Signal processing method, device and system

Abstract

The embodiment of the invention provides a signal processing method, device and system. The method comprises the following steps: receiving a control signal value at the current moment sent by a controller and an acquisition signal value at the current moment acquired by a sensor; estimating the control signal value according to the acquired signal value at the current moment to obtain a first estimated signal value at the current moment; obtaining an estimated difference value at the current moment according to the control signal value and the first estimated signal value; compensating the control signal value at the current moment according to the gain value of the adjustable gain module, a coefficient of a preset transfer function in the fixed gain compensation module and the estimated difference value to obtain a second estimated signal value at the current moment; and outputting the second estimation signal value at the current moment so as to complete estimation of the control signal value. The estimation complexity can be reduced, and the estimation efficiency can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of signal processing technology, and in particular, to a signal processing method, device, and system. Background Art

[0002] Since the advent of the digital age, the operation of various high-performance automation systems in low-frequency application fields such as modern industrial automation is inseparable from the precise estimation of control signals. Among them, control signals refer to key variables that need to be monitored and adjusted during the operation of the automation system, such as position, speed, and temperature.

[0003] Currently, existing signal processing methods estimate control signals based on signals (Hall level signals) collected by sensors (such as Hall sensors) and preset algorithms, using mean filtering and phase compensators. However, these methods require accurate filter structures and data fitting based on these structures to improve the accuracy of control signal estimation.

[0004] When fitting data, it is necessary to find a fitting formula or create a lookup table based on the filter structure. However, this process is computationally intensive and complex to implement. When the filter structure changes, the fitting formula or lookup table must be re-finded, which leads to a high complexity in existing signal processing methods. Summary of the Invention

[0005] In view of this, embodiments of the present application provide a signal processing method, device, and system to at least partially solve the above-mentioned problems.

[0006] According to a first aspect of an embodiment of the present application, there is provided a signal processing method, including:

[0007] Receive the current control signal value sent by the controller and the current acquisition signal value acquired by the sensor;

[0008] estimating the control signal value according to the collected signal value at the current moment to obtain a first estimated signal value at the current moment;

[0009] Obtaining an estimated difference at a current moment according to the control signal value and the first estimated signal value;

[0010] Compensating the control signal value at the current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference to obtain a second estimated signal value at the current moment;

[0011] The second estimated signal value at the current moment is output to complete the estimation of the control signal value.

[0012] In some embodiments, the fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module;

[0013] The method further comprises: compensating the control signal value at the current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference value to obtain the second estimated signal value at the current moment, including:

[0014] Compensating the control signal value at the current moment according to the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module to obtain a third estimated signal value at the current moment;

[0015] Obtaining a fourth estimated signal value at a current moment according to a sum of the third estimated signal value and the estimated difference;

[0016] The fourth estimated signal value is compensated according to the coefficient of the second transfer function preset in the second fixed gain compensation module to obtain the second estimated signal value at the current moment.

[0017] In some embodiments, the coefficients of the transfer function include a numerator coefficient and a denominator coefficient, and the transfer function includes the first transfer function and the second transfer function;

[0018] The method further comprises: compensating the control signal value according to the gain value of the adjustable gain module and the coefficient of the first transfer function in the first fixed gain compensation module to obtain a third estimated signal value, comprising:

[0019] Obtaining the numerator coefficient, the denominator coefficient, the control signal values ​​at multiple historical moments, the third estimated signal values ​​at multiple historical moments, and the control signal value at a current moment of the first transfer function;

[0020] performing a weighted summation of the control signal value at the current moment and the control signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a first calculated value;

[0021] Obtaining a second calculated value according to a product of the first calculated value and a gain value of the adjustable gain module;

[0022] performing a weighted summation on the fourth estimated signal values ​​at the multiple historical moments using the multiple denominator coefficients to obtain a third calculated value;

[0023] The third estimated signal value at the current moment is obtained according to the difference between the second calculated value and the third calculated value to compensate the control signal value.

[0024] In some embodiments, performing a weighted summation of the control signal value at the current moment and the control signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a first calculated value includes:

[0025] The first calculated value is calculated according to a first formula, which is:

[0026] L1=b0x(k)+b1x(k-1)+……+b m x(km);

[0027] Among them, L1 is the first calculated value, b0, b1, ..., b m is the numerator coefficient of the first transfer function, x is the control signal value, k is the current moment, and x(k) is the control signal value at the current moment;

[0028] The step of performing a weighted summation of the control signal values ​​at the plurality of historical moments using the denominator coefficient to obtain a third calculated value includes:

[0029] The third calculated value is calculated according to a second formula, wherein the second formula is:

[0030] L2=a1g(k-1)+a2g(k-2)+……+a n g(kn);

[0031] Among them, L2 is the third calculated value, a1, a2, ..., a n is the denominator coefficient of the first transfer function, g is the fourth estimated signal value, k is the current moment, g(kn) is the fourth estimated signal value at multiple historical moments, and n is the denominator order of the first transfer function.

[0032] In some embodiments, the coefficients of the transfer function include a numerator coefficient and a denominator coefficient, and the transfer function includes the first transfer function and the second transfer function;

[0033] The compensating the fourth estimated signal value according to the coefficient of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current moment includes:

[0034] Obtaining the numerator coefficient, the denominator coefficient, the fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at a current moment, and the second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module;

[0035] performing a weighted summation on the fourth estimated signal values ​​at the multiple historical moments using the numerator coefficient to obtain a fourth calculated value;

[0036] Performing a weighted summation on the second estimated signal values ​​at the multiple historical moments according to the denominator coefficient to obtain a fifth calculated value;

[0037] The second estimated signal value at the current moment is obtained according to the difference between the fourth calculated value and the fifth calculated value, so as to complete the compensation for the fourth estimated signal value.

[0038] In some embodiments, performing a weighted summation of the control signal value at the current moment and the second estimated signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a fourth calculated value includes:

[0039] The fourth calculated value is calculated according to the third formula, which is:

[0040] L3=c0g(k)+c1g(k-1)+……+c p g(kp);

[0041] Among them, L3 is the fourth calculated value, c0, c1, ..., c p is the numerator coefficient of the second transfer function, g is the fourth estimated signal value, k is the current moment, g(k) is the fourth estimated signal value at the current moment, g(kp) is the fourth estimated signal value at multiple historical moments, and p is the numerator order of the second transfer function;

[0042] The step of performing weighted summation of the control signal values ​​at the plurality of historical moments according to the denominator coefficient to obtain a fifth calculated value includes:

[0043] The fifth calculated value is calculated according to the fourth formula, which is:

[0044] L4=d1y(k-1)+……+d q y(kq);

[0045] Among them, L4 is the fifth calculated value, d1, ..., d q is the denominator coefficient of the second transfer function, y is the second estimated signal value, k is the current moment, y(kq) is the second estimated signal value at multiple historical moments, and q is the denominator order of the second transfer function.

[0046] In some embodiments, the relationship between the first fixed gain compensation module and the second fixed gain compensation module is:

[0047] G(z)=H -1 (z)*G L (z);

[0048] Wherein, G(z) is the first transfer function in the first fixed gain compensation module, H -1(z) is the inverse transfer function of H(z) of the second transfer function of the second fixed gain compensation module, G L (z) is the auxiliary transfer function;

[0049] The G L (z) Specifically:

[0050] G L (z) = e0 + e1z -1 +……+e n z -r ;

[0051] Among them, e0, e1, ..., e n is the coefficient of the auxiliary transfer function, z -1 、……、z -r is the backshift operator.

[0052] According to a second aspect of the embodiments of the present application, a signal processing system is provided. The system includes a signal processing device, an adjustable gain module, and a fixed gain compensation module according to the embodiments of the present application.

[0053] In some embodiments, the fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module, wherein a first end of the first fixed gain compensation module is connected to the adjustable gain module, and a second end of the first fixed gain compensation module is connected to the second fixed gain compensation module.

[0054] According to the signal processing method provided by the embodiment of the present application, the control value at the current moment sent by the controller and the collected signal value at the current moment collected by the sensor are first received, and the control signal value is estimated according to the collected signal value at the current moment to obtain the first estimated signal value at the current moment, and further, the estimated difference at the current moment is obtained according to the control signal value and the first estimated signal value, and further, the control signal value at the current moment is compensated according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module and the estimated difference to obtain the second estimated signal value at the current moment; the second estimated signal value at the current moment is output to complete the estimation of the control signal value. When estimating the control signal value, the embodiment of the present application completes the estimation of the control signal value by utilizing the control signal value at the current moment sent by the controller, the estimated difference and the coefficient of the transfer function, so that the estimation of the control signal can be completed without obtaining an accurate filter structure, thereby reducing the complexity of the estimation and improving the efficiency of the estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0056] Figure 1 is a flowchart of a signal processing method according to an embodiment of the present application;

[0057] Figure 2 A schematic diagram of the structure of an estimator provided according to an embodiment of the present application;

[0058] Figure 3 is a flowchart of a signal processing method according to another embodiment of the present application;

[0059] Figure 4 is a structural block diagram of a signal processing device according to an embodiment of the present application;

[0060] Figure 5 Schematic diagram of the common differential estimation algorithm;

[0061] Figure 6 A schematic diagram of a signal processing method according to an embodiment of the present application;

[0062] Figure 7 The estimated effect diagram provided in the embodiment of this application. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0064] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0065] The embodiment of the present application provides a signal processing method that can be applied to an estimator in an automation system. The specific steps are as follows: Figure 1 As shown, the following steps may be included:

[0066] S101 : An estimator receives a control signal value at a current moment sent by a controller and a collection signal value at a current moment collected by a sensor.

[0067] In an embodiment of the present application, when estimating the control signal value, the sensor of the automation system first collects the collected signal value at the current moment and sends the collected signal value to the controller and the estimator. The controller can use the collected signal value to obtain the control signal value at the current moment.

[0068] In one example, a controller pre-stores a system model for calculating control signal values. The controller can obtain a calculated control value based on the acquired signal values ​​and the system model. For example, in an automation system including a motor, a sensor can acquire the motor's rotor position signal. The controller can then obtain the motor's speed signal based on the rotor position signal and the system model.

[0069] S102: The estimator estimates the control signal value according to the collected signal value at the current moment to obtain a first estimated signal value at the current moment.

[0070] In an embodiment of the present application, after receiving the current acquisition signal value sent by the sensor, the estimator estimates the current control signal value based on the current acquisition signal value, and then obtains the first estimated signal value at the current moment.

[0071] In one example, the estimator has a pre-stored system model for calculating a first estimated signal value. The estimator can obtain the first estimated signal value based on the acquired signal value and the system model. For example, in an automation system including a motor, a sensor can acquire a rotor position signal of the motor. The estimator can obtain an estimated first motor speed signal based on the rotor position signal and the system model.

[0072] S103: The estimator obtains an estimated difference value at the current moment according to the control signal value and the first estimated signal value.

[0073] In the embodiment of the present application, after obtaining the control signal value and the first estimated signal value, the estimator calculates the difference between the control signal value and the first estimated signal value, thereby determining the estimation error based on the estimated difference at the current moment.

[0074] S104 , the estimator compensates the control signal value at the current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference, to obtain a second estimated signal value at the current moment.

[0075] In an embodiment of the present application, after obtaining the control signal value and the estimated difference, the estimator obtains the gain value of the adjustable gain module set in the estimator and the coefficient of the transfer function preset in the fixed gain compensation module, so as to compensate the control signal value at the current moment by using the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module and the estimated difference, thereby obtaining a second estimated signal value at the current moment.

[0076] S105 , the estimator outputs the second estimated signal value at the current moment to complete the estimation of the control signal value.

[0077] In the embodiment of the present application, after obtaining the second estimated signal value, the estimator determines that the estimation of the control signal value is completed, and then the estimator outputs the second estimated signal value, thereby completing the estimation of the control signal value.

[0078] According to the signal processing method provided by the embodiment of the present application, the control value at the current moment sent by the controller and the collected signal value at the current moment collected by the sensor are first received, and the control signal value is estimated according to the collected signal value at the current moment to obtain the first estimated signal value at the current moment, and further, the estimated difference at the current moment is obtained according to the control signal value and the first estimated signal value, and further, the control signal value at the current moment is compensated according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module and the estimated difference to obtain the second estimated signal value at the current moment; the second estimated signal value at the current moment is output to complete the estimation of the control signal value. When estimating the control signal value, the embodiment of the present application completes the estimation of the control signal value by utilizing the control signal value at the current moment sent by the controller, the estimated difference and the coefficient of the transfer function, so that the estimation of the control signal can be completed without obtaining an accurate filter structure, thereby reducing the complexity of the estimation and improving the efficiency of the estimation.

[0079] Further, see Figure 2 , which is a schematic diagram of the structure of an estimator provided in an embodiment of the present application. The fixed gain compensation module in the estimator in the embodiment of the present application may include a first fixed gain compensation module and a second fixed gain compensation module.

[0080] Specifically, in an embodiment of the present application, the control signal value at the current moment is compensated according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference value to obtain the second estimated signal value at the current moment, which may include the following steps:

[0081] S1041: The estimator compensates the control signal value at the current moment according to the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module to obtain a third estimated signal value at the current moment.

[0082] In an embodiment of the present application, when the estimator estimates the control signal value at the current moment, the estimator first obtains a system of a gain value preset in the adjustable gain module and a first transfer function preset in the first fixed gain compensation module, and uses the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module to compensate the control signal value at the current moment, thereby obtaining a third estimated signal value at the current moment.

[0083] In one example, the gain value in the adjustable gain module ranges from 0 to ∞, and the preferred gain value is 1. Specifically, when the gain value ranges from 0 to 1, phase advance compensation can be performed, and when the gain value ranges from 1 to ∞, phase lag compensation can be performed.

[0084] In one example, the first transfer function set in the first fixed gain compensation module may be:

[0085]

[0086] Where G(z) is the first transfer function, b0, b1, ..., b m is the numerator coefficient, a1, a n is the denominator coefficient, m is the numerator order of the first fixed gain compensation module, and n is the denominator order of the first fixed gain compensation module.

[0087] S1042: The estimator obtains a fourth estimated signal value at the current moment according to the sum of the third estimated signal value and the estimated difference value.

[0088] In the embodiment of the present application, after the estimator obtains the third estimated value according to the control signal value at the current moment, the estimator calculates the sum of the third estimated signal value and the estimated difference value, thereby obtaining a fourth estimated signal value.

[0089] S1043: The estimator compensates the fourth estimated signal value according to the coefficient of the second transfer function preset in the second fixed gain compensation module to obtain the second estimated signal value at the current moment.

[0090] In an embodiment of the present application, after obtaining the fourth estimated signal value, the estimator obtains the coefficients of the second transfer function preset in the second fixed gain compensation module, and uses the coefficients of the second transfer function preset in the second fixed gain compensation module to compensate the fourth estimated signal value to obtain the second estimated signal value at the current moment, thereby completing the estimation of the control signal value.

[0091] In the embodiment of the present application, the control signal value at the current moment is compensated by the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module to obtain the third estimated signal value at the current moment. At the same time, the fourth estimated signal value at the current moment is obtained by summing the third estimated signal value and the estimated difference. Finally, the fourth estimated signal value is compensated according to the coefficient of the second transfer function preset in the second fixed gain compensation module to obtain the second estimated signal value at the current moment. The estimation of the control signal can be completed without obtaining an accurate filter structure, thereby reducing the complexity of the estimation and improving the estimation efficiency.

[0092] Furthermore, in an embodiment of the present application, compensating the control signal value according to the gain value of the adjustable gain module and the coefficient of the first transfer function in the first fixed gain compensation module to obtain the third estimated signal value may include the following steps:

[0093] S10411, the estimator obtains the numerator coefficient, the denominator coefficient, the control signal values ​​at multiple historical moments, the third estimated signal values ​​at multiple historical moments, and the control signal value at the current moment of the first transfer function.

[0094] In an embodiment of the present application, when the estimator calculates the third estimated signal value, the estimator first obtains the numerator coefficient, denominator coefficient, control signal values ​​at multiple historical moments, the third estimated signal values ​​at multiple historical moments, and the control signal value at the current moment calculated by the controller in the first fixed gain compensation module.

[0095] In one example, the multiple historical moments in the embodiment of the present application are historical moments adjacent to the current moment, and the number of the multiple historical moments is related to the numerator order and the denominator order of the first transfer function.

[0096] S10412: The estimator uses the numerator coefficient to perform a weighted summation on the control signal value at the current moment and the control signal values ​​at multiple historical moments to obtain a first calculated value.

[0097] In an embodiment of the present application, after the estimator obtains the numerator coefficient of the first transfer function, the control signal value at the current moment, and the control signal values ​​at multiple historical moments, the estimator uses the numerator coefficient to perform a weighted summation of the control signal value at the current moment and the control signal values ​​at multiple historical moments to obtain a first calculated value.

[0098] S10413: The estimator obtains a second calculated value according to the product of the first calculated value and the gain value of the adjustable gain module.

[0099] In the embodiment of the present application, after obtaining the first calculated value, the estimator uses the first calculated value to calculate the product of the first calculated value and the gain value of the adjustable gain module to obtain the second calculated value.

[0100] S10414: The estimator uses multiple denominator coefficients to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a third calculated value.

[0101] In an embodiment of the present application, after obtaining the denominator coefficient of the first transfer function and the fourth estimated signal values ​​at multiple historical moments, the estimator uses the denominator coefficient to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a third calculated value.

[0102] S10415: The estimator obtains a third estimated signal value at the current moment according to the difference between the second calculated value and the third calculated value to compensate the control signal value.

[0103] In the embodiment of the present application, after obtaining the second calculated value and the third calculated value, the estimator calculates the difference between the second calculated value and the third calculated value, and then obtains the third estimated signal value, thereby completing the first compensation for the signal value at the current moment.

[0104] When calculating the third estimated value, the embodiment of the present application obtains the numerator coefficient, denominator coefficient, control signal values ​​at multiple historical moments, third estimated signal values ​​at multiple historical moments, and control signal value at the current moment of the first transfer function, and calculates the third estimated signal value using the numerator coefficient, denominator coefficient, control signal values ​​at multiple historical moments, third estimated signal values ​​at multiple historical moments, and control signal value at the current moment. The control signal value at the current moment can be compensated based on the data at the historical moments, so that the accuracy of calculating the third estimated signal value can be improved by using the data at the historical moments, and thus the accuracy of calculating the second estimated signal value can be improved.

[0105] In one example, the first calculated value may be calculated according to a first formula, which is specifically as follows:

[0106] L1=b0x(k)+b1x(k-1)+……+b m x(km);

[0107] Wherein, L1 is the first calculated value, b0, b1, ..., bm are the numerator coefficients of the first transfer function, x is the control signal value, k is the current moment, and x(k) is the control signal value at the current moment;

[0108] In one example, the third calculated value may be calculated according to a second formula, which is specifically as follows:

[0109] L2=a1g(k-1)+a2g(k-2)+……+a n g(kn);

[0110] Among them, L2 is the third calculated value, a1, a2, ..., an is the denominator coefficient of the first transfer function, g is the fourth estimated signal value, k is the current moment, g(kn) is the fourth estimated signal value at multiple historical moments, and n is the denominator order of the first transfer function.

[0111] In an example, the fourth estimated signal value may be calculated according to a fifth formula, which is obtained by integrating the first formula and the second formula, as follows:

[0112] g(k)=err(k)+Gain*{b0x(k)+b1x(k-1)+……+b m x(km)}-a1g(k-1)

[0113] -a2g(k-2)-……-a n g(kn).

[0114] Wherein, g(k) is the fourth estimated signal value at the current moment, err(k) is the estimated difference value at the current moment, and Gain is the gain value of the adjustable gain module.

[0115] Furthermore, in the embodiment of the present application, compensating the fourth estimated signal value according to the coefficient of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current moment may include the following steps:

[0116] S10431, the estimator obtains the numerator coefficient, denominator coefficient, fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at the current moment, and second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module.

[0117] In an embodiment of the present application, when the estimator calculates the second estimated signal value, the estimator first obtains the numerator coefficient, denominator coefficient, fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at the current moment, and second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module.

[0118] S10432: The estimator uses the numerator coefficient to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a fourth calculated value.

[0119] In an embodiment of the present application, after obtaining the numerator coefficient of the second transfer function and the fourth estimated signal values ​​at multiple historical moments, the estimator uses the numerator coefficient to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a fourth calculated value.

[0120] In one example, the multiple historical moments in the embodiment of the present application are historical moments adjacent to the current moment, and the number of the multiple historical moments is related to the numerator order and the denominator order of the second transfer function.

[0121] S10433: The estimator performs weighted summation on the second estimated signal values ​​at multiple historical moments according to the denominator coefficient to obtain a fifth calculated value.

[0122] In an embodiment of the present application, after obtaining the denominator coefficient of the second transfer function and the second estimated signal values ​​at multiple historical moments, the estimator performs weighted summation on the second estimated signal values ​​at multiple historical moments according to the denominator coefficient to obtain a fifth calculated value.

[0123] S10434: The estimator obtains a second estimated signal value at the current moment according to the difference between the fourth calculated value and the fifth calculated value, so as to complete compensation for the fourth estimated signal value.

[0124] In the embodiment of the present application, after obtaining the fourth calculated value and the fifth calculated value, the estimator calculates the difference between the fourth calculated value and the fifth calculated value, thereby obtaining a second estimated signal value to complete compensation for the control signal value.

[0125] The embodiment of the present application obtains the numerator coefficient, denominator coefficient, fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at the current moment, and the second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module, and calculates the second estimated signal value using the numerator coefficient, denominator coefficient, fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at the current moment, and the second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module, thereby improving the accuracy of calculating the third estimated signal value by using data at historical moments, and further improving the accuracy of calculating the second estimated signal value.

[0126] In an example, the fourth calculated value may be calculated according to the third formula, which is specifically as follows:

[0127] L3=c0g(k)+c1g(k-1)+……+c p g(kp);

[0128] Among them, L3 is the fourth calculated value, c0, c1, ..., c p is the numerator coefficient of the second transfer function, g is the fourth estimated signal value, k is the current moment, g(k) is the fourth estimated signal value at the current moment, g(kp) is the fourth estimated signal value at multiple historical moments, and p is the numerator order of the second transfer function.

[0129] In an example, the fifth calculated value may be calculated according to a fourth formula, which is specifically as follows:

[0130] L4=d1y(k-1)+……+d q y(kq);

[0131] Among them, L4 is the fifth calculated value, d1, ..., d q is the denominator coefficient of the second transfer function, y is the second estimated signal value, k is the current moment, y(kq) is the second estimated signal value at multiple historical moments, and q is the denominator order of the second transfer function.

[0132] In an example, the second estimated signal value may be calculated according to a sixth formula, which is specifically as follows:

[0133] y(k)=c0g(k)+c1g(k-1)+……+c p g(kp)-d1y(k-1)-……-d q y(kq).

[0134] Wherein, y(k) is the second estimated signal value at the current moment.

[0135] Furthermore, the relationship between the first fixed gain compensation module and the second fixed gain compensation module in the embodiment of the present application is:

[0136] G(z)=H -1 (z)*G L (z);

[0137] Where G(z) is the first transfer function in the first fixed gain compensation module, H -1 (z) is the inverse transfer function of H(z) of the second transfer function of the second fixed gain compensation module, G L (z) is the auxiliary transfer function;

[0138] The G L (z) Specifically:

[0139] G L (z) = e0 + e1z -1 +……+e n z -r ;

[0140] Among them, e0, e1, ..., e n is the coefficient of the auxiliary transfer function, z -1 、……、z -r is the backshift operator.

[0141] Specifically, e0, e1, ..., e n It is calculated by the numerator and denominator coefficients of the first transfer function.

[0142] In one example, the relationship between the control signal value at the current moment and the second estimated signal value at the current moment is:

[0143]

[0144] Wherein, G(z) is the first transfer function in the first fixed gain compensation module, H(z) is the second transfer function in the second fixed gain compensation module, G L (z) is the auxiliary transfer function.

[0145] Furthermore, the embodiment of the present application provides another signal processing method, the specific steps are as follows: Figure 3 Shown, including:

[0146] The estimator receives the control signal value at the current moment sent by the controller and the acquisition signal at the current moment acquired by the sensor. The estimator estimates the control signal value according to the acquisition signal value at the current moment to obtain a first estimated signal value at the current moment. Furthermore, the estimator obtains an estimated difference value at the current moment according to the control signal value and the first estimated signal value. At the same time, the estimator obtains the numerator coefficient, denominator coefficient, control signal values ​​at multiple historical moments, third estimated signal values ​​at multiple historical moments and the control signal value at the current moment of the first transfer function in the first fixed gain compensation module, the numerator coefficient, denominator coefficient, fourth estimated signal values ​​at multiple historical moments, fourth estimated signal value at the current moment and second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module.

[0147] The numerator coefficient of the first transfer function is used to perform weighted summation on the control signal value at the current moment and the control signal values ​​at multiple historical moments to obtain a first calculated value, and a second calculated value is obtained based on the product of the first calculated value and the gain value of the adjustable gain module. The denominator coefficient of the first transfer function is used to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a third calculated value. The estimator calculates the difference between the second calculated value and the third calculated value to obtain a third estimated signal value.

[0148] Furthermore, based on the sum of the third estimated signal value and the estimated difference value, a fourth estimated signal value at the current moment is obtained. At the same time, the numerator coefficient of the second transfer function is used to perform weighted summation on the fourth estimated signal values ​​at multiple historical moments to obtain a fourth calculated value. Based on the denominator coefficient of the second transfer function, a weighted summation is performed on the second estimated signal values ​​at multiple historical moments to obtain a fifth calculated value. Finally, the estimator calculates the difference between the fourth calculated value and the fifth calculated value to obtain a second estimated signal value, and then outputs the second estimated signal value to complete the estimation of the control signal.

[0149] Furthermore, the present invention provides a signal processing device. Figure 4 As shown, the device includes:

[0150] The receiving module 401 receives the control signal value at the current moment sent by the controller and the acquisition signal value at the current moment acquired by the sensor;

[0151] A first estimation module 402 is configured to estimate the control signal value according to the current collected signal value to obtain a first estimated signal value at the current moment;

[0152] A second estimation module 403 is configured to obtain an estimated difference value at a current moment based on the control signal value and the first estimation signal value;

[0153] a third estimation module 104 for compensating the control signal value at a current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference, to obtain a second estimated signal value at the current moment;

[0154] The output module 405 is configured to output the second estimated signal value at the current moment to complete the estimation of the control signal value.

[0155] Furthermore, an embodiment of the present application provides a signal processing system, which includes the signal processing device of the embodiment of the present application, an adjustable gain module and a fixed gain compensation module, wherein the signal processing device is used to implement the signal processing method of the embodiment of the present application.

[0156] The signal processing device of this embodiment is used to implement the corresponding signal processing methods in the aforementioned multiple method embodiments and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here. In addition, the functional implementation of each module in the signal processing device of this embodiment can refer to the description of the corresponding parts in the aforementioned method embodiments, which will not be described in detail here.

[0157] Furthermore, the fixed gain compensation module of the embodiment of the present application includes a first fixed gain compensation module and a second fixed gain compensation module. The first end of the first fixed gain compensation module is connected to the adjustable gain module, and the second end is connected to the second fixed gain compensation module.

[0158] For an example, see Figure 2 As shown, the first fixed gain compensation module of the embodiment of the present application can also have a Butterworth low-pass filtering effect, thereby effectively reducing the impact of high-frequency noise on the control signal value estimation. At the same time, in practical applications, the gain value of the adjustable gain module can also be adjusted to achieve compensation for the control signal value, thereby improving the estimation accuracy of the control signal value.

[0159] It will be appreciated that the structural form of the above-described apparatus will not be described in detail herein. In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0160] It should be noted that the units / modules mentioned in the embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or it can be implemented as a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems raised by this application. In addition, in order to highlight the innovative part of this application, the above-mentioned device embodiments of this application do not introduce units / modules that are not closely related to solving the technical problems raised by this application. This does not mean that other units / modules do not exist in the above-mentioned device embodiments.

[0161] It should be noted that in the examples and description of the present application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a" does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0162] It should be noted that if the above-mentioned integrated modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, which includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Only Memory), random access memory (RAM), magnetic disk or optical disk, etc., which can store program code.

[0163] Further, Figure 5-6 This is a comparison diagram of the control signal value estimation effect provided in the embodiment of the present application. Figure 5 is a schematic diagram of using the usual differential estimation algorithm, Figure 6 The effect diagram of the signal processing method of the embodiment of the present application is shown, wherein the sensor collects the position signal of the motor rotor at a sampling rate of 2kHz, and estimates the rotor speed signal by differential estimation (such as Figure 5 The differential estimated speed signal shown) and the signal processing method of the embodiment of the present application are used for estimation (such as Figure 6 The estimator shown estimates the speed signal) to obtain the speed signal of the motor rotor. It can be seen that the signal processing method in the embodiment of the present application is less affected by noise and has higher estimation accuracy.

[0164] Furthermore, if Figure 7 As shown in FIG, it is an estimation effect diagram provided by an embodiment of the present application, wherein the rotor position of the motor is estimated by adopting the signal processing algorithm of the embodiment of the present application, and Figure 7 As shown, the signal processing method of the embodiment of the present application improves the estimation accuracy of the motor rotor position, and the estimated electronic rotor position only has a phase difference of 0.11°.

[0165] The above implementation methods are only used to illustrate the embodiments of the present application, and are not intended to limit the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A signal processing method, characterized in that: include: Receive the current control signal value sent by the controller and the current acquisition signal value acquired by the sensor; estimating the control signal value according to the collected signal value at the current moment to obtain a first estimated signal value at the current moment; Obtaining an estimated difference at a current moment according to the control signal value and the first estimated signal value; Compensating the control signal value at the current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference to obtain a second estimated signal value at the current moment; The second estimated signal value at the current moment is output to complete the estimation of the control signal value.

2. The method according to claim 1, characterized in that The fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module; The method further comprises: compensating the control signal value at the current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference value to obtain the second estimated signal value at the current moment, including: Compensating the control signal value at the current moment according to the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module to obtain a third estimated signal value at the current moment; Obtaining a fourth estimated signal value at a current moment according to a sum of the third estimated signal value and the estimated difference; The fourth estimated signal value is compensated according to the coefficient of the second transfer function preset in the second fixed gain compensation module to obtain the second estimated signal value at the current moment.

3. The method according to claim 2, characterized in that The coefficients of the transfer function include a numerator coefficient and a denominator coefficient, and the transfer function includes the first transfer function and the second transfer function; The method further comprises: compensating the control signal value according to the gain value of the adjustable gain module and the coefficient of the first transfer function in the first fixed gain compensation module to obtain a third estimated signal value, comprising: Obtaining the numerator coefficient, the denominator coefficient, the control signal values ​​at multiple historical moments, the third estimated signal values ​​at multiple historical moments, and the control signal value at a current moment of the first transfer function; performing a weighted summation of the control signal value at the current moment and the control signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a first calculated value; Obtaining a second calculated value according to the product of the first calculated value and the gain value of the adjustable gain module; performing a weighted summation on the fourth estimated signal values ​​at the multiple historical moments using the multiple denominator coefficients to obtain a third calculated value; The third estimated signal value at the current moment is obtained according to the difference between the second calculated value and the third calculated value to compensate the control signal value.

4. The method according to claim 3, characterized in that The step of performing a weighted summation of the control signal value at the current moment and the control signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a first calculated value includes: The first calculated value is calculated according to a first formula, which is: L1=b0x(k)+b1x(k-1)+……+b m x(k-m); Among them, L1 is the first calculated value, b0, b1, ..., b m is the numerator coefficient of the first transfer function, x is the control signal value, k is the current moment, and x(k) is the control signal value at the current moment; The step of performing a weighted summation of the control signal values ​​at the plurality of historical moments using the denominator coefficient to obtain a third calculated value includes: The third calculated value is calculated according to a second formula, wherein the second formula is: L2=a1g(k-1)+a2g(k-2)+……+a n g(k-n); Among them, L2 is the third calculated value, a1, a2, ..., a n is the denominator coefficient of the first transfer function, g is the fourth estimated signal value, k is the current moment, g(kn) is the fourth estimated signal value at multiple historical moments, and n is the denominator order of the first transfer function.

5. The method according to claim 2, characterized in that The coefficients of the transfer function include a numerator coefficient and a denominator coefficient, and the transfer function includes the first transfer function and the second transfer function; The compensating the fourth estimated signal value according to the coefficient of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current moment includes: Obtaining the numerator coefficient, the denominator coefficient, the fourth estimated signal values ​​at multiple historical moments, the fourth estimated signal value at a current moment, and the second estimated signal values ​​at multiple historical moments of the second transfer function in the second fixed gain compensation module; performing a weighted summation on the fourth estimated signal values ​​at the multiple historical moments using the numerator coefficient to obtain a fourth calculated value; Performing a weighted summation on the second estimated signal values ​​at the multiple historical moments according to the denominator coefficient to obtain a fifth calculated value; The second estimated signal value at the current moment is obtained according to the difference between the fourth calculated value and the fifth calculated value, so as to complete the compensation for the fourth estimated signal value.

6. The method according to claim 5, characterized in that The step of performing a weighted summation of the control signal value at the current moment and the second estimated signal values ​​at the plurality of historical moments using the numerator coefficient to obtain a fourth calculated value includes: The fourth calculated value is calculated according to the third formula, which is: L3=c0g(k)+c1g(k-1)+……+c p g(kp); Among them, L3 is the fourth calculated value, c0, c1, ..., c p is the numerator coefficient of the second transfer function, g is the fourth estimated signal value, k is the current moment, g(k) is the fourth estimated signal value at the current moment, g(kp) is the fourth estimated signal value at multiple historical moments, and p is the numerator order of the second transfer function; The step of performing weighted summation of the control signal values ​​at the multiple historical moments according to the denominator coefficient to obtain a fifth calculated value includes: The fifth calculated value is calculated according to the fourth formula, which is: L4=d1y(k-1)+……+d q y(k-q); Among them, L4 is the fifth calculated value, d1, ..., d q is the denominator coefficient of the second transfer function, y is the second estimated signal value, k is the current moment, y(kq) is the second estimated signal value at multiple historical moments, and q is the denominator order of the second transfer function.

7. The method according to any one of claims 2 to 6, characterized in that: The relationship between the first fixed gain compensation module and the second fixed gain compensation module is: G(z)=H -1 (z)*G L (z); Wherein, G(z) is the first transfer function in the first fixed gain compensation module, H -1 (z) is the inverse transfer function of H(z) of the second transfer function of the second fixed gain compensation module, G L (z) is the auxiliary transfer function; The G L (z) Specifically: G L (z)=e0+e1z -1 +……+e n With -r ; Among them, e0, e1, ..., e n is the coefficient of the auxiliary transfer function, z -1 、……、z -r is the backshift operator.

8. A signal processing device, characterized in that: include: A receiving module receives the control signal value at the current moment sent by the controller and the acquisition signal value at the current moment acquired by the sensor; A first estimation module, configured to estimate the control signal value according to the collected signal value at the current moment to obtain a first estimated signal value at the current moment; a second estimation module, configured to obtain an estimated difference at a current moment according to the control signal value and the first estimation signal value; a third estimation module, configured to compensate the control signal value at a current moment according to the gain value of the adjustable gain module, the coefficient of the transfer function preset in the fixed gain compensation module, and the estimated difference, to obtain a second estimated signal value at the current moment; The output module is used to output the second estimated signal value at the current moment to complete the estimation of the control signal value.

9. A signal processing system, characterized in that: The system comprises the signal processing device according to claim 8, an adjustable gain module and a fixed gain compensation module.

10. The system according to claim 9, characterized in that The fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module. The first end of the first fixed gain compensation module is connected to the adjustable gain module, and the second end of the first fixed gain compensation module is connected to the second fixed gain compensation module.

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