A displacement detection method, system and device for a sinusoidal wave excitation instruction sensor

Abstract

The present invention provides a displacement detection method, system, and device for a sinusoidal wave excitation command sensor, belonging to the field of aircraft brake systems. The displacement detection method comprises: oversampling the sinusoidal wave signal output by the sinusoidal wave excitation command sensor for any control cycle to determine the extreme value within the current control cycle; determining the initial displacement of the current control cycle based on the extreme value; performing a sliding average filter on the initial displacement of the current control cycle based on the initial displacements of the previous M control cycles to obtain an average filtered displacement; performing a low-pass filter on the average filtered displacement to obtain a low-pass filtered displacement; and limiting the low-pass filtered displacement to obtain the displacement of the sinusoidal wave excitation command sensor within the current control cycle. This method improves the accuracy of displacement detection for the sinusoidal wave excitation command sensor without changing the hardware, thereby resolving the problem of residual displacement when the brake is released.

Description

Technical Field

[0001] The present invention relates to the field of aircraft brake systems, and in particular to a displacement detection method, system and equipment for a sinusoidal wave excitation instruction sensor. Background Art

[0002] A sine wave excitation command sensor is often used in aircraft braking systems. Its working principle is as follows: Figure 1 As shown. When the pilot steps on the brake pedal, the push rod pushes the armature, causing the displacement of the iron core to change, affecting the magnetic field and converting the change in the displacement of the iron core into a change in the amplitude of the output voltage of the secondary coil. When the brakes are not applied, the amplitude of the output sine wave signal is minimum; when the brakes are fully applied, the amplitude of the output sine wave signal is maximum. The sine wave signal is the command signal, and the peak-to-peak value of the sine wave represents the displacement. The command signal is provided to the brake control unit, which converts it into a current signal that can be received by the servo valve, thereby controlling the brake pressure of the wheel brake device. However, due to the hardware of the sinusoidal wave excitation command sensor, the sinusoidal wave signal output by the sinusoidal wave excitation command sensor has residual displacement when the brakes are released, resulting in less precise braking.

[0003] Based on the above problems, there is an urgent need for a displacement detection method to accurately detect the displacement of the sinusoidal wave excitation instruction sensor, thereby avoiding the existence of displacement. Summary of the Invention

[0004] The object of the present invention is to provide a displacement detection method, system and device for a sinusoidal wave excitation instruction sensor, which can improve the displacement detection accuracy of the sinusoidal wave excitation instruction sensor without changing the hardware.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A displacement detection method for a sinusoidal wave excitation instruction sensor, comprising:

[0007] For the Kth control cycle, the sinusoidal wave signal output by the sinusoidal wave excitation instruction sensor is oversampled to determine the maximum value, minimum value, peak value and valley value within the Kth control cycle; K>0;

[0008] Determine the initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value in the Kth control period;

[0009] According to the initial displacement from the KMth control cycle to the K-1th control cycle, the initial displacement of the Kth control cycle is subjected to sliding average filtering to obtain the average filtered displacement of the Kth control cycle; the initial displacement of the 0th control cycle is 0; <M≤K;

[0010] Determine the low-pass filtered displacement of the Kth control period based on the average filtered displacement of the Kth control period and the low-pass filtered displacement of the (K - 1)th control period; the low-pass filtered displacement of the 0th control period is 0;

[0011] Limit the low-pass filtered displacement of the Kth control period according to the low-pass filtered displacement of the (K - 1)th control period to obtain the displacement of the sine wave excitation command sensor within the Kth control period.

[0012] Optionally, oversample the sine wave signal output by the sine wave excitation command sensor to determine the maximum value, minimum value, peak value, and valley value within the Kth control period, specifically including:

[0013] Initialize the maximum value, minimum value, peak value, and valley value to obtain the initial maximum value, initial minimum value, initial peak value, and initial valley value;

[0014] For the nth oversampling, determine whether the amplitude value of the nth sampling point is less than the (n - 1)th minimum value. If so, the nth minimum value is the amplitude value of the nth sampling point; otherwise, the nth minimum value is the initial minimum value; 0 < n; the 〇th minimum value is the initial minimum value;

[0015] Determine whether the amplitude value of the nth sampling point is greater than the (n - 1)th maximum value. If so, the nth maximum value is the amplitude value of the nth sampling point; otherwise, the nth maximum value is the initial maximum value; the 〇th maximum value is the initial maximum value;

[0016] Determine whether n is less than 3. If n is less than 3, the nth peak value is the initial peak value, and the nth valley value is the initial valley value;

[0017] If n is greater than or equal to 3, determine whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point, and whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point;

[0018] If the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the (n - 2)th sampling point, or the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the nth sampling point, then the nth peak value is the (n - 1)th peak value;

[0019] If the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point, and the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point, then determine whether the (n - 1)th peak value is the initial peak value. If so, the nth peak value is the amplitude value of the (n - 1)th sampling point; otherwise, the nth peak value is the average value of the (n - 1)th peak value and the amplitude value of the (n - 1)th sampling point;

[0020] Determine whether the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the n-2th sampling point, and whether the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the nth sampling point;

[0021] If the amplitude value of the n-1th sampling point is greater than the amplitude value of the n-2th sampling point, or the amplitude value of the n-1th sampling point is greater than the amplitude value of the nth sampling point, then the nth valley value is the n-1th valley value;

[0022] If the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the n-2th sampling point, and the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the n-1th sampling point, then determine whether the n-1th valley value is the initial valley value. If so, the nth valley value is the amplitude value of the n-1th sampling point. Otherwise, the nth valley value is the average of the n-1th valley value and the amplitude value of the n-1th sampling point.

[0023] Determine whether n is equal to N. If so, oversampling ends, the minimum value within the Kth control period is the Nth minimum value, the maximum value within the Kth control period is the Nth maximum value, the peak value within the Kth control period is the Nth peak value, and the valley value within the Kth control period is the Nth valley value. Otherwise, oversampling is performed for the n+1th time; N is the maximum number of oversampling times.

[0024] Optionally, determining the initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value in the Kth control period specifically includes:

[0025] Determine whether the peak value and the valley value are valid, and whether the peak value is greater than the valley value; if the peak value is equal to the initial peak value, the peak value is invalid, otherwise the peak value is valid; if the valley value is equal to the initial valley value, the valley value is invalid, otherwise the valley value is valid;

[0026] If the peak value is invalid or the valley value is invalid or the peak value is less than or equal to the valley value, the initial displacement of the Kth control cycle is the difference between the maximum value and the minimum value;

[0027] If the peak value is valid and the valley value is valid and the peak value is greater than the valley value, then use formula S K =min(peak K -valley K ,max K -min K ) Determine the initial displacement of the Kth control cycle;

[0028] Among them, S K is the initial displacement of the Kth control cycle, peak Kis the peak value in the K-th control cycle, valley(K) is the valley value in the K-th control cycle, max K is the maximum value in the Kth control cycle, min K It is the minimum value in the Kth control cycle, and min() means finding the minimum value.

[0029] Alternatively, using formula S f,K =S K-M *K M +...+S K-1 *K1+S K *K0 determines the average filter displacement of the Kth control cycle;

[0030] Among them, S f,K is the average filter displacement of the Kth control cycle, S K-M is the initial displacement of the KMth control cycle, S K is the initial displacement of the Kth control cycle, K0, K1, ..., K M is the average filter coefficient, K0+K1+...+K M =1.

[0031] Alternatively, using formula S l,K =α*S f,K +(1-α)*S l,K-1 Determine the low-pass filter displacement of the Kth control cycle;

[0032] Among them, S l,K is the low-pass filter displacement of the Kth control cycle, S f,K is the average filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, and α is the low-pass filter coefficient.

[0033] Optionally, the displacement of the sinusoidal wave excitation instruction sensor in the Kth control cycle is determined using the following formula:

[0034]

[0035] Among them, S o,K is the displacement of the sinusoidal wave excitation instruction sensor in the Kth control cycle, S l,K is the low-pass filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, P and Q are the limiting coefficients, and P>1, Q<1.

[0036] To achieve the above object, the present invention also provides the following solution:

[0037] A displacement detection system for a sinusoidal wave excitation instruction sensor, comprising:

[0038] An extreme value determination unit is connected to the sinusoidal wave excitation instruction sensor and is used to oversample the sinusoidal wave signal output by the sinusoidal wave excitation instruction sensor for the Kth control cycle to determine the maximum value, minimum value, peak value and valley value within the Kth control cycle; K>0;

[0039] a displacement determining unit, connected to the extreme value determining unit, for determining an initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value within the Kth control period;

[0040] The average filtering unit is connected to the displacement determination unit and is used to perform a sliding average filter on the initial displacement of the Kth control period according to the initial displacement from the KMth control period to the K-1th control period to obtain the average filtered displacement of the Kth control period; the displacement of the 0th control period is 0; <M≤K;

[0041] a low-pass filtering unit connected to the averaging filtering unit, configured to determine a low-pass filtering displacement of the K-th control period based on the average filtering displacement of the K-th control period and the low-pass filtering displacement of the K-1-th control period; the low-pass filtering displacement of the 0-th control period is 0;

[0042] The limiting unit is connected to the low-pass filtering unit and is used to limit the low-pass filtering displacement of the K-th control period according to the low-pass filtering displacement of the K-1-th control period to obtain the displacement of the sinusoidal wave excitation instruction sensor in the K-th control period.

[0043] To achieve the above object, the present invention also provides the following solution:

[0044] An electronic device includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute a displacement detection method of a sinusoidal wave excitation instruction sensor.

[0045] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: first, the sinusoidal wave signal output by the sinusoidal wave excitation instruction sensor in any control cycle is oversampled to determine the extreme value, and then the initial displacement of the Kth control cycle is determined based on the extreme value, and the initial displacement of the Kth control cycle is subjected to sliding average filtering based on the initial displacements of the first M control cycles to obtain the average filtered displacement of the Kth control cycle, and then the low-pass filtered displacement of the Kth control cycle is determined based on the average filtered displacement of the Kth control cycle and the low-pass filtered displacement of the K-1th control cycle, and finally, the low-pass filtered displacement of the Kth control cycle is limited based on the low-pass filtered displacement of the K-1th control cycle to obtain the displacement of the sinusoidal wave excitation instruction sensor in the Kth control cycle, and by sequentially performing sliding average filtering, low-pass filtering and limiting on the initial displacement, the accuracy of displacement detection of the sinusoidal wave excitation instruction sensor is improved without changing the hardware, thereby being able to solve the problem of residual displacement when the brake is released. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 This is a schematic diagram of the working principle of the sinusoidal wave excitation command sensor;

[0048] Figure 2 Flowchart of the displacement detection method of the sine wave excitation instruction sensor of the present invention;

[0049] Figure 3 This is a schematic diagram of sine wave sampling;

[0050] Figure 4 Flowchart for finding extreme values;

[0051] Figure 5 Flowchart for calculating initial displacement;

[0052] Figure 6 Schematic diagram of the module of the displacement detection system of the sinusoidal wave excitation instruction sensor of the present invention.

[0053] Explanation of symbols:

[0054] Extreme value determination unit-1, displacement determination unit-2, average filter unit-3, low-pass filter unit-4, and limiter unit-5. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] The purpose of the present invention is to provide a displacement detection method, system and device for a sinusoidal wave excitation instruction sensor, which improves the accuracy of displacement detection of the sinusoidal wave excitation instruction sensor without changing the hardware by performing sliding average filtering, low-pass filtering and limiting on the initial displacement in sequence.

[0057] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Example 1

[0059] like Figure 2 As shown, the displacement detection method of the sinusoidal wave excitation instruction sensor of the present invention includes:

[0060] S1: For the Kth control cycle, oversample the sinusoidal wave signal output by the sinusoidal wave excitation command sensor to determine the maximum value, minimum value, peak value and valley value within the Kth control cycle; K>0.

[0061] Assume that the control period is T c , the period of the sine wave signal is T sin , the period of a general sine wave signal is T sin Less than the control period T c Specifically, within a control cycle, the sine wave signal is oversampled, and the sampling interval is T s , the number of sampling times is N, and the sampling time is T s *N, and the sampling time meets T s *N <T c Because it is oversampling, the sampling interval T s Should be much smaller than the period T of the sine wave signal sin The sine wave sampling diagram is as follows: Figure 3 shown.

[0062] Furthermore, if Figure 4 As shown, step S1 specifically includes:

[0063] (1) Initializing the maximum value, minimum value, peak value, and valley value to obtain the initial maximum value, initial minimum value, initial peak value, and initial valley value. In this embodiment, the initial maximum value is 0, and the initial minimum value, initial peak value, and initial valley value are all 0xFFFF.

[0064] (2) For the nth oversampling, determine whether the amplitude value of the nth sampling point is less than the (n - 1)th minimum value. If so, the nth minimum value is the amplitude value of the nth sampling point; otherwise, the nth minimum value is the initial minimum value; 0 < n; the 0th minimum value is the initial minimum value.

[0065] (3) Determine whether the amplitude value of the nth sampling point is greater than the (n - 1)th maximum value. If so, the nth maximum value is the amplitude value of the nth sampling point; otherwise, the nth maximum value is the initial maximum value; the 0th maximum value is the initial maximum value.

[0066] (4) Determine whether n is less than 3. If n is less than 3, the nth peak value is the initial peak value, and the nth trough value is the initial trough value.

[0067] (5) If n is greater than or equal to 3, then determine whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point, and whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point.

[0068] If the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the (n - 2)th sampling point, or the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the nth sampling point, then the nth peak value is the (n - 1)th peak value.

[0069] If the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point, and the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point, then determine whether the (n - 1)th peak value is the initial peak value. If so, the nth peak value is the amplitude value of the (n - 1)th sampling point; otherwise, the nth peak value is the average value of the (n - 1)th peak value and the amplitude value of the (n - 1)th sampling point.

[0070] (6) Determine whether the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the (n - 2)th sampling point, and whether the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the nth sampling point.

[0071] If the amplitude value of the (n - 1)th sampling point is greater than the amplitude value of the (n - 2)th sampling point, or the amplitude value of the (n - 1)th sampling point is greater than the amplitude value of the nth sampling point, then the nth trough value is the (n - 其n - 1个采样点的幅度值大于第n - 2个采样点的幅度值,或第n - 1个采样点的幅度值大于第n个采样点的幅度值,则第n个谷值为第n - 1个谷值。

[0072] If the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the (n - 2)th sampling point, and the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the nth sampling point, then determine whether the (n - 1)th trough value is the initial trough value. If so, the nth trough value is the amplitude value of the (n - 1)th sampling point; otherwise, the nth trough value is the average value of the (n - 1)th trough value and the amplitude value of the (n - 1)th sampling point.

[0073] (7) Determine whether n is equal to N. If so, oversampling ends, the minimum value in the Kth control cycle is the Nth minimum value, the maximum value in the Kth control cycle is the Nth maximum value, the peak value in the Kth control cycle is the Nth peak value, and the valley value in the Kth control cycle is the Nth valley value. Otherwise, oversampling is performed for the n+1th time; N is the maximum number of oversampling times.

[0074] In order to save memory and reduce processing delay, in this embodiment, sampling and extreme value finding are performed together. When sampling, only the amplitude value of the current sampling point, the amplitude value of the previous sampling point, and the amplitude value of the previous sampling point need to be saved. The sampling array of a control cycle is represented by S n ,n range (1,2,...,N). Find the maximum value, minimum value, peak value, and valley value of the sample array. K =max(S1,S2,...,S N ); minimum value min K =min(S1,S2,...,S N ); peak value K =S n , n is in the range of (2,3,...,N-1), and must satisfy (S n >S n-1 &&S n >S n +1), average when multiple peaks are detected, valley K =S n , n is in the range of (2,3,...,N-1), and must satisfy (S n n-1 &&S n n +1), and average when multiple valley values ​​are detected.

[0075] Since the sampling process does not need to save all the sampling values, only two historical sampling values ​​and four extreme values ​​need to be saved, which takes up very little memory. In addition, finding the extreme values ​​and sampling are performed synchronously. After the sampling is completed, the displacement can be calculated, and the processing speed is fast.

[0076] S2: Determine the initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value in the Kth control period.

[0077] Furthermore, if Figure 5 As shown, step S2 specifically includes:

[0078] ​​Determine whether the peak value and the valley value are valid, and whether the peak value is greater than the valley value. If the peak value is equal to the initial peak value, the peak value is invalid; otherwise, the peak value is valid. If the valley value is equal to the initial valley value, the valley value is invalid; otherwise, the valley value is valid.

[0079] If the peak value is invalid or the valley value is invalid or the peak value is less than or equal to the valley value, the initial displacement of the Kth control cycle is the difference between the maximum value and the minimum value.

[0080] If the peak value is valid and the valley value is valid and the peak value is greater than the valley value, then use formula S K =min(peak K -valley K ,max K -min K ) Determine the initial displacement of the Kth control cycle;

[0081] Among them, S K is the initial displacement of the Kth control cycle, peak K is the peak value in the K-th control cycle, valley(K) is the valley value in the K-th control cycle, max K is the maximum value in the Kth control cycle, min K It is the minimum value in the Kth control cycle, and min() means finding the minimum value.

[0082] S3: Based on the initial displacement from the KMth control cycle to the K-1th control cycle, perform sliding average filtering on the initial displacement of the Kth control cycle to obtain the average filtered displacement of the Kth control cycle; the initial displacement of the 0th control cycle is 0; <M≤K。

[0083] Specifically, the sliding window length is set to M+1, and the displacement of the latest M control cycles and the displacement of the current control cycle are averaged. f,K =S K-M *K M +...+S K-1 *K1+S K *K0 determines the average filter displacement of the Kth control cycle. f,K is the average filter displacement of the Kth control cycle, S K-M is the initial displacement of the KMth control cycle, S K is the initial displacement of the Kth control cycle, K0, K1, ..., K M is the average filter coefficient, K0+K1+...+K M =1.

[0084] S4: Determine the low-pass filter displacement of the Kth control period according to the average filter displacement of the Kth control period and the low-pass filter displacement of the K-1th control period. The low-pass filter displacement of the 0th control period is 0.

[0085] Specifically, a first-order low-pass filter is used to further smooth the low-pass filter displacement. l,K =α*S f,K +(1-α)*S l,K-1 Determine the low-pass filter displacement of the Kth control cycle. Among them, S l,K is the low-pass filter displacement of the Kth control cycle, S f,K is the average filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, α is the low-pass filter coefficient, and the value range of α is (0~1).

[0086] S5: According to the low-pass filtered displacement of the K-th control period, the low-pass filtered displacement of the K-th control period is limited to obtain the displacement of the sinusoidal wave excitation instruction sensor in the K-th control period.

[0087] Specifically, the displacement of the sinusoidal wave excitation command sensor in the Kth control cycle is determined using the following formula:

[0088]

[0089] Among them, S o,K is the displacement of the sinusoidal wave excitation instruction sensor in the Kth control cycle, S l,K is the low-pass filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, P and Q are the limiting coefficients, and P>1, Q<1.

[0090] In addition, the displacement S of the sinusoidal wave excitation instruction sensor in the Kth control cycle is obtained. o,K After that, it is input into the brake control unit, which converts it into a current signal that can be received by the servo valve, thereby accurately controlling the brake pressure of the wheel brake device.

[0091] The present invention uses the analog-to-digital conversion module and timer of the main chip in the aircraft braking system to sample a set of values ​​from a sinusoidal signal at fixed intervals within a control cycle. The sampled array is then used to determine the extreme value, and the initial displacement of the command sensor is calculated based on the extreme value. A sliding average filter value is then calculated for the initial displacements of the most recent control cycles and the current control cycle. The sliding average output is further subjected to a first-order low-pass filter, and finally, the output of the first-order low-pass filter is clipped to obtain the final displacement. This ensures that the displacement in the command signal received by the brake control unit is sufficiently accurate.

[0092] Experimental verification shows that the displacement sensor generated by the displacement detection method of the present invention exhibits stable displacement. Furthermore, when there is no displacement (i.e., when the brake is released), the resulting command signal contains no residual displacement, thereby improving braking accuracy. This improves the accuracy of displacement detection without changing the hardware, thereby resolving the issue of residual displacement when the brake is released.

[0093] Example 2

[0094] In order to execute the method corresponding to the above-mentioned embodiment 1 and achieve the corresponding functions and technical effects, a displacement detection system of a sinusoidal wave excitation instruction sensor is provided below.

[0095] like Figure 6 As shown, the displacement detection system of the sinusoidal wave excitation instruction sensor provided in this embodiment includes: an extreme value determination unit 1, a displacement determination unit 2, an average filter unit 3, a low-pass filter unit 4 and a limiter unit 5.

[0096] Among them, the extreme value determination unit 1 is connected to the sinusoidal wave excitation instruction sensor, and the extreme value determination unit 1 is used to oversample the sinusoidal wave signal output by the sinusoidal wave excitation instruction sensor for the Kth control cycle to determine the maximum value, minimum value, peak value and valley value within the Kth control cycle; K>0.

[0097] The displacement determination unit 2 is connected to the extreme value determination unit 1 and is used to determine the initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value in the Kth control period.

[0098] The average filtering unit 3 is connected to the displacement determination unit 2, and the average filtering unit 3 is used to perform a sliding average filter on the initial displacement of the Kth control period according to the initial displacement from the KMth control period to the K-1th control period to obtain the average filtered displacement of the Kth control period; the displacement of the 0th control period is 0; <M≤K。

[0099] The low-pass filtering unit 4 is connected to the average filtering unit 3, and the low-pass filtering unit 4 is used to determine the low-pass filtering displacement of the K-th control cycle based on the average filtering displacement of the K-th control cycle and the low-pass filtering displacement of the K-1-th control cycle; the low-pass filtering displacement of the 0th control cycle is 0.

[0100] The limiting unit 5 is connected to the low-pass filtering unit 4, and the limiting unit 5 is used to limit the low-pass filtering displacement of the K-th control period according to the low-pass filtering displacement of the K-th control period to obtain the displacement of the sinusoidal wave excitation instruction sensor in the K-th control period.

[0101] Example 3

[0102] This embodiment provides an electronic device, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the displacement detection method of the sine wave excitation instruction sensor of the first embodiment.

[0103] Optionally, the above-mentioned electronic device may be a server.

[0104] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0105] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A displacement detection method for a sinusoidal wave excitation instruction sensor, characterized in that: The displacement detection method of the sine wave excitation command sensor includes: For the Kth control period, oversample the sine wave signal output by the sine wave excitation command sensor to determine the maximum value, minimum value, peak value, and valley value within the Kth control period; K > 0; Determine the initial displacement of the Kth control period according to the maximum value, minimum value, peak value, and valley value within the Kth control period; Perform a moving average filter on the initial displacement of the Kth control period based on the initial displacements from the (K - M)th control period to the (K - 1)th control period to obtain the average filtered displacement of the Kth control period; the initial displacement of the 0th control period is 0; 0 < M ≤ K; Determine the low-pass filtered displacement of the Kth control period according to the average filtered displacement of the Kth control period and the low-pass filtered displacement of the (K - 1)th control period; the low-pass filtered displacement of the 0th control period is 0; Limit the low-pass filtered displacement of the Kth control period according to the low-pass filtered displacement of the (K - 1)th control period to obtain the displacement of the sine wave excitation command sensor within the Kth control period.

2. The displacement detection method of the sinusoidal wave excitation instruction sensor according to claim 1, characterized in that: The oversampling of the sine wave signal output by the sine wave excitation command sensor to determine the maximum value, minimum value, peak value, and valley value within the Kth control period specifically includes: Initialize the maximum value, minimum value, peak value, and valley value to obtain the initial maximum value, initial minimum value, initial peak value, and initial valley value; For the nth oversampling, determine whether the amplitude value of the nth sampling point is less than the (n - 1)th minimum value. If so, the nth minimum value is the amplitude value of the nth sampling point; otherwise, the nth minimum value is the initial minimum value; 0 < n; the 0th minimum value is the initial minimum value; Determine whether the amplitude value of the nth sampling point is greater than the (n - 1)th maximum value. If so, the nth maximum value is the amplitude value of the nth sampling point; otherwise, the nth maximum value is the initial maximum value; the 0th maximum value is the initial maximum value; Determine whether n is less than 3. If n is less than 3, the nth peak value is the initial peak value and the nth valley value is the initial valley value; If n is greater than or equal to 3, determine whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point and whether the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point; If the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the (n - 2)th sampling point or the amplitude value of the (n - 1)th sampling point is less than the amplitude value of the nth sampling point, the nth peak value is the (n - 1)th peak value; If the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the (n - 2)th sampling point and the amplitude value of the (n - 1)th sampling point is greater than or equal to the amplitude value of the nth sampling point, determine whether the (n - 1)th peak value is the initial peak value. If so, the nth peak value is the amplitude value of the (n - 1)th sampling point; otherwise, the nth peak value is the average value of the (n - 1)th peak value and the amplitude value of the (n - 1)th sampling point; Determine whether the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the (n - 2)th sampling point and whether the amplitude value of the (n - 1)th sampling point is less than or equal to the amplitude value of the nth sampling point; If the amplitude value of the n-1th sampling point is greater than the amplitude value of the n-2th sampling point, or the amplitude value of the n-1th sampling point is greater than the amplitude value of the nth sampling point, then the nth valley value is the n-1th valley value; If the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the n-2th sampling point, and the amplitude value of the n-1th sampling point is less than or equal to the amplitude value of the n-1th sampling point, then determine whether the n-1th valley value is the initial valley value. If so, the nth valley value is the amplitude value of the n-1th sampling point. Otherwise, the nth valley value is the average of the n-1th valley value and the amplitude value of the n-1th sampling point. Determine whether n is equal to N. If so, oversampling ends, the minimum value within the Kth control period is the Nth minimum value, the maximum value within the Kth control period is the Nth maximum value, the peak value within the Kth control period is the Nth peak value, and the valley value within the Kth control period is the Nth valley value. Otherwise, oversampling is performed for the n+1th time; N is the maximum number of oversampling times.

3. The displacement detection method of the sinusoidal wave excitation instruction sensor according to claim 1, characterized in that: The determining of the initial displacement of the K-th control period according to the maximum value, minimum value, peak value and valley value in the K-th control period specifically includes: Determine whether the peak value and the valley value are valid, and whether the peak value is greater than the valley value; if the peak value is equal to the initial peak value, the peak value is invalid, otherwise the peak value is valid; if the valley value is equal to the initial valley value, the valley value is invalid, otherwise the valley value is valid; If the peak value is invalid or the valley value is invalid or the peak value is less than or equal to the valley value, the initial displacement of the Kth control cycle is the difference between the maximum value and the minimum value; If the peak value is valid and the valley value is valid and the peak value is greater than the valley value, then use formula S K =min(peak K -valley K ,max K -min K ) Determine the initial displacement of the Kth control cycle; Among them, S K is the initial displacement of the Kth control cycle, peak K is the peak value in the K-th control cycle, valley(K) is the valley value in the K-th control cycle, max K is the maximum value in the Kth control cycle, min K It is the minimum value in the Kth control cycle, and min() means finding the minimum value.

4. The displacement detection method of the sinusoidal wave excitation instruction sensor according to claim 1, characterized in that: Using formula S f,K =S K-M *K M +...+S K-1 *K1+S K *K0 determines the average filter displacement of the Kth control cycle; Among them, S f,K is the average filter displacement of the Kth control cycle, S K-M is the initial displacement of the KMth control cycle, S K is the initial displacement of the Kth control cycle, K0, K1, ..., K M is the average filter coefficient, K0+K1+...+K M =1.

5. The displacement detection method of the sinusoidal wave excitation instruction sensor according to claim 1, characterized in that: Using formula S l,K =α*S f,K +(1-α)*S l,K-1 Determine the low-pass filter displacement of the Kth control cycle; Among them, S l,K is the low-pass filter displacement of the Kth control cycle, S f,K is the average filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, and α is the low-pass filter coefficient.

6. The displacement detection method of the sinusoidal wave excitation instruction sensor according to claim 1, characterized in that: The displacement of the sinusoidal wave excitation command sensor during the Kth control cycle is determined using the following formula: Among them, S o,K is the displacement of the sinusoidal wave excitation instruction sensor in the Kth control cycle, S l,K is the low-pass filter displacement of the Kth control cycle, S l,K-1 is the low-pass filter displacement of the K-1th control cycle, P and Q are the limiting coefficients, and P>1, Q<1.

7. A displacement detection system for a sinusoidal wave excitation instruction sensor, characterized in that: The displacement detection system of the sinusoidal wave excitation instruction sensor includes: An extreme value determination unit is connected to the sinusoidal wave excitation instruction sensor and is used to oversample the sinusoidal wave signal output by the sinusoidal wave excitation instruction sensor for the Kth control cycle to determine the maximum value, minimum value, peak value and valley value within the Kth control cycle; K>0; a displacement determining unit, connected to the extreme value determining unit, for determining an initial displacement of the Kth control period according to the maximum value, minimum value, peak value and valley value within the Kth control period; The average filtering unit is connected to the displacement determination unit and is used to perform a sliding average filter on the initial displacement of the Kth control period according to the initial displacement from the KMth control period to the K-1th control period to obtain the average filtered displacement of the Kth control period; the displacement of the 0th control period is 0; <M≤K; a low-pass filtering unit connected to the averaging filtering unit, configured to determine a low-pass filtering displacement of the K-th control period based on the average filtering displacement of the K-th control period and the low-pass filtering displacement of the K-1-th control period; the low-pass filtering displacement of the 0-th control period is 0; The limiting unit is connected to the low-pass filtering unit and is used to limit the low-pass filtering displacement of the K-th control period according to the low-pass filtering displacement of the K-1-th control period to obtain the displacement of the sinusoidal wave excitation instruction sensor in the K-th control period.

8. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the displacement detection method of the sinusoidal wave excitation instruction sensor according to any one of claims 1 to 6.

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