Implicit function digital integration method based on rapid prototype controller

Abstract

The invention relates to an implicit function digital integration method based on a rapid prototype controller, and the method comprises the steps: building a mathematical model according to the integration execution process of an implicit function, carrying out the judgment of a sampling interval of a signal through a selection module, carrying out the integration calculation of the implicit function through a composite trapezoidal integration formula and a rectangular formula based on the judgment of the sampling interval, and carrying out the calculation. Calculating a final integral value according to the sampling points to obtain an integral result, distinguishing the bending degree of the implicit function curve through a judgment method of dividing an integral interval into a plurality of sub-blocks, performing multi-core parallel processing by a DSP (Digital Signal Processor) and dividing the integral interval into two different intervals, and calculating the bending degree of the implicit function curve by adopting a rectangular integral method in a gentle interval of the curve. Compared with the prior art, the method has the advantages that the calculation is simple, the smooth region error influence is small, fewer DSP hardware resources are occupied, the composite trapezoidal integral method is adopted for the region with severe change, the calculation amount is large, more DSP hardware resources are occupied, the calculation precision is high, and the effects of fully utilizing the DSP hardware resources and considering the precision and speed of the integral algorithm are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems and signal processing, and in particular to an implicit function digital integration method based on a rapid prototype controller. Background Art

[0002] High-precision adaptive digital integrators are widely used in many fields of engineering and science. For example, in experiments on intelligent voltage regulation of electrically excited doubly salient generators, the integration process is essential and computationally intensive. The intermediate physical quantities under control cannot be expressed using practical mathematical expressions. Furthermore, real-time control of the system places stringent requirements on the speed and accuracy of the integration operation.

[0003] Currently, the integral calculation of implicit functions is a difficult problem to solve in the field of digital signal processing. While the two existing integration methods, trapezoidal integration and rectangular integration, can meet computational requirements to a certain extent, they often suffer from insufficient precision and low computational efficiency when dealing with complex implicit functions. This is especially true in real-time system control, where strict requirements are placed on the speed and accuracy of integral calculations. Furthermore, implementing high-precision adaptive digital integrators on hardware such as DSPs is limited by computing resources and energy consumption.

[0004] Existing integration methods typically require extensive computing resources when processing implicit functions, and struggle to balance accuracy with speed. For example, while the composite trapezoidal integral offers high accuracy, it is computationally intensive and requires high hardware resources. While the rectangular integral is computationally simple, it suffers from large errors when processing regions with drastic curve changes. Furthermore, traditional numerical integration methods lack adaptability to the complexity and diversity of implicit functions, making it difficult to adjust the integration strategy based on different sampling intervals.

[0005] Therefore, on this basis, an implicit function digital integration method based on rapid prototyping controller is proposed. Summary of the Invention

[0006] In view of the above problems existing in the prior art, an object of an embodiment of the present invention is to provide an implicit function digital integration method based on a rapid prototyping controller.

[0007] To achieve the above object, the technical solution adopted by the present invention is: an implicit function digital integration method based on a rapid prototype controller, comprising:

[0008] Step S1, building a mathematical model according to the integral execution process of the implicit function;

[0009] Step S2, judging the sampling interval of the signal by selecting a module;

[0010] Step S3, based on the judgment of the sampling interval, the implicit function is integrated by the composite trapezoidal integral formula and the rectangular formula;

[0011] Specifically, the integration interval is split into multiple sub-blocks, which are processed in parallel by the multi-core DSP. The sampling interval is divided into two different interval judgment methods to distinguish the curvature of the implicit function curve. In the interval where the curve is gentle, the rectangular integration method is used, and in the area with drastic changes, the composite trapezoidal integration method is used.

[0012] DSP is a digital signal processor;

[0013] Step S4, calculating the final integral value according to the sampling points to obtain the integral result.

[0014] Furthermore, in step S11, the input and output interfaces are defined. The Adc_Channel3 module defines the reception of the input signal and corresponds to the ADC_IN_1 of the ADC board of the specific rapid prototype controller. The Dac_Channel1 module defines the output of the integral value signal and corresponds to the DAC_IN_1 of the DAC board of the rapid prototype controller.

[0015] Adc_Channel3 is the analog-to-digital converter channel 3, ADC is the analog-to-digital converter, ADC_IN_1 is the analog-to-digital converter input 1 interface, Dac_Channel1 is the digital-to-analog converter channel 1, DAC is the digital-to-analog converter, and DAC_IN_1 is the digital-to-analog converter input 1 interface.

[0016] Furthermore, step S2 determines the sampling interval of the signal through a selection module, including calling a pre-established selection module in the rapid prototyping controller to determine the sampling interval of the received signal, wherein the selection module pre-defines a trapezoidal interval and a rectangular interval of the independent variable domain of the implicit function.

[0017] Furthermore, in step S3, based on the judgment of the sampling interval, the implicit function is integrated by the composite trapezoidal integral formula and the rectangular formula, including judging the sampling interval of the signal based on the rapid prototype controller for which the mathematical model has been built, and integrating the implicit function using the composite trapezoidal integral formula and the rectangular formula according to different intervals of the input value.

[0018] Furthermore, in step S31, integral calculation is started from the first sampling point of the input, and the integral interval of the input value is determined according to the interval division method of step S2, so as to select a suitable integral calculation method.

[0019] Furthermore, in step S32, if the input value is within the trapezoidal interval, the composite trapezoidal integral formula is applied to perform integral calculation;

[0020] The specific steps include:

[0021]

[0022] Among them, w n 、w n-1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i 、Y i+1 and Y i+2 Sampling point A i 、A i+1 and A i+2 The vertical coordinate value, f s is the sampling frequency.

[0023] Furthermore, in step S33, if the input value is within the rectangular interval, the rectangular integral formula is applied to perform integral calculation;

[0024] The specific steps include:

[0025]

[0026] Among them, w n 、w n+1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i Then it is sampling point A i The vertical coordinate value, f s is the sampling frequency.

[0027] Furthermore, including S4, the final integral value is calculated according to the sampling point to obtain the integral result, and the integral value signal output by the Dac_Channel1 module is defined and corresponds to the DAC_IN_1 interface of the rapid prototype controller.

[0028] Dac_Channel1 is the digital-to-analog converter channel 1, and DAC_IN_1 is the digital-to-analog converter input 1 interface.

[0029] Furthermore, if N is an odd number, the calculation is performed up to the Nth group of sampling points and the result is output.

[0030] Furthermore, if N is an even number, there is one more interval (X N-1 , X N ), defined as a rectangular interval and integrated using the rectangular integral formula;

[0031] (X N-1 , X N ) is the interval value, X N-1 and X N Both are horizontal axes

[0032] The beneficial effects of the present invention are:

[0033] The present invention provides an implicit function digital integration method based on a rapid prototype controller. A mathematical model is built according to the integral execution process of the implicit function. The sampling interval of the signal is judged by selecting a module. Based on the judgment of the sampling interval, the implicit function is integrated and calculated by a composite trapezoidal integral formula and a rectangular formula. The final integral value is calculated according to the sampling point to obtain the integral result. The integral interval is divided into multiple sub-blocks and processed in parallel by the multi-core of the DSP. The integral interval is divided into two different intervals. The degree of curvature of the implicit function curve is distinguished. In the interval where the curve is flat, the rectangular integration method is used. The calculation is simple and the error effect in the flat area is small, and less DSP hardware resources are occupied. For the area with drastic changes, the composite trapezoidal integration method is used. The calculation amount is large, more DSP hardware resources are occupied, and the calculation accuracy is high, thereby achieving the effect of fully utilizing the DSP hardware resources and taking into account the accuracy and speed of the integration algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will be further described below with reference to the accompanying drawings and examples.

[0035] In the picture:

[0036] Figure 1 The flowchart of the implicit function digital integration method based on the rapid prototype controller in the present invention is shown in FIG.

[0037] Figure 2 4 is a flowchart of the working process of the integrator in the present invention.

[0038] Figure 3 Schematic diagram of the method for determining different intervals in the present invention.

[0039] Figure 4 Schematic diagram of the numerical value of the implicit function in the present invention.

[0040] Figure 5 Schematic diagram of the integral value of the implicit function in the present invention.

[0041] Figure 6 It is a schematic diagram for judging rectangular intervals and trapezoidal intervals in the present invention.

[0042] Figure 7 is the ratio of the rectangular algorithm error to the error of the algorithm of the present invention.

[0043] Figure 8 This is a schematic diagram of the hardware connection in the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] An embodiment of the present invention provides an implicit function digital integration method based on a rapid prototype controller. A mathematical model is built according to the integral execution process of the implicit function, and the sampling interval of the signal is judged by selecting a module. Based on the judgment of the sampling interval, the implicit function is integrated and calculated using a composite trapezoidal integral formula and a rectangular formula. The final integral value is calculated according to the sampling points to obtain the integral result. By splitting the integral interval into multiple sub-blocks and performing parallel processing by the multi-core parallel processing of a DSP (digital signal processor), the integral interval is divided into two different intervals. The degree of curvature of the implicit function curve is distinguished. In the interval where the curve is flat, the rectangular integration method is used. The calculation is simple and the error effect in the flat area is small, and less DSP hardware resources are occupied. For the area with drastic changes, the composite trapezoidal integration method is used. The calculation amount is large, more DSP hardware resources are occupied, and the calculation accuracy is high, thereby achieving the effect of fully utilizing the DSP hardware resources and taking into account the accuracy and speed of the integration algorithm.

[0046] The following is a detailed description of the implementation details of an implicit function digital integration method based on a rapid prototyping controller in this embodiment. The following content is only for the convenience of understanding the implementation details and is not necessary for the implementation of this solution.

[0047] S1. Build a mathematical model based on the integral execution process of the implicit function.

[0048] See Figure 1 and Figure 2 Specifically, a mathematical model is built for the integral calculation execution process of the implicit function on the rapid prototype controller, and the environment for building the mathematical model is Simulink (a visual simulation tool in MATLAB);

[0049] Define the input interface of the rapid prototype controller and use the Adc_Channel3 (Analog-to-Digital Converter Channel 3) module to define the signal receiving the implicit function, which corresponds to the ADC_IN_1 interface (Analog-to-Digital Converter Input 1 interface) of the rapid prototype controller.

[0050] Specifically, based on the specific rapid prototyping controller adopted, a mathematical model of the integral calculation execution process of the entire implicit function is built in the Simulink (simulation platform) environment. The entire mathematical model construction can be divided into the following steps:

[0051] S11. Define the input and output interfaces. The Adc_Channel3 (Analog-to-Digital Converter Channel 3) module defines the input signal reception and corresponds to the ADC_IN_1 (Analog-to-Digital Converter Input 1) interface of the ADC (Analog-to-Digital Converter) board of the specific rapid prototype controller. The Dac_Channel1 (Digital-to-Analog Converter Channel 1) module defines the output of the integral value signal and corresponds to the DAC_IN_1 (Digital-to-Analog Converter Input 1) interface of the DAC (Digital-to-Analog Converter) board of the rapid prototype controller.

[0052] Specific input includes:

[0053] The frequency f s N groups of sampling points A obtained by sampling the implicit function i Input integrator, its horizontal and vertical coordinates are (X i , Y i ), i=1, 2, 3...N (N>3);

[0054] For example, see Figure 4 , extract the implicit function 0-50ms data in Ansys* (finite element analysis software) simulation, the sampling frequency is 100kHz, that is, the sampling step is 0.01ms; the present invention then takes 1667 sampling points between 0-50ms with a sampling step of 0.03ms, which is defined as A i The horizontal and vertical coordinates are X i 、Y i , i=1,2,3……1667;

[0055] S2. Determine the sampling interval of the signal by selecting a module.

[0056] Specifically, a selection module pre-established in the rapid prototyping controller is called to determine a sampling interval of the received signal, wherein the selection module pre-defines a trapezoidal interval and a rectangular interval of the independent variable domain of the implicit function;

[0057] S21. After completing the definition of input and output, call the "select module" to select the input value Y i 、Y i+1 and Y i+2 When it is judged to be a trapezoidal interval, the composite trapezoidal integral formula is used for integral calculation; when it is judged to be a rectangular interval, the rectangular integral formula is used for integral calculation;

[0058] Specific determination methods include:

[0059] The intervals between all sampling points are defined as two different integration intervals, including:

[0060] See Figure 3 , with the interval (X i , X i+1 ) and (X i+1 , X i+2 ) is judged as a whole, take two points A i (X i , Y i ) and A i+1 (X i+1 , Y i+1 ) in the vertical coordinate value Y i and Y i+1 , calculate the difference ΔY i =|Y i+1 -Y i |, then take two points A i+1 (X i+1 , Y i+1 ) and A i+2 (X i+2 , Y i+2 ) in the vertical coordinate value Y i+1 and Y i+2 , calculate the difference ΔY i+1 =|Y i+2 -Y i+1 |, let c = ΔY i+1 +ΔY i If c>a, then the interval (X i , X i+2 ) is defined as a trapezoidal interval. If c≤a, then the interval (X i , X i+2 ) is defined as a rectangular interval. If N is an odd number, all intervals can be defined as above. If N is an even number, there will be one more interval. The present invention defines the last interval as a rectangular interval.

[0061] As an example, the interval between sampling points is defined as two different integration intervals, and different methods are used to perform the integration calculation, as follows:

[0062] Take the ordinate values of points (X1, Y1), (X2, Y2), and (X3, Y3): Y1 = -2.54630970, Y2 = -2.54630499, and Y3 = -2.54631071, and calculate their trapezoidalization ratio c: c = ΔY1 + ΔY2 = |Y2 - Y1| + |Y3 - Y2| ≈ 0. At this time, c ≤ 0.1 (a is 0.1 in the specific case), and the interval (X1, X3) is defined as a rectangular interval. If c > 0.1, the interval (X1, X3) is defined as a trapezoidal interval. In this implementation example, N is an odd number, so all intervals can be defined as above.

[0063] S3. Based on the judgment of the sampling interval, the implicit function is integrated by the composite trapezoidal integral formula and the rectangular formula.

[0064] See Figure 6 Specifically, based on the rapid prototype controller with mathematical model construction, the sampling interval of the signal is determined, and the composite trapezoidal integral formula and rectangular formula are used to integrate the implicit function according to the different intervals of the input value.

[0065] Furthermore, by splitting the integration interval into multiple sub-blocks and processing them in parallel by the multi-core DSP, the integration interval (i.e., the sampling interval) is divided into two different interval judgment methods to distinguish the degree of curvature of the implicit function curve. In the interval where the curve is flat (rectangular interval), the rectangular integration method is used. The calculation is simple and the error in the flat area is less affected, and it occupies less DSP hardware resources. For the area with drastic changes (trapezoidal interval), the composite trapezoidal integration method is used. The calculation amount is large, it occupies more DSP hardware resources, and the calculation accuracy is high.

[0066] As a preferred embodiment of the present invention, a composite trapezoidal integral formula is used to perform integral calculation on the trapezoidal interval;

[0067] As a preferred embodiment of the present invention, a rectangular integral formula is used to perform integral calculation on a rectangular interval.

[0068] The specific calculation process includes:

[0069] S31, start the integral calculation from the first sampling point of the input, and judge (X i , X i+2 ) is what kind of integral interval, so as to select the appropriate integral calculation method;

[0070] S32. If it is a trapezoidal interval, the composite trapezoidal integral formula is applied for integral calculation;

[0071] As a preferred embodiment of the present invention, the specific steps include:

[0072]

[0073] Among them, w n 、w n-1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i 、Y i+1 and Y i+2 Sampling point A i 、A i+1 and A i+2 The vertical coordinate value, f s is the sampling frequency;

[0074] As an example, when Y i 、Y i+1 and Y i+2 When it is determined to be in a trapezoidal interval, the specific steps for calculating the implicit function integral of the interval include:

[0075]

[0076] Among them, w n 、w n-1 are the integral values of the implicit function at X = 4.03 and X = 3.97, respectively, where -5.59219725, -5.92454303 and -6.24526248 are the integral values of the sampling point A, respectively. i At the ordinate values at X = 3.97, X = 4, and X = 4.03, 0.00003 is the sampling step;

[0077] S33. If it is a rectangular interval, the rectangular integral formula is applied for integral calculation;

[0078] As a preferred embodiment of the present invention, the specific steps include:

[0079]

[0080] Among them, w n 、w n-1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i Then it is sampling point A i The vertical coordinate value, f s is the sampling frequency;

[0081] As an example, when Y i 、Y i+1 and Y i+2 When it is determined to be in a rectangular interval, the specific steps for calculating the implicit function integral of the interval include:

[0082]

[0083] Among them, w n 、w n-1 are the integral values of the implicit function at X = 0.01 and X = 0.07 respectively, and -2.54630969 is the sampling point A i The ordinate value at X = 0.01, 0.00003 is the sampling step;

[0084] S4. Calculate the final integral value according to the sampling points to obtain the integral result.

[0085] Specifically, the method for defining the output interface of the rapid prototyping controller includes:

[0086] Use the Dac_Channel1 (digital-to-analog converter channel 1) module to define the output integral value signal, which corresponds to the DAC_IN_1 (digital-to-analog converter input 1 interface) of the rapid prototype controller. If N is an odd number, the above steps can be used to calculate up to the Nth group of sampling points. If N is an even number, and the above steps are used to distinguish the integral intervals, there will be an extra interval (X N-1 , X N ), the present invention defines this interval as a rectangular interval and uses the rectangular integral formula to perform integral calculation on it. According to steps S2 and S3, the integral is calculated starting from the first set of input sampling points until the integral value at the Nth set of sampling points is calculated, and the result is output;

[0087] N is the number of sampling points, (X N-1 , X N ) is the interval value, X N-1 and X N All are horizontal axes.

[0088] As an example, according to the interval judgment method of step S2 and the integral calculation method of step S3, the calculation starts from the first sampling point A1 (0.01, -2.54630969) until the last interval (49.93, 49.99) is calculated, the calculation is stopped, and the integral result is output.

[0089] So far, the Figure 4 The integral calculation of the implicit function in the range of 0-50ms is shown.

[0090] See Figure 8 The hardware wiring diagram is shown. In order to verify the effect of the calculation method, the method was verified by hardware calculation based on NI data acquisition card and rapid prototyping controller.

[0091] See Figure 7 ,Will Figure 8 and Figure 5 The simulation results are compared with the exact integral values of the rectangular algorithm integration results, and the results are shown in the following table.

[0092]

[0093]

[0094] An embodiment of the present invention provides an implicit function digital integration method based on a rapid prototyping controller. A mathematical model is built according to the integral execution process of the implicit function. The sampling interval of the signal is judged by selecting a module. Based on the judgment of the sampling interval, the implicit function is integrated and calculated using a composite trapezoidal integral formula and a rectangular formula. The final integral value is calculated according to the sampling points to obtain the integral result. By splitting the integral interval into multiple sub-blocks and performing parallel processing by the multi-core of a DSP, the integral interval (i.e., the sampling interval) is divided into two different interval judgment methods to distinguish the curvature of the implicit function curve. In intervals where the curve is flat (rectangular intervals), the rectangular integration method is used. The calculation is simple and the error effect in the flat area is small, occupying less DSP hardware resources. For areas with drastic changes (trapezoidal intervals), the composite trapezoidal integration method is used. The calculation amount is large, occupies more DSP hardware resources, and the calculation accuracy is high, thereby achieving the effect of fully utilizing the DSP hardware resources and taking into account the accuracy and speed of the integration algorithm.

[0095] The steps of the various methods above are divided only for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0096] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An implicit function digital integration method based on rapid prototyping controller, characterized in that: include: Step S1, building a mathematical model according to the integral execution process of the implicit function; Step S2, judging the sampling interval of the signal by selecting a module; Step S3, based on the judgment of the sampling interval, the implicit function is integrated by the composite trapezoidal integral formula and the rectangular formula; Specifically, the integration interval is split into multiple sub-blocks, which are processed in parallel by the multi-core DSP. The sampling interval is divided into two different interval judgment methods to distinguish the curvature of the implicit function curve. In the interval where the curve is gentle, the rectangular integration method is used, and in the area with drastic changes, the composite trapezoidal integration method is used. DSP is a digital signal processor; Step S4, calculating the final integral value according to the sampling points to obtain the integral result.

2. The method of implicit function digital integration based on rapid prototyping controller according to claim 1, characterized in that: S11. Define the input and output interfaces. Define the input signal reception of the Adc_Channel3 module and correspond it to the ADC_IN_1 of the ADC board of the specific rapid prototype controller. Define the output of the integral value signal of the Dac_Channel1 module and correspond it to the DAC_IN_1 of the DAC board of the rapid prototype controller. Adc_Channel3 is the analog-to-digital converter channel 3, ADC is the analog-to-digital converter, ADC_IN_1 is the analog-to-digital converter input 1 interface, Dac_Channel1 is the digital-to-analog converter channel 1, DAC is the digital-to-analog converter, and DAC_IN_1 is the digital-to-analog converter input 1 interface.

3. The implicit function digital integration method based on rapid prototyping controller according to claim 1 is characterized in that: Step S2: judging the sampling interval of the signal through the selection module, including calling the selection module pre-established in the rapid prototyping controller to determine the sampling interval of the received signal, wherein the selection module pre-defines the trapezoidal interval and the rectangular interval of the independent variable domain of the implicit function.

4. The method of implicit function digital integration based on rapid prototyping controller according to claim 1, characterized in that: Step S3, based on the judgment of the sampling interval, the implicit function is integrated by the composite trapezoidal integral formula and the rectangular formula, including judging the sampling interval of the signal based on the rapid prototype controller for which the mathematical model has been built, and integrating the implicit function by the composite trapezoidal integral formula and the rectangular formula according to different intervals of the input value.

5. The method of implicit function digital integration based on rapid prototyping controller according to claim 4, characterized in that: In step S31, integral calculation is started from the first sampling point of the input. According to the interval division method in step S2, it is determined which integral interval the input value belongs to, so as to select a suitable integral calculation method.

6. The method of implicit function digital integration based on rapid prototyping controller according to claim 5, characterized in that: Step S32: If the input value is within the trapezoidal interval, the composite trapezoidal integral formula is applied to perform integral calculation; The specific steps include: Among them, w n 、w n-1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i 、Y i+1 and Y i+2 Sampling point A i 、A i+1 and A i+2 The vertical coordinate value, f s is the sampling frequency.

7. The method of implicit function digital integration based on rapid prototyping controller according to claim 6, characterized in that: Step S33: If the input value is within the rectangular interval, the rectangular integral formula is applied to perform integral calculation; The specific steps include: Among them, w n 、w n-1 The sampling points are respectively at X=X i 、X=X i+2 The integral value at Y i Then it is sampling point A i The vertical coordinate value, f s is the sampling frequency.

8. The method of implicit function digital integration based on rapid prototyping controller according to claim 7, characterized in that: Including S4, calculate the final integral value according to the sampling point, get the integral result, use the Dac_Channel1 module to define the output integral value signal, which corresponds to the DAC_IN_1 interface of the rapid prototype controller; Dac_Channel1 is the digital-to-analog converter channel 1, and DAC_IN_1 is the digital-to-analog converter input 1 interface.

9. The method of implicit function digital integration based on rapid prototyping controller according to claim 8, characterized in that: If N is an odd number, the calculation is continued up to the Nth group of sampling points and the result is output.

10. The method of implicit function digital integration based on rapid prototyping controller according to claim 9, characterized in that: If N is an even number, there is one more interval (X N-1 , X N ), defined as a rectangular interval and integrated using the rectangular integral formula; (X N-1 , X N ) is the interval value, X N-1 and X N All are horizontal axes.

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