the eddy current sensor, including a basic signal and a low-frequency error signal, and then determine a reconstructed component signal of the low-frequency error signal relative to the basic signal. According to the initial phase angle corresponding to the maximum value of the reconstructed component signal, an alternating signal generated by a compensation function is injected into the open circuit according to the initial phase angle to achieve suppression of the low-frequency error signal. The eddy current sensor can obtain an accurate angle calculated by eliminating the low-frequency error signal, thereby solving the problem of inaccurate angle calculation caused by low-frequency signal interference in existing eddy current sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of Example 1 of the method for suppressing low-frequency error signals of an eddy current sensor according to the present invention;

[0038] Figure 2 This is a flow chart of generating a reconstructed component signal in the first embodiment of the method for suppressing a low-frequency error signal of an eddy current sensor according to the present invention;

[0039] Figure 3 This is a flow chart of determining the initial phase angle in Example 1 of the method for suppressing a low-frequency error signal of an eddy current sensor according to the present invention;

[0040] Figure 4 This is a module diagram of a second embodiment of the low-frequency error signal suppression device for an eddy current sensor according to the present invention;

[0041] Figure 5 This is a structural diagram of embodiment 3 of the device of the present invention.

[0042] Reference numerals:

[0043] 5- low-frequency error signal suppression device of eddy current sensor; 51- acquisition module; 52- reconstruction module; 53- processing module; 54- compensation module; 6- computer equipment; 61- memory; 62- processor. DETAILED DESCRIPTION

[0044] The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

[0045] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0046] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0047] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0048] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0049] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0050] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0051] Example 1: This embodiment discloses a method for suppressing low-frequency error signals of an eddy current sensor. This embodiment mainly realizes the function of extracting the low-frequency error signal from the original sine and cosine signals (initial data), and then directly reversely compensates it into the angle calculation result to filter out the low-frequency error interference. For details, see Figure 1 , including the following:

[0052] S100: sampling the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal;

[0053] In this embodiment, as an illustration, the initial data includes the following low-frequency error signal and basic signal, which, together with the following generated reconstructed component signal and the alternating signal generated according to the compensation function, are all alternating signals, similar to sine waves, whose magnitude and direction are constantly changing. The purpose of this embodiment is to eliminate (suppress) the low-frequency error signal in the initial data. When there is no low-frequency error signal, the expression of the sine and cosine signals can be: COS = Bcos(ωt), SIN = Bsin(ωt). When there is an error, its expression is: COS1 = Bcos(ωt)*[1+bsin(θ)], SIN1 = Bsin(ωt)*[1+bsin(θ)].

[0054] As a supplementary explanation, the initial data directly obtained above includes, in addition to the low-frequency error signal described below in this embodiment, high frequencies that may affect the angle calculation results. However, this embodiment does not consider the influence of high-frequency error signals. In actual scenarios, the processing of high-frequency error signals may be implemented using existing technical solutions, such as orthogonal normalization.

[0055] S200: performing low-frequency identification based on the initial data to obtain identification data including a change of a low-frequency error signal relative to a basic signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal;

[0056] Specifically, the low frequency recognition is performed based on the initial data to obtain recognition data including the change of the low frequency error signal relative to the basic signal in the initial data, and the waveform is reconstructed according to the recognition data to generate a reconstructed component signal. Figure 2 ,include:

[0057] S210: Presetting a first comparison function according to a maximum value within any period of a basic signal in the initial data, and using the first comparison function as a reference in the initial data;

[0058] In the above steps, the first comparison function is a constant function. The maximum value within any period of the base signal in the initial data is used as a constant value, which is used as a benchmark for identification. It should be noted that this identification is used to obtain the following identification data. Its purpose is to determine the variation of the low-frequency error signal relative to the base signal. For explanation, within the sine and cosine waves formed by the base signal in the initial data, the wave formed by the low-frequency error signal will fluctuate above and below the wave of the base signal. Therefore, this step is similar to screening out the fluctuation of the low-frequency error signal relative to the base signal at its maximum value.

[0059] S220: For any signal point in the initial data, when the amplitude of the signal point exceeds the first comparison function, outputting a first preset value; when the amplitude of the signal point does not exceed the first comparison function, outputting a second preset value, to generate identification data;

[0060] In the above steps, as an illustration, the first preset value is set to 1, and the second preset value is set to 0. They can also be set to the positive and negative directions of the same value, respectively, to distinguish whether the signal point is above or below the maximum value of the basic signal. It can be seen that the identification data contains several 1s and 0s, which can form a bar graph similar to a grid.

[0061] S230: Reconstruct a waveform based on the first preset value and the second preset value in the comparison data to generate a reconstructed component signal.

[0062] Specifically, waveform reconstruction can be performed based on the bar graph formed above. The first preset value and the second preset value are the maximum and minimum values ​​within the period of the reconstructed sine and cosine waves. For example, the first comparison function e=B can be set. Then, when |COS1|>e, the output is 1. At this time, bsin(θ)>0. The phase of the low-frequency error is also set to [0, pi]. The cnt function (reconstructed component signal) is set to output 1 with self-increment a0 and output 0 with self-decrement a1 (parameters such as a0\a1 are related to the mechanical deviation value of the eddy current itself and are directly obtained through calibration). When the cnt function is at the maximum point, the phase of the low-frequency error is pi. The above SIN1 is similar.

[0063] S300: After performing low-pass filtering on the reconstructed component signal, determining an initial phase angle according to a maximum point in any cycle;

[0064] Specifically, the low-pass filtering of the reconstructed component signal includes: setting a first-order low-pass filter and determining the filter parameters so that the passband frequency of the reconstructed component signal is greater than the frequency of the low-frequency error signal collected by the eddy current sensor and less than the electrical angular velocity collected by the eddy current sensor; the reconstructed component signal generates a phase delay based on the filter parameters.

[0065] The frequency and electrical angular velocity of the low-frequency error signal can be directly acquired or calculated by the eddy current sensor. The above passband frequency is the frequency limit of the filter to limit the reconstructed component signal to pass or cut off the signal, reducing other interference signals and making the reconstructed component signal more accurate. In the above steps, the low-pass filter transfer function is: Where s is the Laplace variable and the transfer function is a universal function.

[0066] However, it should be noted that the reconstructed component signal generates a phase delay based on the filter parameters. Since the initial phase angle needs to be determined based on the reconstructed component signal in the following step S400, the phase of the delay also needs to be calculated. The low-pass filter also generates a phase delay of T (the above-mentioned filter parameters, with a bandwidth of 200pi), which is obtained through the low-pass filter.

[0067] Specifically, the initial phase angle is determined according to the maximum point in any cycle, see Figure 3 ,include:

[0068] S310: superimposing a linear function with a preset slope on the reconstructed component signal after low-pass filtering;

[0069] In the above steps, the linear function with a preset slope is set as a ramp function, and the ramp function f=∫Kcdt can be set (Kc is related to the mechanical deviation value of the eddy current itself and is directly obtained through calibration), so that the reconstructed component signal after low-pass filtering forms a gradually rising waveform to facilitate the following acquisition of the initial phase angle. As an explanation, the following initial phase angle is used to determine the signal point of open-circuit injection in the following step S400. In this embodiment, the low-frequency error signal is anti-interference eliminated by the injection signal, so it is necessary to determine the injection signal point.

[0070] S320: Preset a second comparison function, determine a maximum point in any period of the reconstructed component signal according to the second comparison function, and obtain a phase angle corresponding to the maximum point as an initial phase angle.

[0071] In the above steps, the second comparison function is also set to a constant function. Based on the above steps, under the action of the superimposed linear function, the processed reconstructed component signal gradually rises in the form of sine and cosine waves. Therefore, when the maximum value of any period reaches the second comparison function, the initial phase angle is obtained at this time.

[0072] As a further explanation, as can be seen from the phase acquisition in step S200 above, the reconstructed component signal is the change of the low-frequency error signal relative to the basic signal. The maximum value of the low-frequency error signal can be obtained according to the maximum value of the reconstructed component signal, that is, when the cnt function (reconstructed component signal) is at the maximum value, the phase of the error signal is pi, that is, at the maximum value moment, the reverse injection function y = Asin (ω / 12 + pi) can achieve the elimination of the low-frequency error signal.

[0073] Based on the above description of low-pass filtering, considering the delay of the low-pass filter, we can get: is the initial phase angle, T is the filter parameter, that is, the delayed phase is added to determine the initial phase angle, and the maximum value of the reconstructed component signal (CntFil function) after low-pass filtering is injected into -y; that is, the injection The above S320 is to lock the maximum moment of the CntFil function. The CntFil function is a sinusoidal function with a harmonic error signal, and each cycle will produce a maximum point. In the software control process, based on the ramp function f, when the CntFil+f second comparison function p outputs the enable signal 1, when the enable signal is 0, y=0; when the enable signal is 1, That is, the output enable signal is 1 to obtain the initial phase angle

[0074] S400: Establish a compensation function, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity, amplitude and the initial phase angle collected by the eddy current sensor, generate an alternating signal according to the compensation function, and inject it into the initial data in an open circuit to suppress the low-frequency error signal in the initial data.

[0075] In this embodiment, the purpose is to suppress the low-frequency error signal. Considering that the signal-to-noise ratio of the low-frequency error signal is small, the extraction process cannot completely retain the amplitude, phase and frequency information of the original low-frequency error signal. Therefore, an open-loop injection method is used to construct a compensation function for suppression. The above steps S100-S300 are all for obtaining the injection signal point of the alternating current generated by the compensation function, that is, the initial phase angle Only after the initial phase angle is determined can the compensation signal be injected in this step to eliminate the low-frequency error signal.

[0076] Specifically, the compensation function is expressed as:

[0077]

[0078] Where, ω is the electrical angular velocity; A is the amplitude; is the initial phase angle. The electrical angular velocity and amplitude are directly collected or calculated by the eddy current sensor.

[0079] Specifically, an alternating signal is generated according to the compensation function and injected into the initial data in an open circuit to suppress a low-frequency error signal in the initial data, including: summing the initial data and the alternating signal to suppress the low-frequency error signal in the initial data.

[0080] In this embodiment, the alternating signal is injected into the open circuit to suppress the low-frequency error signal. Its essence is to compensate for the angle error. It can be understood that the eddy current sensor samples the sine and cosine signals and uses the speed solution module to calculate the angle. In this embodiment, the alternating signal is used to compensate for the error angle, and finally the accurate angle is obtained by eliminating the low-frequency error signal, thereby solving the problem that the existing low-frequency signal causes errors in the angle calculation results.

[0081] In this embodiment, the low-frequency error signal is determined in the original sine and cosine signals (initial data), and then it is directly reverse-compensated into the angle calculation result to filter out the low-frequency error interference; specifically, by constructing a compensation function, the initial phase angle in the compensation function is determined. That's it. The signal is derived from the original input sine and cosine signals. Identification data is generated by determining the fluctuations of the low-frequency error signal in the initial data around the maximum value of the base signal. After waveform reconstruction, the reconstructed component signal is obtained. The maximum value in the reconstructed component signal is determined as the initial phase angle, which is the injection point of the compensated alternating signal. Thus, open-loop injection is used to suppress the low-frequency error signal.

[0082] Embodiment 2: The present invention also provides a low-frequency error signal suppression device 5 for an eddy current sensor, see Figure 4 ,include:

[0083] The acquisition module 51 is used to sample the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal;

[0084] a reconstruction module 52 for performing low-frequency identification based on the initial data, obtaining identification data including a change of a low-frequency error signal relative to a base signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal;

[0085] Specifically, the reconstructed component signal is also a sine and cosine signal, which is obtained by waveform reconstruction using the maximum value of the basic signal in any period of the initial data as the first comparison function, and the low-frequency error signal point is located above or below the maximum value of the basic signal.

[0086] A processing module 53 is configured to perform low-pass filtering on the reconstructed component signal and determine an initial phase angle according to a maximum point in any cycle;

[0087] Specifically, a first-order low-pass filter is set and the filter parameters are determined. The low-pass filter also generates a phase delay of T (filter parameters). When determining the initial phase angle, the maximum value within the cycle is determined by adding a linear function to determine the phase angle.

[0088] The compensation module 54 is used to establish a compensation function, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity, amplitude and initial phase angle collected by the eddy current sensor, and an alternating signal is generated according to the compensation function and injected into the initial data in an open circuit to suppress the low-frequency error signal in the initial data.

[0089] Specifically, the compensation function is used to determine the low-frequency error signal, and then directly reverse-compensate it into the angle calculation result, and inject the compensated alternating signal based on the initial phase angle to achieve the suppression of the low-frequency error signal.

[0090] In this embodiment, the acquisition module is used to acquire the initial data of the eddy current sensor, which includes the basic signal and the low-frequency error signal, and then the reconstruction module is used to determine the reconstructed component signal of the low-frequency error signal relative to the basic signal. It should be noted that since the low-frequency error signal will fluctuate on the basic signal, in order to determine the low-frequency error signal for reverse compensation, it is necessary to determine the maximum value of the low-frequency error signal as the injection point of the compensated alternating signal. The reconstructed component signal is the change of the low-frequency error signal relative to the basic signal. The maximum value of the low-frequency error signal can be obtained according to the maximum value of the reconstructed component signal. Therefore, the processing module is used to determine the corresponding initial phase angle, and finally the compensation module is used to generate an alternating signal according to the compensation function based on the open-circuit injection of the initial phase angle to achieve suppression of the low-frequency error signal. The eddy current sensor can obtain the accurate angle calculated by eliminating the low-frequency error signal.

[0091] Example 3:

[0092] To achieve the above object, the present invention also provides a computer device 6, see Figure 5 The computer device can be a smart phone, tablet computer, laptop computer, desktop computer, etc. that executes the program. The computer device of this embodiment includes at least but not limited to: a memory 61 and a processor 62 that can be interconnected via a device bus. It should be noted that Figure 5 A computer device is shown having only components, but it is understood that implementing all of the components shown is not a requirement, and greater or fewer components may alternatively be implemented.

[0093] In this embodiment, the memory 61 can be an internal storage unit of the computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory 61 can also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device. In this embodiment, the memory 61 is generally used to store operating devices and various application software installed on the computer device, such as the program code and data (such as initial data) of the low-frequency error signal suppression method of the eddy current sensor in Example 1. In addition, the memory 61 can also be used to temporarily store various types of data that are output or to be output (such as reconstructed component signals, alternating signals calculated according to the compensation function, angles calculated by the eddy current sensor, etc.).

[0094] In some embodiments, the processor 62 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 62 is typically used to control the overall operation of the computer device. In this embodiment, the processor 62 is used to execute program code stored in the memory 61 or process data, such as executing the method for suppressing low-frequency error signals of an eddy current sensor according to the first embodiment.

[0095] Example 4:

[0096] To achieve the above objectives, the present invention also provides a computer-readable storage device, which includes multiple storage media, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or D* memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, App application store, etc., on which a computer program is stored, and the program realizes the corresponding function when executed by the processor 62. The computer-readable storage medium of this embodiment is used to store data, and when executed by the processor 62, realizes the low-frequency error signal suppression method of the eddy current sensor of Example 1 and the low-frequency error signal suppression device of the eddy current sensor of Example 2.

[0097] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for suppressing low-frequency error signals of an eddy current sensor, characterized in that: include: Sampling the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal; Performing low-frequency identification based on the initial data to obtain identification data including a change in a low-frequency error signal relative to a base signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal; After low-pass filtering the reconstructed component signal, an initial phase angle is determined according to a maximum point in any cycle; Establishing a compensation function, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity and amplitude collected by the eddy current sensor and the initial phase angle, generating an alternating signal according to the compensation function, using the initial phase angle as an injection signal point, and injecting the signal into the initial data in an open circuit to suppress low-frequency error signals in the initial data; The low-frequency identification is performed based on the initial data to obtain identification data including a change of a low-frequency error signal relative to a basic signal in the initial data, waveform reconstruction is performed according to the identification data, and a reconstructed component signal is generated, including: Presetting a first comparison function according to a maximum value within any period of a basic signal in the initial data, and using the first comparison function as a reference in the initial data; For any signal point in the initial data, when the amplitude of the signal point exceeds the first comparison function, a first preset value is output; when the amplitude of the signal point does not exceed the first comparison function, a second preset value is output to generate identification data; Waveform reconstruction is performed based on the first preset value and the second preset value in the comparison data to generate a reconstructed component signal, wherein the reconstructed component signal is a reconstructed sine and cosine wave, and the first preset value and the second preset value are the maximum and minimum values ​​within the period of the reconstructed sine and cosine wave.

2. The low-frequency error signal suppression method according to claim 1, characterized in that: The low-pass filtering of the reconstructed component signal comprises: Setting a first-order low-pass filter and determining filter parameters so that the passband frequency of the reconstructed component signal is greater than the frequency of the low-frequency error signal collected by the eddy current sensor and is less than the electrical angular velocity collected by the eddy current sensor; The reconstructed component signals are subjected to phase delays based on the filter parameters.

3. The low-frequency error signal suppression method according to claim 1, wherein: Determining the initial phase angle according to the maximum point in any cycle includes: superimposing a linear function with a preset slope on the reconstructed component signal after low-pass filtering; A second comparison function is preset, and a maximum point in any period of the reconstructed component signal is determined according to the second comparison function, and a phase angle corresponding to the maximum point is obtained as an initial phase angle.

4. The low-frequency error signal suppression method according to claim 3, wherein: The linear function with a preset slope is set as a ramp function.

5. The low-frequency error signal suppression method according to claim 1, wherein: The compensation function is expressed as: Where, ω is the electrical angular velocity; A is the amplitude; is the initial phase angle.

6. The low-frequency error signal suppression method according to claim 1, characterized in that: Generating an alternating signal according to the compensation function and injecting the alternating signal into the initial data in an open circuit to suppress a low-frequency error signal in the initial data includes: The initial data and the alternating signal are summed to suppress a low-frequency error signal in the initial data.

7. A low-frequency error signal suppression device for an eddy current sensor, characterized in that: include: An acquisition module is used to sample the eddy current sensor to obtain initial data including a basic signal and a low-frequency error signal; a reconstruction module for performing low-frequency identification based on the initial data, obtaining identification data including a change of a low-frequency error signal relative to a basic signal in the initial data, performing waveform reconstruction based on the identification data, and generating a reconstructed component signal; a processing module, configured to perform low-pass filtering on the reconstructed component signal and determine an initial phase angle according to a maximum point in any cycle; a compensation module, configured to establish a compensation function, wherein the compensation function is a sinusoidal function established based on the electrical angular velocity and amplitude acquired by the eddy current sensor and the initial phase angle, generate an alternating signal according to the compensation function, use the initial phase angle as an injection signal point, and inject the signal into the initial data in an open circuit to suppress low-frequency error signals in the initial data; The low-frequency identification is performed based on the initial data to obtain identification data including a change of a low-frequency error signal relative to a basic signal in the initial data, waveform reconstruction is performed according to the identification data, and a reconstructed component signal is generated, including: Presetting a first comparison function according to a maximum value within any period of a basic signal in the initial data, and using the first comparison function as a reference in the initial data; For any signal point in the initial data, when the amplitude of the signal point exceeds the first comparison function, a first preset value is output; when the amplitude of the signal point does not exceed the first comparison function, a second preset value is output to generate identification data; Waveform reconstruction is performed based on the first preset value and the second preset value in the comparison data to generate a reconstructed component signal, wherein the reconstructed component signal is a reconstructed sine and cosine wave, and the first preset value and the second preset value are the maximum and minimum values ​​within the period of the reconstructed sine and cosine wave.

8. A computer device, characterized in that: including a memory for storing executable program code; as well as A processor is configured to call the executable program code in the memory, wherein the execution steps include the method according to any one of claims 1 to 6.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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