Signal filtering method and device, medium, electronic equipment and air conditioner

Abstract

The invention relates to a signal filtering method and device, a medium, electronic equipment and an air conditioner, and relates to the technical field of signal filtering, and the method comprises the steps: collecting a to-be-filtered input signal corresponding to a target motor at a target moment; obtaining a to-be-filtered first historical input signal corresponding to the first historical moment and a first historical output signal obtained after filtering, and a to-be-filtered second historical input signal corresponding to the second historical moment and a second historical output signal obtained after filtering; and filtering the input signal according to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain a target signal. Thus, the filtering processing of the present disclosure is to filter the input signal at the target moment based on the input signal and the output signal corresponding to the two historical moments, so that high-frequency noise can be filtered more thoroughly, and the obtained target signal can meet the requirements of various occasions.

Description

Technical Field

[0001] The present disclosure relates to the technical field of signal filtering, and in particular to a signal filtering method, device, medium, electronic equipment and air conditioner. Background Art

[0002] With the rapid development of industrial technology, permanent magnet synchronous motors have been widely used in fields such as air conditioners, robots, and CNC machine tools. In practical applications, when the motor is running at high speed, the back electromotive force of the electrical signal can be detected to determine the rotor position and speed information.

[0003] However, when the motor is running at zero or low speed, the back EMF of the electrical signal is too small to be detected. In this case, the electrical signal is often extracted by injecting a high-frequency signal. A low-pass filter is then used to remove the high-frequency noise and obtain the desired signal. However, current signal filtering methods cannot completely remove high-frequency noise, and for demanding scenarios, the filtered signal may not meet the requirements. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a signal filtering method, device, medium, electronic device and air conditioner.

[0005] According to a first aspect of an embodiment of the present disclosure, a signal filtering method is provided, the method comprising:

[0006] Collect the input signal to be filtered corresponding to the target motor at the target time;

[0007] Obtaining a first historical input signal to be filtered and a first historical output signal obtained after filtering corresponding to a first historical moment, and a second historical input signal to be filtered and a second historical output signal obtained after filtering corresponding to a second historical moment; the first historical moment is a moment before the target moment, and the second historical moment is a moment before the first historical moment;

[0008] According to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal, the input signal is filtered to obtain a target signal, where the target signal is a signal whose signal frequency is lower than a preset cutoff frequency threshold.

[0009] Optionally, the filtering the input signal according to the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal to obtain the target signal includes:

[0010] According to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal, the input signal is filtered by a second-order low-pass filter to obtain the target signal output by the second-order low-pass filter.

[0011] Optionally, filtering the input signal through a second-order low-pass filter according to the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal to obtain the target signal output by the second-order low-pass filter includes:

[0012] Obtaining filter coefficients corresponding to the second-order low-pass filter;

[0013] The target signal is determined according to the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal.

[0014] Optionally, the filter coefficients are determined by:

[0015] Determine a preset cutoff frequency threshold corresponding to the second-order low-pass filter;

[0016] The filter coefficient is determined according to the preset cutoff frequency threshold.

[0017] Optionally, determining the target signal according to the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal includes:

[0018] y(n)=s(1)*D(n)+b(1)*s(1)*D(n-1)+b(2)*s(1)

[0019] *D(n-2)+a(1)*y(n-1)-a(2)*y(n-2);

[0020] Among them, y(n) is the target signal corresponding to time n, D(n) is the input signal corresponding to time n, D(n-1) is the first historical input signal corresponding to time n-1, D(n-2) is the second historical input signal corresponding to time n-2, y(n-1) is the first historical output signal corresponding to time n-1, y(n-2) is the second historical output signal corresponding to time n-2, s(1), b(1), b(2), a(1) and a(2) are all filter coefficients of the second-order low-pass filter.

[0021] Optionally, the method further includes:

[0022] The speed information and position information of the rotor of the target motor are determined according to the target signal.

[0023] According to a second aspect of an embodiment of the present disclosure, a signal filtering device is provided, the device comprising:

[0024] an acquisition module configured to acquire an input signal to be filtered corresponding to a target motor at a target time;

[0025] an acquisition module configured to acquire a first historical input signal to be filtered and a first historical output signal obtained after filtering, corresponding to a first historical moment, and a second historical input signal to be filtered and a second historical output signal obtained after filtering, corresponding to a second historical moment; the first historical moment being a moment before the target moment, and the second historical moment being a moment before the first historical moment;

[0026] The filtering module is configured to filter the input signal according to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain a target signal, where the target signal is a signal whose signal frequency is lower than a preset cutoff frequency threshold.

[0027] Optionally, the filtering module is configured to filter the input signal through a second-order low-pass filter based on the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain the target signal output by the second-order low-pass filter.

[0028] Optionally, the filtering module is configured to obtain filter coefficients corresponding to the second-order low-pass filter; and determine the target signal based on the filter coefficients, the input signal, the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal.

[0029] Optionally, the filter coefficients are determined by:

[0030] Determine a preset cutoff frequency threshold corresponding to the second-order low-pass filter;

[0031] The filter coefficient is determined according to the preset cutoff frequency threshold.

[0032] Optionally, the expression of the second-order low-pass filter includes:

[0033] y(n)=s(1)*D(n)+b(1)*s(1)*D(n-1)+b(2)*s(1)

[0034] *D(n-2)+a(1)*y(n-1)-a(2)*y(n-2);

[0035] Among them, y(n) is the target signal corresponding to time n, D(n) is the input signal corresponding to time n, D(n-1) is the first historical input signal corresponding to time n-1, D(n-2) is the second historical input signal corresponding to time n-2, y(n-1) is the first historical output signal corresponding to time n-1, y(n-2) is the second historical output signal corresponding to time n-2, s(1), b(1), b(2), a(1) and a(2) are all filter coefficients of the second-order low-pass filter.

[0036] Optionally, the device further comprises:

[0037] The determination module is configured to determine the speed information and position information of the rotor of the target motor according to the target signal.

[0038] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the signal filtering method provided by the first aspect of the present disclosure are implemented.

[0039] According to a fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the signal filtering method provided by the first aspect of the present disclosure when calling the executable instructions stored on the memory.

[0040] According to a fifth aspect of an embodiment of the present disclosure, there is provided an air conditioner, comprising: a motor and the electronic device provided by the fourth aspect of the present disclosure.

[0041] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: First, the input signal to be filtered corresponding to the target motor at the target moment is collected. Afterwards, the first historical input signal to be filtered corresponding to the first historical moment and the first historical output signal obtained after filtering, as well as the second historical input signal to be filtered corresponding to the second historical moment and the second historical output signal obtained after filtering are obtained; the first historical moment is the moment before the target moment, and the second historical moment is the moment before the first historical moment. Then, according to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal, the input signal is filtered to obtain a target signal, and the target signal is a signal whose signal frequency is lower than a preset cutoff frequency threshold. Through the above method, after collecting the input signal corresponding to the target moment, the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment are further obtained, and according to the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment, the high-frequency noise in the input signal is efficiently and accurately filtered out to extract the required target signal. Because the filtering process disclosed herein filters the input signal at the target moment based on the input and output signals corresponding to two historical moments, it can more thoroughly filter out high-frequency noise, and the resulting target signal can meet the needs of various scenarios. Furthermore, because the present invention does not require hardware improvements and can be implemented based on existing load equipment, it does not incur additional costs.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] Figure 1 The figure is a flowchart of a signal filtering method according to an exemplary embodiment.

[0045] Figure 2 The figure is a flowchart of another signal filtering method according to an exemplary embodiment.

[0046] Figure 3 The figure is a block diagram of a signal filtering device according to an exemplary embodiment.

[0047] Figure 4 is a block diagram of another signal filtering device according to an exemplary embodiment.

[0048] Figure 5It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0050] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily to be construed as implying a particular order or precedence. In addition, in the description with reference to the accompanying drawings, the same reference numerals in different drawings represent the same elements.

[0051] In the description of the present disclosure, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar thereto; "at least one item(s)", "one item(s) or multiple items(s)" or similar expressions refer to any combination of these items(s), including any combination of single items(s) or plural items(s). For example, at least one item(s) a can represent any number of a's; for another example, one item(s) or multiple items(s) among a, b and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple; "and / or" is a type of description of the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " indicates that the associated objects before and after are in an "or" relationship.

[0052] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0053] Before introducing the signal filtering method, device, medium, electronic device and air conditioner provided by the present disclosure, the application scenarios involved in the various embodiments of the present disclosure are first introduced. The present disclosure can be applied to the scenario of signal filtering. Specifically, when the motor is running at zero speed or low speed, the back electromotive force of the electrical signal is too small to be detected. At this time, the electrical signal is often extracted by injecting a high-frequency signal. Afterwards, the high-frequency noise is filtered out by a low-pass filter to obtain the required signal. However, a first-order low-pass filter is currently commonly used to filter out high-frequency noise. The first-order low-pass filter usually filters the input signal at the current moment based on the historical input signal and historical output signal of the previous moment. However, filtering based only on the signal of the previous moment generally cannot completely filter out the high-frequency noise. For scenarios with higher requirements, it will not be able to meet the needs of the scenario.

[0054] In order to solve the above technical problems, the present invention provides a signal filtering method, device, medium, electronic device and air conditioner. After collecting the input signal corresponding to the target moment, the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment are further obtained, and the high-frequency noise in the input signal is efficiently and accurately filtered out based on the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment to extract the required target signal. Since the filtering process disclosed in the present invention is based on the input signal and the output signal corresponding to the two historical moments to filter the input signal at the target moment, the high-frequency noise can be filtered out more thoroughly, and the target signal obtained can meet the needs of various occasions. At the same time, since the present invention does not require hardware improvements and can be implemented on the basis of existing load equipment, there is no need to increase additional costs.

[0055] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0056] Figure 1 is a flow chart showing a signal filtering method according to an exemplary embodiment. Figure 1 As shown, the method may include the following steps:

[0057] In step S101 , an input signal to be filtered corresponding to a target motor at a target time is collected.

[0058] The target motor may be, for example, a permanent magnet synchronous motor, an asynchronous motor or other types of motors, which is not specifically limited in the present disclosure.

[0059] In some embodiments, step S101 can be applied to a scenario where the target motor is running at zero degrees or low speed. It can be understood that when the target motor is running at zero degrees or low speed, the back electromotive force of the electrical signal of the target motor is too small to be detected. In order to detect the required signal, a preset high-frequency signal can be injected into the target motor. After the preset high-frequency signal is injected into the target motor, the signal output by the target motor at the target moment can be collected as the input signal to be filtered. Among them, the preset high-frequency signal can be a signal of any frequency in the high-frequency band, and its frequency value can be set specifically according to the actual scenario. It can be concluded that the input signal is a signal containing high-frequency noise. Therefore, in order to obtain the required signal, the input signal needs to be filtered to filter out the high-frequency noise.

[0060] For example, in one implementation, the input signal is a sinusoidal signal containing high-frequency noise, and the input signal can be represented by D(n) = Acos(ωt+b), where A represents the amplitude of the input signal, ω represents the frequency of the input signal, and b represents the phase of the input signal. In order to more intuitively see the signal to be extracted, the D(n) expression can also be mathematically converted to obtain D(n) = S(n) + Ccos(ω0t+θ), where S(n) represents the required target signal, C represents the amplitude of the interference signal (i.e., high-frequency noise), ω0 represents the frequency of the interference signal, and θ represents the phase of the interference signal. It can be seen from this that the interference signal in the input signal needs to be filtered out to obtain the target signal S(n).

[0061] In step S102, a first historical input signal to be filtered and a first historical output signal obtained after filtering corresponding to a first historical moment are obtained, as well as a second historical input signal to be filtered and a second historical output signal obtained after filtering corresponding to a second historical moment are obtained.

[0062] The first historical moment is the moment before the target moment, and the second historical moment is the moment before the first historical moment. Preferably, the first historical moment may be the moment before the target moment, and the second historical moment may be the moment before the first historical moment.

[0063] During the historical time, after each filtering of the historical input signal, the historical input signal and the corresponding historical output signal can be stored for subsequent use in signal filtering at the next moment. For the initial moment (i.e., no historical input signal and historical output signal are stored), the historical input signal and historical output signal corresponding to the first historical moment and the second historical moment can be pre-set to facilitate the normal subsequent filtering.

[0064] In step S103, filtering is performed on the input signal according to the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal to obtain a target signal.

[0065] The target signal is a signal whose frequency is lower than a preset cutoff frequency threshold. In other words, the target signal is a signal obtained by filtering out high-frequency noise in the input signal that is higher than a preset cutoff frequency threshold. The preset cutoff frequency threshold can be set according to actual needs.

[0066] In this step, after collecting the input signal at the target moment and obtaining the first historical input signal and the first historical output signal at the first historical moment and the second historical input signal and the second historical output signal at the second historical moment, the input signal can be filtered by a second-order low-pass filter based on the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain the target signal output by the second-order low-pass filter.

[0067] Specifically, first, the filter coefficient corresponding to the second-order low-pass filter can be obtained. Among them, the filter coefficient refers to the parameter used to determine the filter characteristics in the filter, which determines the frequency response and transfer function of the filter. The filter coefficient is usually multiplied by the sample value of the input signal and then added to generate the output signal. In this embodiment, the corresponding filter coefficient can be set according to different actual needs. Then, the target signal can be determined based on the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal.

[0068] For example, taking the first historical moment as the moment before the target moment and the second historical moment as the moment before the first historical moment as an example, determining the target signal according to the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal may include:

[0069] y(n)=s(1)*D(n)+b(1)*s(1)*D(n-1)+b(2)*s(1)

[0070] *D(n-2)+a(1)*y(n-1)-a(2)*y(n-2);

[0071] Among them, y(n) is the target signal corresponding to time n, D(n) is the input signal corresponding to time n, D(n-1) is the first historical input signal corresponding to time n-1, D(n-2) is the second historical input signal corresponding to time n-2, y(n-1) is the first historical output signal corresponding to time n-1, y(n-2) is the second historical output signal corresponding to time n-2, s(1), b(1), b(2), a(1) and a(2) are all filter coefficients of the second-order low-pass filter.

[0072] It should be noted that if the first historical moment is other moments before the target moment, and the second historical moment is other moments before the target moment, D(n-1), D(n-2), y(n-1) and y(n-2) in the above expressions can be adaptively modified, and this disclosure will not list them one by one here.

[0073] That is, in this embodiment, after obtaining the input signal, the above-mentioned second-order low-pass filter expression can be input to obtain the target signal y(n) output by the second-order low-pass filter. And after filtering the input signal at the target moment to obtain the target signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal in the second-order low-pass filter can be further updated to further determine the target signal corresponding to the next moment. For example, if the target signal at the next moment after the target moment needs to be calculated, the input signal and target signal corresponding to the target moment can be used as the new first historical input signal and the new first historical output signal, and the first historical input signal and the first historical output signal corresponding to the first historical moment can be used as the new second historical input signal and the second historical output signal.

[0074] In addition, the method for determining the first historical output signal and the second historical output signal in step S102 may refer to the method provided in the above embodiment, and the specific implementation process will not be repeated here.

[0075] Furthermore, the method for determining the filter coefficient in the above implementation is described. In one implementation, first, the cutoff frequency of the second-order low-pass filter can be set (i.e., the preset cutoff frequency threshold). For example, the cutoff frequency of the second-order low-pass filter can be set to ω c=314rad / s. Afterwards, the filter coefficient of the second-order low-pass filter can be calculated based on the cutoff frequency and the transfer function corresponding to the second-order low-pass filter. Among them, the filter coefficient of the second-order low-pass filter calculated based on the cutoff frequency and the transfer function corresponding to the second-order low-pass filter can refer to the calculation method in the relevant technology, which will not be repeated here. For example, in an exemplary application scenario, the filter coefficient can be: s(1)=0.00066, b(1)=2, b(2)=0, a(1)=-1.92598, a(2)=0.92862. Of course, in actual application, different filter coefficients can be set according to different needs, and the present disclosure does not make specific limitations.

[0076] In some embodiments, as Figure 2 As shown, the method may further include the following steps:

[0077] In step S104 , the speed information and position information of the rotor of the target motor are determined according to the target signal.

[0078] In one implementation, the target signal may be, for example, a current signal and / or a voltage signal. After obtaining the target signal, the speed and position information corresponding to the rotor of the target motor may be further determined based on the target signal, thereby further being applied to variable frequency drive scenarios for air conditioners. Determining the speed and position information corresponding to the rotor of the target motor based on the target signal may refer to calculation methods in related art and will not be further described here.

[0079] By adopting the above method, after collecting the input signal corresponding to the target moment, the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment are further obtained. Based on the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment, the high-frequency noise in the input signal is efficiently and accurately filtered out to extract the desired target signal. Since the filtering process disclosed herein is based on the input signal and the output signal corresponding to the two historical moments to filter the input signal at the target moment, it can more thoroughly filter out high-frequency noise, and the obtained target signal can meet the needs of various occasions. At the same time, since the present disclosure does not require hardware improvements and can be implemented on the basis of existing load equipment, there is no need to increase additional costs.

[0080] Figure 3 is a block diagram of a signal filtering device according to an exemplary embodiment. Figure 3 As shown, the device 200 includes:

[0081] The acquisition module 201 is configured to acquire an input signal to be filtered corresponding to a target motor at a target time;

[0082] The acquisition module 202 is configured to acquire a first historical input signal to be filtered and a first historical output signal obtained after filtering, corresponding to a first historical moment, and a second historical input signal to be filtered and a second historical output signal obtained after filtering, corresponding to a second historical moment; the first historical moment is a moment before the target moment, and the second historical moment is a moment before the first historical moment;

[0083] The filtering module 203 is configured to filter the input signal according to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain a target signal, which is a signal whose frequency is lower than a preset cutoff frequency threshold.

[0084] Optionally, the filtering module 203 is configured to filter the input signal through a second-order low-pass filter based on the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain the target signal output by the second-order low-pass filter.

[0085] Optionally, the filtering module 203 is configured to obtain the filter coefficient corresponding to the second-order low-pass filter; and determine the target signal based on the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal.

[0086] Optionally, the filter coefficients are determined by:

[0087] Determine a preset cutoff frequency threshold corresponding to the second-order low-pass filter;

[0088] The filter coefficient is determined according to the preset cut-off frequency threshold.

[0089] Optionally, the expression of the second-order low-pass filter includes:

[0090] y(n)=s(1)*D(n)+b(1)*s(1)*D(n-1)+b(2)*s(1)

[0091] *D(n-2)+a(1)*y(n-1)-a(2)*y(n-2);

[0092] Among them, y(n) is the target signal corresponding to time n, D(n) is the input signal corresponding to time n, D(n-1) is the first historical input signal corresponding to time n-1, D(n-2) is the second historical input signal corresponding to time n-2, y(n-1) is the first historical output signal corresponding to time n-1, y(n-2) is the second historical output signal corresponding to time n-2, s(1), b(1), b(2), a(1) and a(2) are all filter coefficients of the second-order low-pass filter.

[0093] Alternatively, as Figure 4 As shown, the device 200 further includes:

[0094] The determination module 204 is configured to determine the speed information and position information of the rotor of the target motor according to the target signal.

[0095] By using the above-mentioned device, after collecting the input signal corresponding to the target moment, the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment are further obtained. Based on the historical input signal and the historical output signal corresponding to the first historical moment and the second historical moment, the high-frequency noise in the input signal is efficiently and accurately filtered out to extract the desired target signal. Since the filtering process disclosed herein is based on the input signal and the output signal corresponding to the two historical moments to filter the input signal at the target moment, it can more thoroughly filter out high-frequency noise, and the target signal obtained can meet the needs of various occasions. At the same time, since the present disclosure does not require hardware improvements and can be implemented on the basis of existing load equipment, there is no need to increase additional costs.

[0096] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0097] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the signal filtering method provided by the present disclosure are implemented.

[0098] Figure 5 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. For example, the electronic device 300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0099] Reference Figure 5, the electronic device 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output interface 312 , a sensor component 314 , and a communication component 316 .

[0100] The processing component 302 generally controls the overall operation of the electronic device 300, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 302 may include one or more processors 320 to execute instructions to perform all or part of the steps of the signal filtering method described above. In addition, the processing component 302 may include one or more modules to facilitate interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate interaction between the multimedia component 308 and the processing component 302.

[0101] The memory 304 is configured to store various types of data to support operations on the electronic device 300. Examples of such data include instructions for any application or method operating on the electronic device 300, contact data, phone book data, messages, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0102] The power supply assembly 306 provides power to the various components of the electronic device 300. The power supply assembly 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 300.

[0103] The multimedia component 308 includes a screen that provides an output interface between the electronic device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes a front camera and / or a rear camera. When the electronic device 300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0104] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 300 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 304 or transmitted via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0105] The input / output interface 312 provides an interface between the processing component 302 and peripheral interface modules, such as a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0106] The sensor assembly 314 includes one or more sensors for providing various aspects of status assessment for the electronic device 300. For example, the sensor assembly 314 can detect the open / closed state of the electronic device 300, the relative positioning of components, such as the display and keypad of the electronic device 300. The sensor assembly 314 can also detect changes in the position of the electronic device 300 or a component of the electronic device 300, the presence or absence of user contact with the electronic device 300, the orientation or acceleration / deceleration of the electronic device 300, and temperature changes of the electronic device 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0107] The communication component 316 is configured to facilitate wired or wireless communication between the electronic device 300 and other devices. The electronic device 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0108] In an exemplary embodiment, the electronic device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned signal filtering method.

[0109] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is further provided, such as a memory 304 including instructions, and the instructions can be executed by the processor 320 of the electronic device 300 to perform the above-mentioned signal filtering method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0110] In another exemplary embodiment, an air conditioner is also provided, comprising a motor and the above-mentioned Figure 5 Electronic equipment provided.

[0111] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for performing the above-mentioned signal filtering method when executed by the programmable device.

[0112] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the present disclosure. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0113] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A signal filtering method, characterized in that: The method comprises: Collect the input signal to be filtered corresponding to the target motor at the target time; Obtaining a first historical input signal to be filtered and a first historical output signal obtained after filtering corresponding to a first historical moment, and a second historical input signal to be filtered and a second historical output signal obtained after filtering corresponding to a second historical moment; the first historical moment is a moment before the target moment, and the second historical moment is a moment before the first historical moment; According to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal, the input signal is filtered to obtain a target signal, where the target signal is a signal whose signal frequency is lower than a preset cutoff frequency threshold.

2. The method according to claim 1, characterized in that The filtering the input signal according to the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal to obtain a target signal includes: According to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal, the input signal is filtered by a second-order low-pass filter to obtain the target signal output by the second-order low-pass filter.

3. The method according to claim 2, characterized in that The filtering process of the input signal by a second-order low-pass filter according to the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal to obtain the target signal output by the second-order low-pass filter includes: Obtaining filter coefficients corresponding to the second-order low-pass filter; The target signal is determined according to the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal.

4. The method according to claim 3, characterized in that The filter coefficients are determined as follows: Determine a preset cutoff frequency threshold corresponding to the second-order low-pass filter; The filter coefficient is determined according to the preset cutoff frequency threshold.

5. The method according to claim 3, characterized in that The determining the target signal according to the filter coefficient, the input signal, the first historical input signal, the first historical output signal, the second historical input signal, and the second historical output signal comprises: y(n)=s(1)*D(n)+b(1)*s(1)*D(n-1)+b(2)*s(1)*D(n-2)+a(1)*y(n-1)-a(2)*y(n-2); Among them, y(n) is the target signal corresponding to time n, D(n) is the input signal corresponding to time n, D(n-1) is the first historical input signal corresponding to time n-1, D(n-2) is the second historical input signal corresponding to time n-2, y(n-1) is the first historical output signal corresponding to time n-1, y(n-2) is the second historical output signal corresponding to time n-2, s(1), b(1), b(2), a(1) and a(2) are all filter coefficients of the second-order low-pass filter.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The speed information and position information of the rotor of the target motor are determined according to the target signal.

7. A signal filtering device, characterized in that: The device comprises: an acquisition module configured to acquire an input signal to be filtered corresponding to a target motor at a target time; an acquisition module configured to acquire a first historical input signal to be filtered and a first historical output signal obtained after filtering, corresponding to a first historical moment, and a second historical input signal to be filtered and a second historical output signal obtained after filtering, corresponding to a second historical moment; the first historical moment being a moment before the target moment, and the second historical moment being a moment before the first historical moment; The filtering module is configured to filter the input signal according to the first historical input signal, the first historical output signal, the second historical input signal and the second historical output signal to obtain a target signal, where the target signal is a signal whose signal frequency is lower than a preset cutoff frequency threshold.

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

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the method according to any one of claims 1 to 6 when calling the executable instructions stored in the memory.

10. An air conditioner, characterized in that: include: A motor and the electronic device according to claim 9.

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