Method for improving anti-interference capability of control panel

Abstract

The invention relates to the technical field of control panel signal processing, and provides a method for improving the anti-interference capability of a control panel, and the method comprises the steps: collecting the frequency characteristics of each motor control signal in the control panel, carrying out the Fourier analysis of the frequency characteristics to obtain a spectrogram, and dividing the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram; time slot distribution is carried out on the control signals in the high-frequency signal group, the transmission period of the high-frequency signal group is divided into N time slots, and each control signal exclusively occupies one time slot; based on the frequency characteristics of the low-frequency signal group, constructing an orthogonal modulation basis vector, and mapping the control signal of the low-frequency signal group to the orthogonal modulation basis vector; and according to the time slot distribution scheme and the quadrature modulation basis vector, reconstructing the signal transmission time sequence of the control panel, so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other. The technical problem that when multiple motors operate at the same time, control precision of a control panel is reduced due to mutual interference of control signals is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of control board signal processing, and in particular, to a method for improving the anti-interference ability of a control board. Background Art

[0002] With the rapid development of industrial automation and intelligent control technology, the control board, as the core control unit in a multi-motor system, is widely used in fields such as numerical control machine tools, robots, and rail transit. The main function of the control board is to monitor and precisely control the operating states of multiple motors in real time, and its performance directly affects the stability and working efficiency of the entire system. However, with the continuous increase in the complexity of multi-motor systems, the types and quantities of control signals that the control board needs to process have increased significantly. These signals usually have different frequency characteristics and real-time requirements. During the signal transmission and processing, due to the cross-interference between multiple control signals, especially the coupling interference between high-frequency signals and low-frequency signals, it is easy to cause signal distortion and an increase in the error rate, thereby reducing the control accuracy and even triggering system operation failures. In the prior art, the research on the anti-interference ability of control boards mainly focuses on hardware optimization and simple signal filtering. For example, means such as shielding design, signal shielding cables, or adding filter capacitors are used to suppress the influence of external electromagnetic interference. However, the anti-interference effects of these methods are still limited in an environment of complex multi-signal interactions. Especially in multi-motor systems, the interference problem between internal signals cannot be completely solved through simple hardware optimization.

[0003] There are also some studies in the prior art that attempt to improve the anti-interference ability from the perspectives of signal grouping and transmission protocol optimization. For example, by assigning priorities to control signals or using time-division multiplexing technology to reduce conflict interference between signals. However, when dealing with the mixed transmission of high-frequency and low-frequency signals, these methods still have the following deficiencies: First, priority assignment can only partially alleviate the conflict problem but cannot effectively separate the timing interference of high-frequency signals; second, due to the lack of optimized design for signal frequency characteristics, the allocation of time slot resources in traditional time-division multiplexing methods is not efficient enough to meet the high requirements of multi-motor systems for real-time performance and accuracy; in addition, low-frequency signals are easily affected by the coupling interference of high-frequency signals in a multi-signal transmission environment, resulting in a decline in signal quality. These technical bottlenecks indicate that there is still much room for improvement in the prior art in terms of signal frequency characteristic analysis and interference suppression design. How to improve the anti-interference ability of the control board through more refined signal grouping and transmission strategies has become an important research direction at present. Summary of the Invention

[0004] Embodiments of the present invention provide a method for improving the anti-interference ability of a control board, thereby at least to a certain extent solving the technical problem that the control accuracy decreases due to the mutual interference of control signals when multiple motors of the control board operate simultaneously.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or will be learned in part through the practice of the present invention.

[0006] According to one aspect of the present invention, a method for improving the anti-interference ability of a control board is provided, including:

[0007] Collect the frequency characteristics of each motor control signal in the control board, perform Fourier analysis on the frequency characteristics to obtain a spectrogram, and divide the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram;

[0008] Allocate time slots for the control signals in the high-frequency signal group, divide the transmission period of the high-frequency signal group into N time slots, where N is the number of signals in the high-frequency signal group, and each control signal occupies one time slot;

[0009] Based on the frequency characteristics of the low-frequency signal group, construct orthogonal modulation basis vectors, and map the control signals of the low-frequency signal group onto the orthogonal modulation basis vectors;

[0010] According to the time slot allocation scheme and the orthogonal modulation basis vectors, reconstruct the signal transmission timing of the control board so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other.

[0011] In the present invention, based on the foregoing scheme, according to the signal energy distribution characteristics in the spectrogram, the main frequency components of the signals are identified by an adaptive threshold detection algorithm;

[0012] The detection logic of the adaptive threshold detection algorithm is as follows:

[0013] Calculate the energy values of each frequency component in the spectrogram, and arrange the energy values in descending order to obtain an energy sequence;

[0014] When there is an energy aggregation region in the spectrogram, the main frequency bandwidth is determined by the region growing method;

[0015] When the energy distribution of the spectrogram is relatively scattered, the iterative threshold method is used for main frequency identification;

[0016] For cases where there are multiple frequency components with similar energies, calculate the energy ratio between each frequency component. If the ratio of the maximum energy component to the second maximum energy component is less than a first preset value, then these frequency components are all identified as main frequency components;

[0017] When the signal shows a frequency drift phenomenon, obtain a time-frequency diagram by calculating the short-time Fourier transform, dynamically track the main frequency components. If the frequency drift amount exceeds a first preset percentage of the center frequency, then re-identify the main frequency;

[0018] After completing the main frequency identification, calculate the energy proportion of the main frequency component, and determine the final main frequency bandwidth as the frequency range where the energy proportion exceeds the second preset percentage of the total energy.

[0019] In the present invention, based on the foregoing solution, the time slot allocation includes:

[0020] Obtain the priority information of each control signal in the high-frequency signal group; the priority information includes the real-time requirement and the control accuracy requirement of the signal;

[0021] When the real-time requirement of a certain control signal is higher than the second preset value, mark it as the highest priority and allocate time slots preferentially; when there are multiple control signals with the same priority, group the time slots according to the bandwidth requirements of the signals, and arrange the signals with similar bandwidth requirements in adjacent time slots;

[0022] When performing time slot allocation, adopt a dynamic time slot reservation mechanism; when the signal transmission in a certain time slot is completed in advance, allocate the remaining time to the adjacent time slots with data backlog through the time slot multiplexing mechanism.

[0023] In the present invention, based on the foregoing solution, during the implementation of the dynamic time slot reservation mechanism, establish a sliding window to record the transmission status of each signal;

[0024] When a data overflow occurs for a certain control signal in the sliding window, record the data volume and duration at the time of overflow;

[0025] If the number of data overflows exceeds 3 times and the single overflow data volume exceeds the third preset percentage of the buffer capacity, trigger the time slot reservation program;

[0026] The time slot reservation program includes:

[0027] Preferentially reserve a spare time slot after the exclusive time slot of this signal; if the subsequent time slots are already occupied, reorganize the existing time slots through the time slot compression algorithm, uniformly compress the duration of all time slots by one-tenth to free up additional spare time slots; when the reserved time slot has not been used for 5 transmission cycles, automatically recycle the reserved time slot; if a certain signal still continuously has data overflows after obtaining the reserved time slot, mark this signal as an abnormal state and start the signal bandwidth re-estimation program.

[0028] In the present invention, based on the foregoing solution, real-time detect the actual usage situation of each time slot, and when it is detected that a certain time slot completes data transmission in advance and the remaining time exceeds the preset time, trigger the time slot multiplexing mechanism;

[0029] The time slot allocation further includes a time slot reallocation mechanism;

[0030] When a certain control signal fails to arrive on time for three consecutive transmission cycles, execute the time slot reallocation mechanism;

[0031] Before performing time slot reallocation, first re-evaluate the bandwidth requirements of all active signals; when there are multiple signals requesting time slot reallocation, establish a reallocation priority queue according to the signal priority and data backlog situation; if a certain signal obtains a reallocated time slot, its original time slot will be temporarily marked as the standby state; when the original signal resumes normal transmission, the original time slot allocation scheme will be restored at the beginning of the next transmission cycle; if the original signal continues to be abnormal for more than 10 transmission cycles, start the permanent reallocation program to reconstruct the entire time slot allocation scheme.

[0032] In the present invention, based on the foregoing solution, constructing the orthogonal modulation basis vectors includes:

[0033] Perform spectral analysis on all control signals in the low-frequency signal group to obtain the bandwidth characteristics and frequency distribution of each signal;

[0034] Use the Schmidt orthogonalization method to construct an initial orthogonal basis, and select the signal with the largest spectral energy as the first basis vector;

[0035] Optimize the initial orthogonal basis, and adjust the direction and amplitude of the basis vectors through the least mean square error criterion;

[0036] After the basis vectors are constructed, calculate the orthogonality between the basis vectors. If the orthogonality is lower than the first preset threshold, perform fine-tuning by introducing a correction term until the orthogonality requirement is met.

[0037] In the present invention, based on the foregoing solution, adjusting the direction and amplitude of the basis vectors through the least mean square error criterion includes:

[0038] Establish an error objective function, and use the mean square error between the original signal and the basis vector reconstructed signal as the optimization objective;

[0039] Calculate the weight coefficient of each basis vector. If the weight coefficient of a certain basis vector is less than the second preset threshold, mark it as an object to be optimized;

[0040] Adjust the direction and amplitude of the object to be optimized.

[0041] In the present invention, based on the foregoing solution, the adjustment of the direction includes:

[0042] Calculate the angle between each basis vector and the error vector; when the angle is greater than the preset threshold, determine the adjustment direction according to the error magnitude; each time an adjustment is made, offset the direction of the basis vector towards the error vector, and the offset amount is jointly determined by the error magnitude and a fixed adjustment coefficient;

[0043] After each adjustment, check whether the adjusted basis vectors meet the following constraints:

[0044] The orthogonality between the basis vectors is not lower than the third preset threshold, the deviation angle from the original direction does not exceed 45 degrees, and the signal reconstruction error after adjustment is smaller than that before adjustment;

[0045] If any of the constraints is violated, the adjustment amount needs to be restricted. The specific restriction method is as follows:

[0046] When the orthogonality does not meet the requirements, project the adjustment amount along the direction that maintains orthogonality; when the deviation angle is too large, limit the adjustment amount within the maximum allowable range; when the reconstruction error increases, reduce the adjustment amount proportionally.

[0047] According to another aspect of the present invention, a system for improving the anti-interference ability of a control board is provided, including:

[0048] An acquisition module for acquiring the frequency characteristics of each motor control signal in the control board;

[0049] A spectrum division module for performing Fourier analysis on the frequency characteristics to obtain a spectrogram, and dividing the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram;

[0050] A time slot allocation module for allocating time slots to the control signals in the high-frequency signal group, dividing the transmission period of the high-frequency signal group into N time slots, where N is the number of signals in the high-frequency signal group, and each control signal occupies a unique time slot;

[0051] A mapping module for constructing orthogonal modulation basis vectors based on the frequency characteristics of the low-frequency signal group, and mapping the control signals of the low-frequency signal group onto the orthogonal modulation basis vectors;

[0052] A signal reconstruction module for reconstructing the signal transmission timing of the control board according to the time slot allocation scheme and the orthogonal modulation basis vectors, so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other.

[0053] In the technical solution of the present invention, by collecting the frequency characteristics of each motor control signal in the control board, using Fourier analysis to classify the signal spectrum, the control signals are divided into a high-frequency signal group and a low-frequency signal group, and a differential interference suppression strategy is adopted for signal groups with different frequency characteristics. By allocating time slots to the high-frequency signal group, independent occupancy of time slots for signals is achieved, effectively avoiding the superposition of high-frequency interference; at the same time, based on the frequency characteristics of the low-frequency signal group, orthogonal modulation basis vectors are constructed to map the low-frequency signals, ensuring good orthogonality between the low-frequency signals and avoiding mutual interference. In addition, by reconstructing the signal transmission timing, the isolation and resource utilization efficiency of high- and low-frequency signals are further optimized. Compared with the prior art, the present invention can solve the technical problem that the control accuracy decreases due to the mutual interference of each control signal when multiple motors in the control board operate simultaneously, not only significantly improving the anti-interference ability of the control board in a complex multi-signal environment, but also ensuring the real-time performance and accuracy of signal transmission, and is particularly applicable to fields such as multi-motor control and high-precision industrial automation.

[0054] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and, together with the specification, used to explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0056] Figure 1 The flowchart of the method for improving the anti-interference ability of the control board in an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0058] In addition, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present invention. However, those skilled in the art will realize that the technical solutions of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present invention.

[0059] The implementation details of the technical solutions of the present invention are elaborated in detail as follows:

[0060] Figure 1 The flowchart of a method for improving the anti-interference ability of a control board according to an embodiment of the present invention is shown. Refer to Figure 1 As shown.

[0061] A method for improving the anti-interference ability of a control board according to an embodiment of the present invention includes:

[0062] S1: Collect the frequency characteristics of each motor control signal in the control board, perform Fourier analysis on the frequency characteristics to obtain a spectrogram, and divide the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram;

[0063] When collecting the frequency characteristics of each motor control signal in the control board, first sample the motor control signal through a 16-bit high-precision analog-to-digital converter on the control board. The sampling frequency is set to 500 kHz, the sampling time window is 100 ms, and the quantization accuracy of each sampling point is 16 bits. The sampling time window is divided into multiple small windows, and data processing is performed after each collection of small window data.

[0064] During the process of signal sampling, temporarily store the sampling data through a built-in cache module of the control board. The storage depth of the cache module is 32 KB; preprocess the sampling data temporarily stored in the cache module, apply a Hanning window function to window the sampling data, and the length of the Hanning window matches the number of sampling points; apply a 1024-point fast Fourier transform algorithm to perform spectral analysis on the frequency characteristics after windowing to generate the spectrogram, and the frequency resolution of the spectrogram is 500 Hz.

[0065] According to the signal energy distribution characteristics in the spectrogram, the main frequency component of the signal is identified through an adaptive threshold detection algorithm. Control signals with a main frequency component greater than 50 kHz are classified into the high-frequency signal group, and control signals with a main frequency component less than or equal to 50 kHz are classified into the low-frequency signal group. Among them, the energy threshold of the main frequency component is dynamically set. The reference value is set to 80% of the total signal energy, and an adaptive adjustment of ±5% is made according to the signal-to-noise ratio. At the same time, the signal quality of the signals in the high-frequency signal group and the low-frequency signal group is evaluated, the signal-to-noise ratio and harmonic distortion of the signal are calculated, and signals with a signal-to-noise ratio lower than 20 dB or a harmonic distortion higher than 10% are marked as key monitoring objects.

[0066] The detection logic of the above adaptive threshold detection algorithm is as follows:

[0067] Calculate the energy values of each frequency component in the spectrogram, and arrange the energy values in descending order to obtain an energy sequence. When there is an obvious energy aggregation area in the spectrogram, the region growing method is used to determine the main frequency bandwidth. The frequency band boundary is judged by calculating the energy difference between adjacent frequency points. If the energy difference between adjacent frequency points is greater than 30% of the average energy, it is marked as a bandwidth boundary point. For the frequency components within the main frequency bandwidth, the centroid method is used to calculate the main frequency value, and the energy of the frequency component is used as the weight for weighted averaging.

[0068] When the energy distribution of the spectrogram is relatively dispersed, the iterative threshold method is used for main frequency identification. The initial threshold is set to 50% of the maximum value of the spectrum energy. If the number of frequency points higher than the threshold is greater than the expected value, the threshold is increased by 10% for a new round of iteration. If it is less than the expected value, the threshold is decreased by 10% for a new round of iteration. When the number of iterations reaches 5 times or the number of frequency points meets the expectation, the iteration is stopped and the main frequency component is determined.

[0069] For cases where there are multiple frequency components with similar energies, calculate the energy ratio between each frequency component. If the ratio of the maximum energy component to the second maximum energy component is less than 1.2, these frequency components are all identified as the main frequency components. During the identification process, by calculating the mean and standard deviation of the background noise, a dynamic threshold criterion is established. When the energy value of a certain frequency component exceeds 3 standard deviations of the background noise mean, it is included in the main frequency candidate set. Perform time-domain correlation analysis on the frequency components in the main frequency candidate set, calculate the correlation coefficient between the time-domain signals corresponding to each frequency component and the original signal, and confirm the frequency components with a correlation coefficient greater than 0.8 as the main frequency components.

[0070] When the signal shows a frequency drift phenomenon, calculate the short-time Fourier transform to obtain the time-frequency diagram, dynamically track the main frequency component. If the frequency drift amount exceeds 15% of the center frequency, re-identify the main frequency; after completing the main frequency identification, calculate the energy proportion of the main frequency component, and determine the final main frequency bandwidth as the frequency range where the energy proportion exceeds 80% of the total energy.

[0071] S2: Allocate time slots for the control signals in the high-frequency signal group, divide the transmission period of the high-frequency signal group into N time slots, where N is the number of signals in the high-frequency signal group, and each control signal occupies one time slot exclusively;

[0072] When allocating time slots for the control signals in the high-frequency signal group, first obtain the priority information of each control signal in the high-frequency signal group. The priority information includes the real-time requirement and control accuracy requirement of the signal; when the real-time requirement of a certain control signal is higher than 50 μs, mark it as the highest priority and allocate time slots preferentially.

[0073] Further, plan the transmission period of the high-frequency signal group, determine the reference transmission period based on the sampling frequency of the highest-priority signal, and set the reference transmission period to 80% of the sampling period of the highest-priority signal. Divide the reference transmission period into N time slots, and the duration of each time slot is equal. The number N of time slots is equal to the total number of signals in the high-frequency signal group.

[0074] When there are multiple control signals with the same priority, group the time slots according to the bandwidth requirements of the signals, and arrange the signals with similar bandwidth requirements in adjacent time slots; when allocating time slots, adopt a dynamic time slot reservation mechanism. If a certain control signal has more than 3 data overflows in the past 10 transmission periods, an additional spare time slot is reserved after its exclusive time slot; when the signal transmission in a certain time slot is completed in advance, the remaining time is allocated to the adjacent time slots with data backlog through the time slot multiplexing mechanism.

[0075] Before the start of each transmission period, align all time slots through a synchronization signal, and the pulse width of the synchronization signal is 100 ns; when it is detected that a certain control signal fails to arrive in time for 3 consecutive transmission periods, start the time slot reallocation mechanism, and temporarily allocate the exclusive time slot of this signal to other signals with transmission requirements; monitor the signal transmission quality in each time slot in real time, calculate the bit error rate and delay jitter of the signal. When the bit error rate exceeds 10^-6 or the delay jitter exceeds 50 ns, trigger the time slot adjustment process; during the time slot adjustment process, ensure the continuity of the signal through a buffer mechanism, temporarily store the signal data to be adjusted in the buffer, and resume the transmission after the new time slot allocation is completed.

[0076] It should be noted that during the implementation of the dynamic time slot reservation mechanism, a sliding window is first established to record the transmission status of each signal. The length of the sliding window is 10 transmission cycles. When data overflow occurs for a certain control signal within the sliding window, the data volume and duration at the time of overflow are recorded. If the number of data overflow times exceeds 3 and the single overflow data volume exceeds 60% of the buffer capacity, the time slot reservation program is triggered. When the time slot reservation program is triggered, the system preferentially reserves a spare time slot after the dedicated time slot of this signal. If the subsequent time slots are already occupied, the existing time slots are reorganized through the time slot compression algorithm, and the duration of all time slots is uniformly compressed by 10% to free up additional spare time slots. When the reserved time slot has not been used for 5 transmission cycles, the reserved time slot is automatically recycled. If a certain signal still continuously experiences data overflow after obtaining the reserved time slot, the signal is marked as an abnormal state, and the signal bandwidth re - estimation program is started.

[0077] When implementing the time slot multiplexing mechanism, the system monitors the actual usage of each time slot in real - time and records the idle time of each time slot. When it is detected that a certain time slot finishes data transmission in advance and the remaining time exceeds 100 ns, the time slot multiplexing program is immediately triggered. If there are signals with data backlog in adjacent time slots, the multiplexing priority is determined according to the amount of backlogged data. When multiple signals simultaneously request to multiplex an idle time slot, it is preferentially allocated to the signal with the largest backlogged data volume and the longest duration. When multiplexing time slots, a 50 - ns switching protection time is set to ensure the reliability of signal switching. If sudden data of the original signal appears during the multiplexed time slot, the multiplexing process is immediately terminated to ensure the transmission priority of the original signal. The effect of time slot multiplexing is statistically analyzed, and the multiplexing success rate and the improvement in transmission efficiency brought by multiplexing are recorded.

[0078] When implementing the time slot re - allocation mechanism, the system continuously monitors the arrival of each signal. When a certain control signal fails to arrive on time for 3 consecutive transmission cycles, the status evaluation program is started. If the data volume in the buffer of this signal is lower than 20%, its dedicated time slot is temporarily marked as re - allocatable. Before performing time slot re - allocation, the system first re - evaluates the bandwidth requirements of all active signals. When there are multiple signals requesting time slot re - allocation, a re - allocation priority queue is established according to the signal priority and data backlog situation. If a certain signal obtains a re - allocated time slot, its original time slot will be temporarily marked as a spare state. When the original signal resumes normal transmission, the system will restore the original time slot allocation scheme at the beginning of the next transmission cycle. If the original signal remains abnormal for more than 10 transmission cycles, the permanent re - allocation program is started to reconstruct the entire time slot allocation scheme. During the time slot re - allocation process, the double - buffer mechanism is used to ensure the continuity of data transmission, and all data to be transmitted will be temporarily stored in the spare buffer.

[0079] It should be noted that although the above description outlines the general processes of the three time-slot mechanisms, the specific implementation details may vary according to different working environments and their device configurations. For example, taking a CNC machining center as an example, when multi-axis linkage is used to perform complex curved surface machining tasks, the collaborative operation process of the three mechanisms is as follows:

[0080] When the cutting tool enters the workpiece for heavy cutting, significant changes will occur in the control signals of each axis motor. Taking the Z-axis as an example, the sudden change in cutting load causes the data volume of its control signal to surge from 2KB / period under normal working conditions to 3.5KB / period. At this time, the dynamic time-slot reservation mechanism immediately responds, detecting that the Z-axis has experienced 4 data overflows within the last 10 transmission periods, and the overflow amount reaches 75% of the buffer capacity. Immediately, a spare time-slot is reserved behind the dedicated time-slot of the Z-axis. At the same time, since the X-axis and Y-axis are in a low-speed feed state, 30% to 40% of the idle time appears in their dedicated time-slots, and the time-slot multiplexing mechanism immediately allocates this idle time to the Z-axis with data backlog for use. When an electromagnetic interference generated by the start and stop of nearby equipment causes a continuous interruption in the feedback signal of the A-axis during the machining process, the time-slot reallocation mechanism responds quickly, temporarily allocating the time-slot of the A-axis to other axes for use, and restoring normal transmission through the double-buffer mechanism after the interference is eliminated. In short, through the collaborative cooperation of these three mechanisms, the control board demonstrates far better anti-interference ability and control accuracy than traditional control schemes, and is especially suitable for the precision machining field that requires high precision and high reliability. Practice has proved that this scheme can effectively solve various interference problems commonly encountered in industrial sites and significantly improve the machining quality and production efficiency of equipment.

[0081] S3: Based on the frequency characteristics of the low-frequency signal group, construct an orthogonal modulation basis vector, and map the control signals of the low-frequency signal group onto the orthogonal modulation basis vector;

[0082] When constructing the orthogonal modulation basis vector based on the frequency characteristics of the low-frequency signal group, first perform spectral analysis on all control signals in the low-frequency signal group to obtain the bandwidth characteristics and frequency distribution of each signal; after obtaining the frequency characteristics, use the Schmidt orthogonalization method to construct an initial orthogonal basis, and select the signal with the largest spectral energy as the first basis vector; optimize the initial orthogonal basis, adjust the direction and amplitude of the basis vector through the least mean square error criterion to maximize its correlation with the original signal; after the basis vector is constructed, calculate the orthogonality between the basis vectors. If the orthogonality is lower than 0.95, introduce a correction term for fine-tuning until the orthogonal requirement is met;

[0083] When performing signal mapping, first calculate the projection coefficients of each control signal and each basis vector, and the projection coefficients are obtained through the inner product operation of the signal and the basis vector; when the projection coefficient of a certain signal is less than the threshold, use the adaptive gain control method to amplify the projection coefficient, and the range of the gain coefficient is limited between 0.5 and 2; perform orthogonality verification on each mapped signal, calculate the cross-correlation function between signals, and when the cross-correlation value exceeds 0.1, perform correction by introducing a compensation factor; if a certain signal is distorted during the mapping process, start the iterative mapping mechanism and gradually adjust the mapping parameters until the distortion degree is reduced to an acceptable range.

[0084] The logic of constructing the initial orthogonal basis using the Schmidt orthogonalization method is as follows:

[0085] First, arrange all the signals in the low-frequency signal group in descending order of energy, and select the signal with the largest energy as the first basis vector u1; when the first basis vector is determined, select the signal with the second largest energy as the vector to be orthogonalized v2; for the vector to be orthogonalized v2, calculate its inner product with u1, and calculate the projection component of v2 on u1 according to the projection formula; subtract the projection component of v2 in the direction of u1 from v2 to obtain a basis vector u2 orthogonal to u1; when u2 is obtained, perform normalization processing on it so that the norm of the basis vector is 1.

[0086] When constructing the third basis vector, select the signal with the third largest energy in the energy ranking as the vector to be orthogonalized v3; calculate the inner products of v3 with u1 and u2 respectively to obtain all the projection components of v3 in the existing basis vector space; subtract all the projection components of v3 in the directions of u1 and u2 from v3 to obtain a vector u3 orthogonal to the first two basis vectors; if the energy of the obtained u3 is too small (less than 5% of the energy of the original signal), then abandon the current signal and select the next signal to repeat the orthogonalization process; when u3 meets the energy requirement, perform normalization processing on it.

[0087] The logic of optimizing the initial orthogonal basis by adjusting the direction and amplitude of the basis vector according to the least mean square error criterion is as follows:

[0088] When adjusting the direction and amplitude of the basis vector according to the least mean square error criterion, first establish an error objective function, and use the mean square error between the original signal and the basis vector reconstruction signal as the optimization objective; when the objective function is determined, calculate the weight coefficient of each basis vector, and the weight coefficient is determined by the correlation degree between the signal and the basis vector; if the weight coefficient of a certain basis vector is less than 0.1, then mark it as an object to be optimized.

[0089] When making direction adjustment, first calculate the angle between each basis vector and the error vector; when the angle is greater than the preset threshold, determine the adjustment direction according to the error magnitude; each time an adjustment is made, shift the direction of the basis vector towards the error vector, and the shift amount is jointly determined by the error magnitude and a fixed adjustment coefficient; after each adjustment, check whether the adjusted basis vector meets the following constraint conditions: the orthogonality between basis vectors is not less than 0.95, the deviation angle from the original direction does not exceed 45 degrees, and the signal reconstruction error after adjustment is less than the error before adjustment; if any constraint condition is violated, the adjustment amount needs to be restricted. The specific restriction method is as follows: when the orthogonality does not meet the requirement, project the adjustment amount along the direction that maintains orthogonality; when the deviation angle is too large, limit the adjustment amount within the maximum allowable range; when the reconstruction error increases, reduce the adjustment amount proportionally.

[0090] During the amplitude adjustment process, first calculate the ideal amplitude value according to the projection of the signal in the directions of each basis vector; when the difference between the actual amplitude and the ideal amplitude exceeds 20%, perform amplitude correction; during the correction process, the following constraint requirements need to be met: the corrected amplitude shall not exceed twice the amplitude of the original signal, the amplitude ratio between adjacent basis vectors shall not exceed 5 times, and the signal distortion degree after adjustment shall not exceed 3%; if a constraint violation occurs, the following processing methods are adopted: when the amplitude exceeds the limit, clamp it within the allowable range; when the amplitude ratio is too large, adjust the amplitudes of the relevant basis vectors simultaneously to meet the ratio requirement; when the distortion degree exceeds the standard, find the maximum adjustment amount that meets the distortion degree requirement by gradually stepping back.

[0091] More specifically, the above error objective function can be expressed by the following formula:

[0092]

[0093] where, E obj represents the optimization objective function, N is the number of signal sampling points, s i is the value of the original signal at the i-th sampling point, w k is the weight coefficient of the k-th basis vector, v k (i) is the value of the k-th basis vector at the i-th sampling point, K is the total number of basis vectors, λ is the orthogonality constraint weight coefficient, <v j , v k > represents the inner product of the basis vectors v j and v k .

[0094] It should be noted that although the above description outlines a general method for adjusting basis vectors by the least mean square error criterion, the specific implementation details may need to be adjusted according to the actual application scenario. For example, when processing sensor signals in an industrial environment, due to the presence of strong electromagnetic interference, the adjustment process of basis vectors may require more stringent constraint conditions.

[0095] Specifically, assume that when processing a vibration signal collected from an industrial site with 2000 sampling points, the system selects 8 basis vectors for signal reconstruction. If it is found that the weight coefficient of the second basis vector is 0.085 (less than the threshold of 0.1), the system marks it as an object to be optimized. In actual adjustment, if the angle between this basis vector and the error vector is 48 degrees (greater than the preset threshold of 45 degrees), the system will calculate an initial adjustment amount of 0.18. However, due to the interference signals present at the site, this adjustment amount may cause instability in signal reconstruction.

[0096] In this case, the system will perform more stringent constraint checks. For example, if the orthogonality between the adjusted basis vector and the third basis vector drops to 0.94 (below the required 0.95), the system will not only project the adjustment amount onto the direction that maintains orthogonality but also introduce an additional buffer zone, potentially reducing the final adjustment amount further to 0.1 to ensure the stability of the system. Similarly, when it is found that the amplitude ratio of the fourth and fifth basis vectors reaches 4.8 (close to the allowable upper limit of 5 times), the system will intervene in the adjustment in advance to control the ratio within a more conservative range, such as within 4 times.

[0097] On the other hand, the above description outlines the general process of constructing orthogonal modulation basis vectors and performing signal mapping, but the specific implementation details may vary according to the characteristics of different control systems and application requirements. For example, when processing multi-channel low-frequency control signals in an industrial control system, due to the different bandwidth requirements and interference sensitivities of different control loops, it may be necessary to design the frequency characteristics of the basis vectors differently.

[0098] Specifically, assume that in a multi-motor coordinated control system, it is necessary to process three low-frequency signals of speed control, position control, and torque control simultaneously, with frequencies of 2 Hz, 5 Hz, and 8 Hz respectively. The system will first construct three groups of orthogonal modulation basis vectors according to these frequency characteristics. For example, the first group of basis vectors may use cosine modulation with a frequency of 20 Hz; the second group selects sine modulation with a frequency of 25 Hz; the third group uses orthogonal basis functions with a modulation frequency of 30 Hz. This frequency configuration ensures good orthogonality between the groups of basis vectors while maintaining a sufficient frequency separation from the original control signals.

[0099] During the mapping process, if it is found that the rotational speed control signal fluctuates significantly within the range of 2 - 3 Hz, the system will correspondingly adjust the modulation depth of the first group of basis vectors, reducing the initially set modulation depth of 0.8 to 0.6 to enhance the anti-interference ability of the system. Similarly, when a 5.5 Hz interference component appears in the position control signal, the system will automatically adjust the band-pass characteristic of the second group of basis vectors, narrowing the bandwidth from the original 2 Hz to 1.5 Hz to better filter out adjacent-frequency interference.

[0100] S4: According to the time slot allocation scheme and the orthogonal modulation basis vectors, reconstruct the signal transmission timing sequence of the control board so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other.

[0101] When reconstructing the signal transmission timing sequence of the control board, first arrange the high-frequency signal group according to the time slot allocation scheme; after determining the time slot requirements of the high-frequency signals, calculate the number and positions of the time slots required for each high-frequency signal and fix them at specific positions on the time axis; if a certain high-frequency signal requires strict periodic sampling, its time slot allocation must ensure equal intervals to ensure the uniformity of sampling; when multiple high-frequency signals request the same time slot, determine the time slot ownership based on the signal priority;

[0102] After completing the time slot allocation of the high-frequency signals, count all the remaining available time slots; when the free time slot distribution is obtained, calculate the transmission characteristics of the low-frequency signal group under the orthogonal modulation basis vectors; for each low-frequency signal, determine the minimum transmission bandwidth required according to its projection on the orthogonal basis vectors; if multiple low-frequency signals can share the same time slot after orthogonal modulation, combine these signals into the same time slot group; when a transmission request appears in the low-frequency signal group, select a suitable free time slot for transmission on the premise of not affecting the high-frequency signal transmission;

[0103] When performing signal isolation, focus on the boundary processing of the high-frequency signal time slots and the low-frequency signal time slots; when the time slots of the high-frequency signals and the low-frequency signals are adjacent, insert a protection interval between them; for the orthogonally modulated low-frequency signals, ensure that their modulation process does not interfere with the adjacent high-frequency signal time slots; if crosstalk is detected, increase the length of the protection interval or adjust the modulation parameters of the low-frequency signals; when the protection requirements cannot be met, transfer the low-frequency signal group to other free time slots.

[0104] When establishing the transmission timing table, the time slot position of the high-frequency signal is used as the reference point; after determining the reference point, a group of low-frequency signals subjected to quadrature modulation is reasonably arranged around it; for the group of low-frequency signals, signal multiplexing is performed based on the characteristics of the quadrature modulation basis vectors; if the transmission requirements of the group of low-frequency signals change, dynamic adjustment is carried out without affecting the time slots of the high-frequency signals; when the system load is heavy, the time slot requirements of the high-frequency signals are preferentially guaranteed, and the characteristics of the quadrature modulation basis vectors are used to improve the transmission efficiency of the low-frequency signals.

[0105] More specifically, after determining the time slot reference point of the high-frequency signal, first classify and count the group of low-frequency signals, and record the bandwidth requirements and modulation characteristics of each low-frequency signal; after obtaining the characteristics of the low-frequency signals, classify the signals with similar bandwidth requirements into the same group, and calculate the mapping relationship of each group of signals on the quadrature modulation basis vectors; if the modulation characteristics of a certain group of signals are similar, arrange them to be transmitted within the same time interval.

[0106] When allocating the transmission interval of the low-frequency signals, preferentially select the idle area far from the time slots of the high-frequency signals; after finding a suitable idle area, calculate the number of quadrature modulation signals that can be accommodated in this area; perform quadrature modulation coding on the low-frequency signals in the selected area to keep the signals in good orthogonality; if the signal capacity of a certain area is close to saturation, enable a new idle area for allocation; when adjacent areas are all occupied, improve the spectrum utilization efficiency by adjusting the quadrature modulation parameters. When arranging multiple low-frequency signals in the same time interval, ensure that the signals do not interfere with each other through the orthogonal characteristics of the quadrature modulation basis vectors; if it is found that the orthogonality between the signals is lower than the threshold, adjust the modulation parameters of the signals or reallocate the transmission interval; when the orthogonality requirement still cannot be met after adjustment, transfer some signals to other idle areas.

[0107] It should be noted that although the above description outlines the general process of reconstructing the signal transmission timing of the control board, the specific implementation details may vary according to different control systems and their application scenarios. For example, in the control system of a certain industrial robot, the high-frequency signal group may include signals with strict timing requirements such as motor position feedback signals (sampling frequency 2 kHz), speed feedback signals (sampling frequency 1 kHz), etc. These signals will be preferentially allocated to fixed time slots, such as the position feedback signal occupying one time slot every 0.5 ms, and the speed feedback signal occupying one time slot every 1 ms. The low-frequency signal group may include relatively less urgent control signals such as temperature monitoring signals (sampling frequency 10 Hz), current detection signals (sampling frequency 100 Hz), etc. These signals can be multiplexed through the quadrature modulation basis vectors to transmit multiple signals in the same time slot.

[0108] Generally speaking, although the above description outlines the general process of improving the anti-interference ability of the control board, the specific implementation may vary according to different control signals and application scenarios. For example, taking a numerically controlled machine tool with four-axis linkage as an example, its control board needs to control four servo motors simultaneously. In the traditional solution, the control signals of the four motors (each motor includes position, speed, and current feedback signals) often interfere with each other during transmission, resulting in a decrease in control accuracy. For example, the high-frequency interference generated when the X-axis motor accelerates will affect the position feedback signal of the Y-axis, reducing the positioning accuracy of the Y-axis from ±0.01 mm to ±0.05 mm. After adopting this solution, through the time slot allocation scheme, the system strictly allocates the high-frequency control signals of the four motors to different time slots. This staggered arrangement in time ensures that the position feedback signals of each axis do not interfere with each other. Even when the four axes are moving simultaneously, the positioning accuracy of each axis can still be maintained within ±0.01 mm. At the same time, a 5-μs protection interval is set between adjacent time slots to further reduce the transient interference during signal switching. For the low-frequency monitoring signals of each axis (such as temperature, load rate, etc.), after being encoded by the orthogonal modulation basis vectors, they can share the time slot resources. For example: the X-axis temperature signal is modulated to cos(2πt). Through this orthogonal modulation method, even if the four temperature signals are transmitted in the same time slot, the crosstalk between the signals can be controlled below -40 dB, ensuring the accuracy of the monitoring data. Moreover, it not only solves the mutual interference between high-frequency and low-frequency signals but also solves the mutual interference between multiple signals of the same type, improving the anti-interference ability of the control board while ensuring its control accuracy.

[0109] In the technical solution of the present invention, by collecting the frequency characteristics of the control signals of each motor in the control board, using Fourier analysis to classify the signal spectrum, the control signals are divided into a high-frequency signal group and a low-frequency signal group, and different interference suppression strategies are adopted for signal groups with different frequency characteristics. By allocating time slots for the high-frequency signal group, independent occupation of time slots by signals is achieved, effectively avoiding the superposition of high-frequency interference; at the same time, based on the frequency characteristics of the low-frequency signal group, orthogonal modulation basis vectors are constructed to map the low-frequency signals, ensuring good orthogonality between the low-frequency signals and avoiding mutual interference. In addition, by reconstructing the signal transmission timing, the isolation and resource utilization efficiency of high-frequency and low-frequency signals are further optimized. Compared with the prior art, the present invention can solve the technical problem that the control accuracy decreases due to the mutual interference of control signals when multiple motors in the control board are running simultaneously, not only significantly improving the anti-interference ability of the control board in a complex multi-signal environment but also ensuring the real-time performance and accuracy of signal transmission, and is particularly suitable for fields such as multi-motor control and high-precision industrial automation.

[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code, and the above-mentioned module, segment of a program, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0111] The units involved in the embodiments of the present invention can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the units themselves.

[0112] According to one aspect of the present invention, there is provided a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various alternative implementations.

[0113] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the methods according to the embodiments of the present invention.

[0114] After considering the specification and practicing the disclosed embodiments herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed by the present invention.

[0115] It should be understood that the present invention is not limited to the exact structures that have been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A method for improving the anti-interference ability of a control board, characterized in that, Including: Collect the frequency characteristics of each motor control signal in the control board, perform Fourier analysis on the frequency characteristics to obtain a spectrogram, and divide the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram; Perform time slot allocation on the control signals in the high-frequency signal group, divide the transmission period of the high-frequency signal group into N time slots, where N is the number of signals in the high-frequency signal group, and each control signal occupies one time slot exclusively; Based on the frequency characteristics of the low-frequency signal group, construct an orthogonal modulation basis vector, and map the control signals of the low-frequency signal group onto the orthogonal modulation basis vector; According to the time slot allocation scheme and the orthogonal modulation basis vector, reconstruct the signal transmission timing of the control board so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other.

2. The method for improving the anti-interference ability of the control board according to claim 1, wherein According to the signal energy distribution characteristics in the spectrogram, identify the main frequency component of the signal through an adaptive threshold detection algorithm; The detection logic of the adaptive threshold detection algorithm is as follows: Calculate the energy values of each frequency component in the spectrogram, and arrange the energy values in descending order to obtain an energy sequence; When there is an energy aggregation region in the spectrogram, use the region growing method to determine the main frequency bandwidth; When the energy distribution of the spectrogram is relatively dispersed, use the iterative threshold method for main frequency identification; For cases where there are multiple frequency components with similar energies, calculate the energy ratio between each frequency component. If the ratio of the maximum energy component to the second maximum energy component is less than the first preset value, then these frequency components are all identified as the main frequency components; When the signal exhibits frequency drift, obtain the time-frequency diagram by calculating the short-time Fourier transform, dynamically track the main frequency component. If the frequency drift amount exceeds the first preset percentage of the center frequency, then re-identify the main frequency; After completing the main frequency identification, calculate the energy proportion of the main frequency component, and determine the final main frequency bandwidth as the frequency range where the energy proportion exceeds the second preset percentage of the total energy.

3. The method for improving the anti-interference ability of the control board according to claim 1, characterized in that, The time slot allocation includes: Obtain the priority information of each control signal in the high-frequency signal group; the priority information includes the real-time requirement and control accuracy requirement of the signal; When the real-time requirement of a certain control signal is higher than the second preset value, mark it as the highest priority and allocate time slots preferentially; when there are multiple control signals with the same priority, group the time slots according to the bandwidth requirements of the signals, and arrange the signals with similar bandwidth requirements in adjacent time slots; When performing time slot allocation, adopt a dynamic time slot reservation mechanism; when the signal transmission in a certain time slot is completed in advance, use the time slot multiplexing mechanism to allocate the remaining time to adjacent time slots with data backlog.

4. The method for improving the anti-interference ability of the control board according to claim 3, characterized in that During the implementation of the dynamic time slot reservation mechanism, establish a sliding window to record the transmission status of each signal; When a data overflow occurs for a certain control signal within the sliding window, record the data volume and duration at the time of overflow; If the number of data overflows exceeds 3 times and the single overflow data volume exceeds the third preset percentage of the buffer capacity, trigger the time slot reservation program; The time slot reservation program includes: Preferentially reserve a spare time slot after the dedicated time slot of this signal; if the subsequent time slots are already occupied, reorganize the existing time slots through the time slot compression algorithm, uniformly compress the duration of all time slots by one-tenth to free up additional spare time slots; when the reserved time slot has not been used for 5 transmission cycles, automatically recycle the reserved time slot; if a signal still continuously experiences data overflow after obtaining the reserved time slot, mark this signal as an abnormal state and start the signal bandwidth re-estimation program.

5. The method for improving the anti-interference ability of the control board according to claim 4, wherein Real-time detect the actual usage of each time slot, and when it is detected that a certain time slot finishes data transmission in advance and the remaining time exceeds the preset time, trigger the time slot multiplexing mechanism; The time slot allocation further includes a time slot reallocation mechanism; When a certain control signal does not arrive on time for 3 consecutive transmission cycles, execute the time slot reallocation mechanism; Before performing time slot reallocation, first re-evaluate the bandwidth requirements of all active signals; when there are multiple signals requesting time slot reallocation, establish a reallocation priority queue according to the signal priority and data backlog situation; if a signal obtains a reallocated time slot, its original time slot will be temporarily marked as a spare state; when the original signal resumes normal transmission, the original time slot allocation scheme will be restored at the beginning of the next transmission cycle; if the original signal remains abnormal for more than 10 transmission cycles, start the permanent reallocation program to reconstruct the entire time slot allocation scheme.

6. The method for improving the anti-interference ability of the control board according to claim 1, characterized in that, Constructing the orthogonal modulation basis vectors includes: Perform spectral analysis on all control signals in the low-frequency signal group to obtain the bandwidth characteristics and frequency distribution of each signal; Use the Schmidt orthogonalization method to construct an initial orthogonal basis, and select the signal with the largest spectral energy as the first basis vector; Optimize the initial orthogonal basis, and adjust the direction and amplitude of the basis vectors through the least mean square error criterion; After the basis vectors are constructed, calculate the orthogonality between the basis vectors. If the orthogonality is lower than the first preset threshold, perform fine-tuning by introducing a correction term until the orthogonal requirement is met.

7. The method for improving the anti-interference ability of the control board according to claim 6, wherein Adjusting the direction and amplitude of the basis vectors through the least mean square error criterion includes: Establish an error objective function, and use the mean square error between the original signal and the basis vector reconstructed signal as the optimization target; Calculate the weight coefficient of each basis vector. If the weight coefficient of a certain basis vector is less than the second preset threshold, mark it as an object to be optimized; Adjust the direction and amplitude of the object to be optimized.

8. The method for improving the anti-interference ability of the control board according to claim 7, characterized in that The adjustment of direction includes: Calculate the angle between each basis vector and the error vector; when the angle is greater than the preset threshold, determine the adjustment direction according to the error magnitude; each time an adjustment is made, shift the direction of the basis vector towards the error vector, and the shift amount is jointly determined by the error magnitude and a fixed adjustment coefficient; After each adjustment, check whether the adjusted basis vector meets the following constraint conditions: The orthogonality between the basis vectors is not less than the third preset threshold, the deviation angle from the original direction does not exceed 45 degrees, and the signal reconstruction error after adjustment is less than the error before adjustment; If any of the constraint conditions is violated, the adjustment amount needs to be restricted. The specific restriction method is: When the orthogonality does not meet the requirements, project the adjustment amount along the direction of maintaining orthogonality; when the deviation angle is too large, limit the adjustment amount within the maximum allowable range; when the reconstruction error increases, reduce the adjustment amount proportionally.

9. A system for improving the anti-interference ability of a control board, characterized in that, It includes: A collection module for collecting the frequency characteristics of each motor control signal in the control board; A spectrum division module for performing Fourier analysis on the frequency characteristics to obtain a spectrogram, and dividing the control signals into a high-frequency signal group and a low-frequency signal group according to the spectrogram; A time slot allocation module for allocating time slots to the control signals in the high-frequency signal group, dividing the transmission period of the high-frequency signal group into N time slots, where N is the number of signals in the high-frequency signal group, and each control signal occupies one time slot; A mapping module for constructing an orthogonal modulation basis vector based on the frequency characteristics of the low-frequency signal group, and mapping the control signals of the low-frequency signal group onto the orthogonal modulation basis vector; A signal reconstruction module for reconstructing the signal transmission timing of the control board according to the time slot allocation scheme and the orthogonal modulation basis vector, so that the control signals of the high-frequency signal group and the low-frequency signal group do not interfere with each other.

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