Signal processing method, apparatus and system

Abstract

Embodiments of the present application provide a signal processing method, device and system. The method comprises: receiving a control signal value at a current time sent by a controller and a collection signal value at the current time collected by a sensor; estimating the control signal value according to the collection signal value at the current time to obtain a first estimated signal value at the current time; obtaining an estimated difference value at the current time according to the control signal value and the first estimated signal value; compensating the control signal value at the current time according to a gain value of an adjustable gain module, a coefficient of a preset transfer function in a fixed gain compensation module and the estimated difference value to obtain a second estimated signal value at the current time; and outputting the second estimated signal value at the current time to complete the estimation of the control signal value. The present application can reduce the complexity of estimation and improve the estimation efficiency.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, and in particular to a signal processing method, apparatus and system. Background Technology

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

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

[0004] When performing data fitting, it is necessary to find the 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, it is necessary to find the fitting formula or create a lookup table again, which in turn leads to the high complexity of existing signal processing methods. Summary of the Invention

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

[0006] According to a first aspect of the embodiments of this application, a signal processing method is provided, comprising: Receive the control signal value at the current moment sent by the controller and the acquisition signal value at the current moment collected by the sensor; The control signal value is estimated based on the acquired signal value at the current moment to obtain the first estimated signal value at the current moment; Based on the control signal value and the first estimated signal value, the estimated difference at the current moment is obtained; The control signal value at the current moment is compensated based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimated difference, to obtain the second estimated signal value at the current moment. Output the second estimated signal value at the current moment to complete the estimation of the control signal value.

[0007] In some embodiments, the fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module; The step of compensating the control signal value at the current moment based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimated difference to obtain the second estimated signal value at the current moment includes: The control signal value at the current moment is compensated based on 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. The fourth estimated signal value at the current moment is obtained by summing the third estimated signal value and the estimated difference. The fourth estimated signal value is compensated based on the coefficients of the second transfer function preset in the second fixed gain compensation module to obtain the second estimated signal value at the current time.

[0008] In some embodiments, the coefficients of the transfer function include numerator coefficients and denominator coefficients, and the transfer function includes the first transfer function and the second transfer function; The control signal value is compensated based on the gain value of the adjustable gain module and the coefficients of the first transfer function in the first fixed gain compensation module to obtain a third estimated signal value, including: Obtain the numerator coefficient, the denominator coefficient, the control signal values ​​at multiple historical times, the third estimated signal values ​​at multiple historical times, and the control signal value at the current time of the first transfer function; The first calculated value is obtained by weighted summing of the control signal value at the current time and the control signal values ​​at the multiple historical times using the numerator coefficient; The second calculated value is obtained by multiplying the first calculated value and the gain value of the adjustable gain module. The fourth estimated signal values ​​at the multiple historical moments are weighted and summed using multiple denominator coefficients to obtain the third calculated value; The third estimated signal value at the current moment is obtained based on the difference between the second calculated value and the third calculated value, so as to compensate the control signal value.

[0009] In some embodiments, the step of using the numerator coefficient to perform a weighted summation of the control signal value at the current time and the control signal values ​​at multiple historical times to obtain a first calculated value includes: The first calculated value is calculated according to the first formula, which is: L1=b0x(k)+b1x(k-1)+……+b m x (km); Where L1 is the first calculated value, b0, b1, ..., b mLet x be the numerator coefficient of the first transfer function, x be the control signal value, k be the current time, and x(k) be the control signal value at the current time. The step of using the denominator coefficients to perform a weighted summation of the control signal values ​​at the multiple historical moments to obtain a third calculated value includes: The third calculated value is calculated according to the second formula, which is: L2=a1g(k-1)+a2g(k-2)+……+a n g(kn); Where L2 is the third calculated value, a1, a2, ..., a n denominator coefficients of the first transfer function, g is the fourth estimated signal value, k is the current time, g(kn) is the fourth estimated signal value at multiple historical times, and n is the order of the denominator of the first transfer function.

[0010] In some embodiments, the coefficients of the transfer function include numerator coefficients and denominator coefficients, and the transfer function includes the first transfer function and the second transfer function; The step of compensating the fourth estimated signal value based on the coefficients of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current time includes: Obtain the numerator coefficient, the denominator coefficient, the fourth estimated signal value at multiple historical times, the fourth estimated signal value at the current time, and the second estimated signal value at multiple historical times of the second transfer function in the second fixed gain compensation module; The fourth estimated signal values ​​at the multiple historical moments are weighted and summed using the numerator coefficients to obtain the fourth calculated value; The second estimated signal values ​​at the plurality of historical moments are weighted and summed according to the denominator coefficients to obtain the fifth calculated value; The second estimated signal value at the current moment is obtained based on the difference between the fourth calculated value and the fifth calculated value, so as to complete the compensation of the fourth estimated signal value.

[0011] In some embodiments, the step of using the numerator coefficient to perform a weighted summation of the control signal value at the current time and the second estimated signal values ​​at the plurality of historical times 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); Where L3 is the fourth calculated value, c0, c1, ..., c pdenoted as numerator coefficient of the second transfer function, g is the fourth estimated signal value, k is the current time, g(k) is the fourth estimated signal value at the current time, g(kp) is the fourth estimated signal value at multiple historical times, and p is the numerator order of the second transfer function; The step of weighted summing of the control signal values ​​at the multiple historical moments based on the denominator coefficients to obtain the fifth calculated value includes: The fifth calculated value is calculated according to the fourth formula, which is: L4 = d1y(k-1) + ... + d q y(kq); Where L4 is the fifth calculated value, d1, ..., d q y is the denominator coefficient of the second transfer function, k is the current time, y(kq) is the second estimated signal value at multiple historical times, and q is the denominator order of the second transfer function.

[0012] In some embodiments, the relationship between the first fixed gain compensation module and the second fixed gain compensation module is as follows: G(z) = H -1 (z)*G L (z); Where G(z) is the first transfer function in the first fixed gain compensation module, H -1 (z) is the inverse transfer function of the second transfer function H(z) 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 z -r ; Among them, e0, e1, ..., e n Let z be the coefficient of the auxiliary transfer function. -1 ... z -r This is the shift operator.

[0013] According to a second aspect of the embodiments of this application, a signal processing system is provided, comprising the signal processing apparatus, adjustable gain module, and fixed gain compensation module of the embodiments of this application.

[0014] 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 is connected to the second fixed gain compensation module.

[0015] According to the signal processing method provided in this application embodiment, the method first receives the control value at the current moment sent by the controller and the acquisition signal value at the current moment collected by the sensor. The control signal value is then estimated based on the acquisition signal value at the current moment to obtain a first estimated signal value. Further, an estimation difference is obtained based on the control signal value and the first estimated signal value. Further, the control signal value at the current moment is compensated based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimation difference to obtain a second estimated signal value. The second estimated signal value at the current moment is then output to complete the estimation of the control signal value. In this application embodiment, the estimation of the control signal value is completed by utilizing the control signal value at the current moment sent by the controller, the estimation difference, and the coefficients of the transfer function. This allows for the estimation of the control signal without obtaining an accurate filter structure, thereby reducing the estimation complexity and improving the estimation efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a flowchart illustrating the steps of a signal processing method according to an embodiment of this application; Figure 2 This is a schematic diagram of the estimator structure provided according to an embodiment of this application; Figure 3 This is a flowchart of the steps of a signal processing method according to another embodiment of this application; Figure 4 This is a structural block diagram of a signal processing apparatus according to an embodiment of this application; Figure 5 This is a schematic diagram of a typical difference estimation algorithm; Figure 6 This is a schematic diagram of a signal processing method according to an embodiment of this application; Figure 7 The estimated effect diagram provided in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0019] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0020] This application provides a signal processing method that can be applied to estimators in automated systems. The specific steps are as follows: Figure 1 As shown, the following steps may be included: S101, the estimator receives the control signal value at the current time sent by the controller and the acquisition signal value at the current time collected by the sensor.

[0021] In this embodiment of the application, when estimating the control signal value, the sensor of the automation system first collects the current signal value 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.

[0022] In one example, the controller has a pre-stored system model for calculating control signal values. The controller can obtain the calculated control values ​​based on the acquired signal values ​​and the system model. For instance, in an automation system that includes a motor, sensors can acquire the motor's rotor position signal, and the controller can obtain the motor's speed signal based on the rotor position signal and the system model.

[0023] S102, the estimator estimates the control signal value based on the acquired signal value at the current moment, and obtains the first estimated signal value at the current moment.

[0024] In this embodiment of the application, after receiving the current moment's acquisition signal value sent by the sensor, the estimator estimates the current moment's control signal value based on the current moment's acquisition signal value, thereby obtaining the first estimated signal value for the current moment.

[0025] In one example, the estimator pre-stores a system model for calculating the 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, taking an automation system including a motor as an example, a sensor can acquire the rotor position signal of the motor, and the estimator can obtain the estimated first motor speed signal based on the rotor position signal and the system model.

[0026] S103, the estimator obtains the estimated difference at the current time based on the control signal value and the first estimated signal value.

[0027] In this embodiment of the 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 estimation difference at the current time.

[0028] S104, the estimator compensates the control signal value at the current moment based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimation difference, to obtain the second estimated signal value at the current moment.

[0029] In this embodiment of the application, after obtaining the control signal value and the estimation difference, the estimator obtains the gain value of the adjustable gain module set in the estimator and the coefficient of the preset transfer function in the fixed gain compensation module, so as to use the gain value of the adjustable gain module, the coefficient of the preset transfer function in the fixed gain compensation module and the estimation difference to compensate the control signal value at the current time, thereby obtaining the second estimated signal value at the current time.

[0030] S105, the estimator outputs the second estimated signal value at the current time to complete the estimation of the control signal value.

[0031] In this embodiment of the application, after obtaining the second estimated signal value, the estimator determines that the estimation of the control signal value is complete, and then the estimator outputs the second estimated signal value, thereby completing the estimation of the control signal value.

[0032] According to the signal processing method provided in this application embodiment, the method first receives the control value at the current moment sent by the controller and the acquisition signal value at the current moment collected by the sensor. The control signal value is then estimated based on the acquisition signal value at the current moment to obtain a first estimated signal value. Further, an estimation difference is obtained based on the control signal value and the first estimated signal value. Further, the control signal value at the current moment is compensated based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimation difference to obtain a second estimated signal value. The second estimated signal value at the current moment is then output to complete the estimation of the control signal value. In this application embodiment, the estimation of the control signal value is completed by utilizing the control signal value at the current moment sent by the controller, the estimation difference, and the coefficients of the transfer function. This allows for the estimation of the control signal without obtaining an accurate filter structure, thereby reducing the estimation complexity and improving the estimation efficiency.

[0033] Further, please refer to Figure 2The diagram shown is a schematic diagram of the estimator structure provided in an embodiment of this application. The fixed gain compensation module in the estimator of this embodiment may include a first fixed gain compensation module and a second fixed gain compensation module.

[0034] Specifically, in this embodiment of the application, the control signal value at the current moment is compensated based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimated difference, to obtain the second estimated signal value at the current moment. This may include the following steps: S1041, the estimator compensates the control signal value at the current moment based on the gain value of the adjustable gain module and the coefficient of the first transfer function preset in the first fixed gain compensation module, and obtains the third estimated signal value at the current moment.

[0035] In this embodiment of the application, when the estimator estimates the control signal value at the current moment, the estimator first obtains the system of the pre-set gain value in the adjustable gain module and the preset first transfer function in the first fixed gain compensation module, and uses the gain value of the adjustable gain module and the coefficient of the preset first transfer function in the first fixed gain compensation module to compensate the control signal value at the current moment, thereby obtaining the third estimated signal value at the current moment.

[0036] In one example, the gain value in the adjustable gain module ranges from 0 to ∞, with a preferred gain value of 1. Specifically, when the gain value is in the range of 0 to 1, phase lead compensation can be performed, and when the gain value is in the range of 1 to ∞, phase lag compensation can be performed.

[0037] In one example, the first transfer function set in the first fixed-gain compensation module can be:

[0038] in, Let b0, b1, ..., b be the first transfer function. m For numerator coefficient, , Here, m represents the numerator order of the first fixed gain compensation module, and n represents the denominator order of the first fixed gain compensation module.

[0039] S1042, the estimator obtains the fourth estimated signal value at the current time based on the sum of the third estimated signal value and the estimated difference.

[0040] In this embodiment of the application, after the estimator obtains the third estimated value based on the control signal value at the current time, the estimator calculates the sum of the third estimated signal value and the estimated difference, thereby obtaining the fourth estimated signal value.

[0041] 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, and obtains the second estimated signal value at the current time.

[0042] In this embodiment of the 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, thereby obtaining the second estimated signal value at the current time, thus completing the estimation of the control signal value.

[0043] In this embodiment, 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 estimation difference. Finally, the fourth estimated signal value is compensated by 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 the accurate filter structure, thereby reducing the estimation complexity and improving the estimation efficiency.

[0044] Furthermore, in this embodiment of the application, compensating the control signal value based on the gain value of the adjustable gain module and the coefficients of the first transfer function in the first fixed gain compensation module to obtain a third estimated signal value may include the following steps: S10411, the estimator obtains the numerator coefficient, denominator coefficient, control signal values ​​at multiple historical times, third estimated signal values ​​at multiple historical times, and control signal value at the current time of the first transfer function.

[0045] In this embodiment of the 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 times, the third estimated signal value at multiple historical times, and the control signal value at the current time calculated by the controller in the first fixed gain compensation module.

[0046] In one example, the multiple historical moments in this application embodiment are historical moments adjacent to the current moment, and the number of multiple historical moments is related to the numerator and denominator orders of the first transfer function.

[0047] S10412, the estimator uses the numerator coefficient to perform a weighted summation of the control signal value at the current time and the control signal values ​​at multiple historical times to obtain the first calculated value.

[0048] In this embodiment of the application, after the estimator obtains the numerator coefficient of the first transfer function, the control signal value at the current time, and the control signal values ​​at multiple historical times, the estimator uses the numerator coefficient to perform a weighted summation of the control signal value at the current time and the control signal values ​​at multiple historical times to obtain the first calculated value.

[0049] S10413, the estimator obtains the second calculated value based on the product of the first calculated value and the gain value of the adjustable gain module.

[0050] In this embodiment of the application, the estimator obtains a first calculated value, and then 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 a second calculated value.

[0051] S10414, the estimator uses multiple denominator coefficients to perform a weighted summation of the fourth estimated signal values ​​at multiple historical times to obtain the third calculated value.

[0052] In this embodiment of the application, after the estimator obtains the denominator coefficients of the first transfer function and the fourth estimated signal values ​​at multiple historical times, the estimator uses the denominator coefficients to perform a weighted summation of the fourth estimated signal values ​​at multiple historical times to obtain the third calculated value.

[0053] S10415, the estimator obtains the third estimated signal value at the current time based on the difference between the second and third calculated values, in order to compensate for the control signal value.

[0054] In this embodiment of the 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 of the signal value at the current time.

[0055] In calculating the third estimated value, this embodiment of the application obtains the numerator and denominator coefficients of the first transfer function, control signal values ​​at multiple historical times, third estimated signal values ​​at multiple historical times, and the control signal value at the current time. The third estimated signal value is calculated using the obtained numerator and denominator coefficients of the first transfer function, control signal values ​​at multiple historical times, third estimated signal values ​​at multiple historical times, and the control signal value at the current time. The control signal value at the current time can be compensated based on the data at historical times, thereby improving the accuracy of calculating the third estimated signal value using the data at historical times, and further improving the accuracy of calculating the second estimated signal value.

[0056] In one example, a first calculated value can be calculated according to a first formula, which is as follows: L1=b0x(k)+b1x(k-1)+……+b m x (km); Where 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 time, and x(k) is the control signal value at the current time; In one example, the third calculated value can be calculated using the second formula, which is as follows: L2=a1g(k-1)+a2g(k-2)+……+a n g(kn); Where L2 is the third calculated value, a1, a2, ..., a n denominator coefficients of the first transfer function, g is the fourth estimated signal value, k is the current time, g(kn) is the fourth estimated signal value at multiple historical times, and n is the order of the denominator of the first transfer function.

[0057] In one example, the fourth estimated signal value can be calculated using the fifth formula, which is obtained by integrating the first and second formulas, as follows: g(k)=err(k)+Gain*{b0x(k)+b1x(k-1)+……+b m x(km)}-a1g(k-1)-a2g(k-2)-……-a n g(kn).

[0058] Where g(k) is the fourth estimated signal value at the current time, err(k) is the estimated difference at the current time, and Gain is the gain value of the adjustable gain module.

[0059] Furthermore, in this embodiment of the application, the fourth estimated signal value is compensated based on the coefficients of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current time, which may include the following steps: S10431, the estimator obtains the numerator coefficient, denominator coefficient, fourth estimated signal value at multiple historical times, fourth estimated signal value at the current time, and second estimated signal value at multiple historical times of the second transfer function in the second fixed gain compensation module.

[0060] In this embodiment of the application, when the estimator calculates the second estimated signal value, the estimator first obtains the numerator coefficient, denominator coefficient, fourth estimated signal value at multiple historical times, fourth estimated signal value at the current time, and second estimated signal value at multiple historical times of the second transfer function in the second fixed gain compensation module.

[0061] S10432, the estimator uses the numerator coefficients to perform a weighted summation of the fourth estimated signal values ​​at multiple historical moments to obtain the fourth calculated value.

[0062] In this embodiment of the application, after the estimator obtains the numerator coefficient of the second transfer function and the fourth estimated signal value at multiple historical times, the estimator uses the numerator coefficient to perform a weighted summation of the fourth estimated signal value at multiple historical times to obtain the fourth calculated value.

[0063] In one example, the multiple historical moments in this application embodiment are historical moments adjacent to the current moment, and the number of multiple historical moments is related to the numerator and denominator orders of the second transfer function.

[0064] S10433, the estimator performs a weighted summation of the second estimated signal values ​​at multiple historical moments based on the denominator coefficients to obtain the fifth calculated value.

[0065] In this embodiment of the application, the estimator obtains the denominator coefficients of the second transfer function and the second estimated signal values ​​at multiple historical times. The estimator then performs a weighted summation of the second estimated signal values ​​at multiple historical times based on the denominator coefficients to obtain the fifth calculated value.

[0066] S10434, the estimator obtains the second estimated signal value at the current time based on the difference between the fourth and fifth calculated values, so as to complete the compensation for the fourth estimated signal value.

[0067] In this embodiment of the application, after obtaining the fourth and fifth calculated values, the estimator calculates the difference between the fourth and fifth calculated values ​​to obtain the second estimated signal value, thereby completing the compensation of the control signal value.

[0068] This application embodiment obtains the numerator and denominator coefficients of the second transfer function in the second fixed gain compensation module, the fourth estimated signal value at multiple historical times, the fourth estimated signal value at the current time, and the second estimated signal value at multiple historical times. It then uses the numerator and denominator coefficients of the second transfer function in the second fixed gain compensation module, the fourth estimated signal value at multiple historical times, the fourth estimated signal value at the current time, and the second estimated signal value at multiple historical times to calculate the second estimated signal value. This allows for the use of historical data to improve the accuracy of calculating the third estimated signal value, and further improves the accuracy of calculating the second estimated signal value.

[0069] In one example, the fourth calculated value can be calculated using the third formula, which is as follows: L3=c0g(k)+c1g(k-1)+……+c p g(kp); Where L3 is the fourth calculated value, c0, c1, ..., c pLet g be the numerator coefficient of the second transfer function, g be the fourth estimated signal value, k be the current time, g(k) be the fourth estimated signal value at the current time, g(kp) be the fourth estimated signal value at multiple historical times, and p be the numerator order of the second transfer function.

[0070] In one example, the fifth calculated value can be calculated using the fourth formula, which is as follows: L4 = d1y(k-1) + ... + d q y(kq); Where L4 is the fifth calculated value, d1, ..., d q y is the denominator coefficient of the second transfer function, k is the current time, y(kq) is the second estimated signal value at multiple historical times, and q is the denominator order of the second transfer function.

[0071] In one example, the second estimated signal value can be calculated using the sixth formula, which is as follows: y(k)=c0g(k)+c1g(k-1)+……+c p g(kp)-d1y(k-1)-……-d q y(kq).

[0072] Where y(k) is the second estimated signal value at the current time.

[0073] Furthermore, the relationship between the first fixed gain compensation module and the second fixed gain compensation module in this application embodiment is as follows: G(z) = H -1 (z)*G L (z); Where G(z) is the first transfer function in the first fixed gain compensation module, H -1 (z) is the inverse transfer function of the second transfer function H(z) 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 z -r ; Among them, e0, e1, ..., e n For the coefficients of the auxiliary transfer function, z -1 ... z -r This is the shift operator.

[0074] Specifically, e0, e1, ..., e nThe coefficients are calculated using the numerator and denominator coefficients of the first transfer function.

[0075] In one example, the relationship between the current control signal value and the current second estimated signal value is as follows:

[0076] Where G(z) is the first transfer function in the first fixed gain compensation module, and H(z) is the second transfer function in the second fixed gain compensation module. L (z) is the auxiliary transfer function.

[0077] Furthermore, embodiments of this application provide another signal processing method, the specific steps of which are as follows: Figure 3 As shown, it includes: The estimator receives the control signal value at the current moment sent by the controller and the acquisition signal at the current moment collected by the sensor. The estimator estimates the control signal value based on the acquisition signal value at the current moment to obtain the first estimated signal value at the current moment. Further, the estimator obtains the estimation difference at the current moment based on the control signal value and the first estimated signal value. At the same time, the estimator acquires the numerator and denominator coefficients of the first transfer function in the first fixed gain compensation module, 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, the numerator and denominator coefficients of the second transfer function in the second fixed gain compensation module, the 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.

[0078] The first calculated value is obtained by weighting and summing the control signal value at the current time and the control signal values ​​at multiple historical times using the numerator coefficient of the first transfer function. The second calculated value is obtained by product of the first calculated value and the gain value of the adjustable gain module. The third calculated value is obtained by weighting and summing the fourth estimated signal values ​​at multiple historical times using the denominator coefficient of the first transfer function. The estimator calculates the difference between the second calculated value and the third calculated value to obtain the third estimated signal value.

[0079] Furthermore, based on the sum of the third estimated signal value and the estimated difference, the fourth estimated signal value at the current time is obtained. Simultaneously, the fourth estimated signal values ​​at multiple historical times are weighted and summed using the numerator coefficient of the second transfer function to obtain the fourth calculated value. Based on the denominator coefficient of the second transfer function, the second estimated signal values ​​at multiple historical times are weighted and summed to obtain the fifth calculated value. Finally, the estimator calculates the difference between the fourth calculated value and the fifth calculated value to obtain the second estimated signal value, and then outputs the second estimated signal value to complete the estimation of the control signal.

[0080] Furthermore, embodiments of this application provide a signal processing apparatus, such as... Figure 4 As shown, the device includes: 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 collected by the sensor; The first estimation module 402 is used to estimate the control signal value based on the acquired signal value at the current moment, so as to obtain the first estimated signal value at the current moment; The second estimation module 403 is used to obtain the estimated difference at the current time based on the control signal value and the first estimation signal value. The third estimation module 104 is used to compensate the control signal value at the current moment based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimation difference, so as to obtain the second estimated signal value at the current moment. The output module 405 is used to output the second estimated signal value at the current moment in order to complete the estimation of the control signal value.

[0081] Furthermore, embodiments of this application provide a signal processing system, which includes a signal processing device, 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 embodiments of this application.

[0082] The signal processing apparatus of this embodiment is used to implement the corresponding signal processing methods in the foregoing method embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here. Furthermore, the functional implementation of each module in the signal processing apparatus of this embodiment can be referred to the description of the corresponding part in the foregoing method embodiments, which will also not be repeated here.

[0083] Furthermore, the fixed gain compensation module in this application embodiment 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.

[0084] In one example, please refer to [link / reference]. Figure 2 As shown, the first fixed-gain compensation module in this embodiment can also have a Butterworth low-pass filtering effect, thereby effectively reducing the impact of high-frequency noise on the estimation of control signal values. Furthermore, in practical applications, the gain value in the adjustable gain module can be adjusted to compensate for the control signal values, thereby improving the estimation accuracy of the control signal values.

[0085] It is understood that the structural form of the above-described device will not be repeated here. In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0086] It should be noted that all units / modules mentioned in the embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problem proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problem proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0087] It should be noted that in the examples and description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0088] It should be noted that if the aforementioned integrated modules are implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium, including: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media capable of storing program code.

[0089] Furthermore, Figure 5-6 This is a comparison chart of the control signal value estimation effects provided in the embodiments of this application. Figure 5 This is a schematic diagram illustrating the use of a typical difference estimation algorithm. Figure 6 This is a schematic diagram illustrating the effect of the signal processing method in an embodiment of this application. The sensor acquires the position signal of the motor rotor at a sampling rate of 2kHz, and then performs differential estimation (e.g., ...) on the rotor speed signal. Figure 5 The differential estimation velocity signal shown is estimated using the signal processing method of the embodiments of this application (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 of this application embodiment is less affected by noise and has higher estimation accuracy.

[0090] Furthermore, such as Figure 7 The diagram shown is an estimation effect diagram provided by an embodiment of this application. The rotor position of the motor is estimated using the signal processing algorithm of this embodiment, and then... Figure 7 As shown, the signal processing method in this application improves the estimation accuracy of the motor rotor position, and the estimated electronic rotor position has only a phase difference of 0.11°.

[0091] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A signal processing method, characterized in that, include: Receive the control signal value at the current moment sent by the controller and the acquisition signal value at the current moment collected by the sensor; The control signal value is estimated based on the acquired signal value at the current moment to obtain the first estimated signal value at the current moment; Based on the control signal value and the first estimated signal value, the estimated difference at the current moment is obtained; The control signal value at the current moment is compensated based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimated difference, to obtain the second estimated signal value at the current moment. The coefficients of the transfer function include numerator coefficients and denominator coefficients. The transfer function includes a first transfer function and a second transfer function. The fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module. The first transfer function is preset in the first fixed gain compensation module, and the second transfer function is preset in the second fixed gain compensation module. Output the second estimated signal value at the current moment to complete the estimation of the control signal value; The step of compensating the control signal value at the current moment based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimated difference to obtain the second estimated signal value at the current moment includes: The control signal value at the current moment is compensated based on the gain value of the adjustable gain module and the coefficient of the first transfer function to obtain the third estimated signal value at the current moment. The fourth estimated signal value at the current moment is obtained by summing the third estimated signal value and the estimated difference. The fourth estimated signal value is compensated based on the coefficients of the second transfer function to obtain the second estimated signal value at the current time.

2. The method according to claim 1, characterized in that, The control signal value is compensated based on the gain value of the adjustable gain module and the coefficients of the first transfer function in the first fixed gain compensation module to obtain a third estimated signal value, including: Obtain the numerator coefficient, the denominator coefficient, the control signal values ​​at multiple historical times, the third estimated signal values ​​at multiple historical times, and the control signal value at the current time of the first transfer function; The first calculated value is obtained by weighted summing of the control signal value at the current time and the control signal values ​​at the multiple historical times using the numerator coefficient; The second calculated value is obtained by multiplying the first calculated value and the gain value of the adjustable gain module. The fourth estimated signal values ​​at the multiple historical moments are weighted and summed using multiple denominator coefficients to obtain the third calculated value; The third estimated signal value at the current moment is obtained based on the difference between the second calculated value and the third calculated value, so as to compensate the control signal value.

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

4. The method according to claim 1, characterized in that, The coefficients of the transfer function include numerator coefficients and denominator coefficients, and the transfer function includes the first transfer function and the second transfer function; The step of compensating the fourth estimated signal value based on the coefficients of the second transfer function in the second fixed gain compensation module to obtain the second estimated signal value at the current time includes: Obtain the numerator coefficient, the denominator coefficient, the fourth estimated signal value at multiple historical times, the fourth estimated signal value at the current time, and the second estimated signal value at multiple historical times of the second transfer function in the second fixed gain compensation module; The fourth estimated signal values ​​at the multiple historical moments are weighted and summed using the numerator coefficients to obtain the fourth calculated value; The second estimated signal values ​​at the plurality of historical moments are weighted and summed according to the denominator coefficients to obtain the fifth calculated value; The second estimated signal value at the current moment is obtained based on the difference between the fourth calculated value and the fifth calculated value, so as to complete the compensation of the fourth estimated signal value.

5. The method according to claim 4, characterized in that, The step of using the numerator coefficient to perform a weighted summation of the control signal value at the current moment and the second estimated signal values ​​at multiple historical moments to obtain the 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); Where L3 is the fourth calculated value, c0, c1, ..., c p denoted as numerator coefficient of the second transfer function, g is the fourth estimated signal value, k is the current time, g(k) is the fourth estimated signal value at the current time, g(kp) is the fourth estimated signal value at multiple historical times, and p is the numerator order of the second transfer function; The step of weighted summing of the control signal values ​​at the multiple historical moments based on the denominator coefficients to obtain the 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); Where L4 is the fifth calculated value, d1, ..., d q y is the denominator coefficient of the second transfer function, k is the current time, y(kq) is the second estimated signal value at multiple historical times, and q is the denominator order of the second transfer function.

6. The method according to any one of claims 2-5, characterized in that, The relationship between the first fixed gain compensation module and the second fixed gain compensation module is as follows: G(z)=H -1 (z)*G L (z); Where G(z) is the first transfer function in the first fixed gain compensation module, H -1 (z) is the inverse transfer function of the second transfer function H(z) 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 Let z be the coefficient of the auxiliary transfer function. -1 ... z -r This is the shift operator.

7. A signal processing apparatus, characterized in that, include: The receiving module receives the control signal value at the current moment sent by the controller and the acquisition signal value at the current moment collected by the sensor; The first estimation module is used to estimate the control signal value based on the acquired signal value at the current time, so as to obtain the first estimated signal value at the current time. The second estimation module is used to obtain the estimated difference at the current time based on the control signal value and the first estimated signal value; The third estimation module is used to compensate the control signal value at the current time based on the gain value of the adjustable gain module, the coefficients of the preset transfer function in the fixed gain compensation module, and the estimation difference, to obtain the second estimated signal value at the current time. The coefficients of the transfer function include numerator coefficients and denominator coefficients. The transfer function includes a first transfer function and a second transfer function. The fixed gain compensation module includes a first fixed gain compensation module and a second fixed gain compensation module. The first transfer function is preset in the first fixed gain compensation module, and the second transfer function is preset in the second fixed gain compensation module. 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; The third estimation module is used to compensate the control signal value at the current time based on the gain value of the adjustable gain module and the coefficient of the first transfer function to obtain the third estimated signal value at the current time. The fourth estimated signal value at the current moment is obtained by summing the third estimated signal value and the estimated difference. The fourth estimated signal value is compensated based on the coefficients of the second transfer function to obtain the second estimated signal value at the current time.

8. A signal processing system, characterized in that, The system includes the signal processing device as described in claim 7, an adjustable gain module, and a fixed gain compensation module.

9. The system according to claim 8, 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 is connected to the second fixed gain compensation module.

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