Self-adaptive signal buffering method

Abstract

The invention relates to a self-adaptive signal buffering method, the self-adaptive signal buffering method is realized by a state transfer device, a signal buffer and an amplitude limiter, the state transfer device outputs an accumulated value sum feedback through an input signal in, an accumulated step length step and the signal buffer, judges a current input signal buffering trend state, and outputs a current state CS; the current state CS is input by the signal buffer, signal buffer calculation is executed according to the accumulated step, and a calculation result outtemp is output; and after a calculation result outtemp of the signal buffer is subjected to amplitude limiting by the amplitude limiter, out is output as a buffer signal of the input signal. The method automatically adapts to an input signal condition, selects a proper buffering mode, and completes signal buffering under various complex working conditions without manual intervention. Complicated manual judgment work is omitted under the condition that the excitation signals suddenly change, meanwhile, the adaptability of the signal buffering method is improved, and impact, caused by suddenly change of the excitation signals, on an executing mechanism is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of signal processing, and in particular to an adaptive signal buffering method. Background Art

[0002] The impact of actuators caused by the sudden change of excitation signals is a common source of danger in mechanical equipment. It may cause equipment malfunction or damage at the least, or cause serious accidents with machine destruction and loss of life at the worst. There are many reasons for sudden changes in excitation signals, and some sudden changes in excitation signals are necessary for equipment operation, so it is almost impossible to completely eliminate them. The conventional practice is to buffer the sudden changes according to the response capability of the system after they occur, so that the sudden changes become gradual signals, so that the actuators can operate smoothly.

[0003] The common existing buffering processing method is to use a ramp function to buffer signal mutations. By adjusting the slope of the ramp, the buffering time is adjusted. The existing buffering methods can either only adapt to certain mutation situations, or require manual judgment of the mutation situation to select the appropriate buffering method or buffering parameters. The adaptability is limited, and when faced with complex working conditions of excitation signal mutations, a lot of judgment work is required. The buffering time is adjusted by adjusting the slope, which can only maintain a buffer state under certain mutation situations and cannot be adjusted in real time. Summary of the invention

[0004] Aiming at the problems of poor adaptability, complex use and inconvenient buffering time adjustment of existing buffering methods, an adaptive signal buffering method is proposed, which automatically adapts to the input signal conditions, selects the appropriate buffering method, and completes signal buffering under various complex working conditions without human intervention.

[0005] The technical solution of the present invention is: an adaptive signal buffering method, which is implemented by a state transferor, a signal buffer and a limiter. The state transferor judges the current input signal buffer trend state through the input signal in, the accumulation step step and the signal buffer output accumulation value sum feedback, and outputs the current state CS; the current state CS of the signal buffer input performs signal buffering calculation according to the accumulation step step, and outputs the calculation result out_temp; the calculation result out_temp of the signal buffer is limited by the limiter and then output out as the buffer signal of the input signal.

[0006] Furthermore, the accumulation step step is a set value, which is determined by the range D of the input signal in, the accumulation time interval t and the buffering time T, step = D × t / T; the range D of the input signal in is the maximum value of the signal minus the minimum value, each accumulation time interval t issues an accumulation action, each T time completes the buffering of a cycle of the input signal, and the T value is automatically changed or manually changed according to different working conditions.

[0007] Furthermore, the state transfer device input signal is: signal input in, difference value Δsum=in-sum between the input signal and the signal buffer output accumulated value signal, and accumulation step step; at every accumulation time interval t, the state of the current input signal is identified, and the buffer trend state relative to the current input signal is output; the state transfer device output signal is: current state CS; the current state CS has 7 states: State 1: idle state, maintaining the state unchanged;

[0008] State2: forward given;

[0009] State3: Negative given;

[0010] State4: positive addition;

[0011] State5: positive decrease;

[0012] State6: negative addition;

[0013] State7: Negative subtraction.

[0014] Furthermore, the input of the signal buffer is: the current input signal state CS and the accumulation step step, and the input is buffered according to the state signal CS. The output of the signal buffer is: the signal buffer value out_temp and the signal buffer accumulation value sum;

[0015] The signal buffer performs buffering operations according to the current state, as follows:

[0016] CS=State1: sum=0, out_temp=0;

[0017] CS=State2:out_temp=in;

[0018] CS=State3:out_temp=in;

[0019] CS=State4: out_temp=Sum, Sum=Sum+step;

[0020] CS=State5: out_temp=Sum, Sum=Sum-step;

[0021] CS=State6: out_temp=Sum, Sum=Sum+step;

[0022] CS=State7: out_temp=Sum, Sum=Sum-step.

[0023] The beneficial effect of the present invention is that the adaptive signal buffering method of the present invention eliminates the need for complex manual judgment in the event of a sudden change in the excitation signal, while improving the adaptability of the signal buffering method and effectively reducing the impact on the actuator caused by the sudden change in the excitation signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of an adaptive signal buffering method of the present invention;

[0025] Figure 2 It is the state transition diagram of the present invention. DETAILED DESCRIPTION

[0026] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0027] An adaptive signal buffering method uses state judgment and state transfer methods to judge the input signal state in real time and realize the adaptation of the input signal. The buffer calculation using step accumulation and real-time change of step length can change the signal buffer slope and adjust the buffer time in real time; by setting upper and lower limit values, the output signal amplitude is limited to protect the actuator.

[0028] like Figure 1 As shown, the adaptive signal buffering method is implemented by a state transferor, a signal buffer and a limiter. The state transferor judges the current input signal buffering trend state through the input signal (in), the cumulative step (step) and the signal buffer output cumulative value (sum) feedback, and outputs the current state (CS); the current state (CS) of the signal buffer input is used to perform signal buffering calculation according to the cumulative step (step) and output the calculation result (out_temp); the calculation result (out_temp) of the signal buffer is limited by the limiter and then output (out) as the buffer signal of the input signal.

[0029] Among them, the input signal (in) mainly refers to the excitation signal generated by manual operation and the standard signal that may cause impact, such as step signal and square wave signal; the excitation signal generated by manual operation, such as a continuous voltage signal generated by adjusting a potentiometer or pushing a master controller, or a step signal generated by manual input.

[0030] The accumulation step (step) is determined by the range D of the input signal in (signal maximum value minus minimum value), the accumulation time interval t and the buffering time T. Step = D × t / T. Each accumulation time interval t issues an accumulation action, and each T time completes the buffering of a cycle of input signals. Usually, the values ​​of D and t are fixed, and the value of T can be changed automatically or manually according to different working conditions.

[0031] The accumulated value (sum) is the accumulation or subtraction of the accumulation step length step at the accumulation time interval t according to the current state CS.

[0032] The adaptive signal buffering method needs to run in a cyclic timing interrupt with a fixed time interval, enters a cyclic timing interrupt once every fixed time (accumulated time interval t), and the algorithm is executed once each time it enters a cyclic timing interrupt.

[0033] 1. The input signals of the state transfer device are: signal input in, the difference between the input signal and the signal buffer output accumulated value signal Δsum=in-sum, and the accumulation step length step; at every accumulation time interval t, the state of the current input signal is adaptively identified, and the buffer trend state relative to the current input signal is output; the output signal of the state transfer device is: the current state CS; 7 states are defined in the state transfer device, which are defined as follows:

[0034] State1: Idle state, maintain the state unchanged;

[0035] State2: forward given;

[0036] State3: Negative given;

[0037] State4: positive addition;

[0038] State5: positive decrease;

[0039] State6: negative addition;

[0040] State7: negative reduction;

[0041] The state transition between states and the state transition conditions are as follows:

[0042] State 1: State1→State1, CS=State1: in==0;

[0043] State 2: State2→State1, CS=State1: in==0;

[0044] State 3: State1→State2, CS=State2: in>0;

[0045] State 4: State3→State1, CS=State1: in==0;

[0046] State 5: State1→State3, CS=State3: in<0;

[0047] State 6: State2→State3, CS=State3: in<0;

[0048] State 7: State3→State2, CS=State2:in>0;

[0049] State 8: State2→State2, CS=State2: in>0 and -step≤Δsum≤step;

[0050] State 9: State3→State3, CS=State3: in<0 and -step≤Δsum≤step;

[0051] State 10: State2→State4, CS=State4: in>0 and Δsum>step;

[0052] State 11: State 4 → State 2, CS = State 2: in ≥ 0 and -step ≤ Δsum ≤ step;

[0053] State 12: State2→State5, CS=State5: in>0 and Δsum≤-step;

[0054] State 13: State5→State2, CS=State2: in≥0 and -step≤Δsum≤step;

[0055] State 14: State 6 → State 2, CS = State 2: in > 0 and -step ≤ Δsum ≤ step;

[0056] State 15: State7→State2, CS=State2: in>0 and -step≤Δsum≤step;

[0057] State 16: State4→State3, CS=State3: in<0 and -step≤Δsum≤step;

[0058] State 17: State5→State3, CS=State3: in<0 and -step≤Δsum≤step;

[0059] State 18: State 6 → State 3, CS = State 3: in ≤ 0 and -step ≤ Δsum ≤ step;

[0060] State 19: State3→State6, CS=State6: in<0 and Δsum>step;

[0061] State 20: State7→State3, CS=State3: in≤0 and -step≤Δsum≤step;

[0062] State 21: State3→State7, CS=State7: in<0 and Δsum≤-step;

[0063] State 22: State4→State4, CS=State4: in>0 and Δsum>step;

[0064] State 23: State5→State5, CS=State5: in>0 and Δsum≤-step;

[0065] State 24: State6→State6, CS=State6: in<0 and Δsum>step;

[0066] State 25: State7→State7, CS=State7: in<0 and Δsum≤-step;

[0067] State 26: State5→State4, CS=State4: in>0 and Δsum>step;

[0068] State 27: State4→State5, CS=State5: in>0 and Δsum≤-step;

[0069] State 28: State6→State5, CS=State5: in>0 and Δsum≤-step;

[0070] State 29: State5→State6, CS=State6: in<0 and Δsum>step;

[0071] State 30: State6→State7, CS=State7: in<0 and Δsum≤-step;

[0072] State 31: State7→State6, CS=State6: in<0 and Δsum>step;

[0073] State 32: State4→State6, CS=State6: in<0 and Δsum>step;

[0074] State 33: State6→State4, CS=State4: in>0 and Δsum>step;

[0075] State 34: State5→State7, CS=State7: in<0 and Δsum≤-step;

[0076] State 35: State7→State5, CS=State5: in>0 and Δsum≤-step;

[0077] State 36: State 4 → State 7, CS = State 7: in < 0 and Δsum ≤ -step;

[0078] State 37: State7→State4, CS=State4: in>0 and Δsum>step.

[0079] 2. The input of the signal buffer is: the current input signal state CS and the cumulative step length step. According to the state signal CS, the input is buffered, and the output of the signal buffer is: the signal buffer value out_temp and the signal buffer cumulative value sum.

[0080] The signal buffer performs buffering operations according to the current state, as follows:

[0081] CS=State1: sum=0, out_temp=0;

[0082] CS=State2:out_temp=in;

[0083] CS=State3:out_temp=in;

[0084] CS=State4: out_temp=Sum, Sum=Sum+step;

[0085] CS=State5: out_temp=Sum, Sum=Sum-step;

[0086] CS=State6: out_temp=Sum, Sum=Sum+step;

[0087] CS=State7: out_temp=Sum, Sum=Sum-step.

[0088] The requirements for the buffer time T are different in different occasions or working conditions. By setting the buffer time T, the cumulative step size step can be changed in real time to adapt to various application occasions and working conditions.

[0089] 3. Limiter input: upper limit value up_limit, lower limit value down_limit, signal buffer value out_temp. Limiter output: output value out after limiting.

[0090] Limiter limiting operation:

[0091] When down_limit≤out_temp≤up_limit, out:=out_temp;

[0092] When up_limit<out_temp, out:=up_limit;

[0093] When out_temp<down_limit, out:=down_limit.

[0094] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An adaptive signal buffering method, characterized in that: The adaptive signal buffering method is implemented by a state transferor, a signal buffer and a limiter. The state transferor judges the current input signal buffer trend state through the input signal in, the accumulation step step and the signal buffer output accumulation value sum feedback, and outputs the current state CS; the current state CS of the signal buffer input performs signal buffering calculation according to the accumulation step step, and outputs the calculation result out_temp; the calculation result out_temp of the signal buffer is limited by the limiter and then output out as the buffer signal of the input signal.

2. The adaptive signal buffering method according to claim 1, characterized in that: The accumulation step step is a set value, which is determined by the range D of the input signal in, the accumulation time interval t and the buffering time T, step = D × t / T; the range D of the input signal in is the maximum value minus the minimum value of the signal, each accumulation time interval t issues an accumulation action, each T time completes the buffering of a cycle of the input signal, and the T value is automatically changed or manually changed according to different working conditions.

3. The adaptive signal buffering method according to claim 2, characterized in that: The input signals of the state transfer device are: signal input in, difference value Δsum=in-sum between the input signal and the signal buffer output accumulated value, and accumulation step length step; the state of the current input signal is identified at every accumulation time interval t, and the buffer trend state relative to the current input signal is output; the output signal of the state transfer device is: current state CS; The current state CS has 7 states: State1: Idle state, maintain the state unchanged; State2: forward given; State3: Negative given; State4: positive addition; State5: positive decrease; State6: negative addition; State7: Negative subtraction.

4. The adaptive signal buffering method according to claim 3, characterized in that: The input of the signal buffer is: the current input signal state CS and the cumulative step length step. According to the state signal CS, the input is buffered. The output of the signal buffer is: the signal buffer value out_temp and the signal buffer cumulative value sum; The signal buffer performs buffering operations according to the current state, as follows: CS=State1: sum=0, out_temp=0; CS=State2:out_temp=in; CS=State3:out_temp=in; CS=State4: out_temp=Sum, Sum=Sum+step; CS=State5: out_temp=Sum, Sum=Sum-step; CS=State6: out_temp=Sum, Sum=Sum+step; CS=State7: out_temp=Sum, Sum=Sum-step.

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