Notch filter activation method and device based on position signal

Abstract

The invention provides a notch filter activation method and device based on a position signal, the notch filter activation method and device are applied to a controller in a control system, the notch filter activation device further comprises mechanical equipment and a position detection sensor, and the controller is electrically connected with the position detection sensor. Firstly, a position signal, detected by a position detection sensor, of mechanical equipment is obtained, and then a first notch filter output signal is obtained based on the position signal. Then, a preset activation position of the notch filter is obtained, and then a first activation coefficient and a second activation coefficient are obtained based on the position signal and the activation position; and finally, processing the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal to obtain a second notch filter output signal. On one hand, it is ensured that the notch filter can suppress resonance interference in a specific position interval, and the stability of a control system is ensured. On the other hand, the number of the notch filters activated at the same time is reduced, and then the phase delay of the control system is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of digital signal processing, in particular to a notch filter activation method and device based on position signals. BACKGROUND

[0002] In a servo control system, a notch filter is usually used to suppress the influence of mechanical resonance on system stability and positioning accuracy. At present, since the resonance frequency of the controlled device often drifts with the position change of its movable parts, a plurality of notch filters are deployed in the servo control system to cover different resonance frequency intervals. However, this method is prone to cause phase delay of the system, thereby affecting the response speed and stability of the system. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a notch filter activation method and device based on position signals.

[0004] According to a first aspect of the present application, a notch filter activation method based on position signals is provided, which is applied to a controller in a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, the controller being electrically connected with the position detection sensor of the mechanical device, and the controller comprising at least one notch filter, the method comprising: obtaining a position signal of the mechanical device detected by the position detection sensor; obtaining a first notch filter output signal based on the position signal; obtaining an activation position of the notch filter preset; obtaining a first activation coefficient and a second activation coefficient based on the position signal and the activation position; processing the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal to obtain a second notch filter output signal.

[0005] In a possible implementation of the first aspect, the step of obtaining a first activation coefficient and a second activation coefficient based on the position signal and the activation position comprises: obtaining an activation function of the notch filter; obtaining an input parameter of the activation function based on the position signal and the activation position; inputting the input parameter into the activation function to obtain the first activation coefficient; obtaining the second activation coefficient based on the first activation coefficient.

[0006] In a possible implementation of the first aspect, the step of obtaining the activation function of the notch filter comprises: obtaining the difference between the position signal and the activation position as the input parameter of the activation function.

[0007] In a possible implementation of the first aspect, the step of obtaining the activation function of the notch filter comprises: obtaining the activation function of the notch filter, wherein the activation function comprises a plurality of activation intervals, each activation interval corresponds to a different activation function, and the activation intervals comprise a fully activated interval, a rising interval, and a zero activated interval. The step of inputting the input parameter into the activation function to obtain a first activation coefficient comprises: determining the activation interval in which the input parameter is located; inputting the input parameter into the activation function corresponding to the activation interval to obtain a first activation coefficient.

[0008] In a possible implementation of the first aspect, the step of obtaining the activation function of the notch filter comprises: The expression formula of the activation function of the notch filter is:

[0009] wherein, represents the activation function of the notch filter, represents the absolute value of the input parameter, represents the critical value of the fully activated interval of the activation function, represents the critical value of the rising interval of the activation function, represents that the input parameter is located in the fully activated interval of the activation function, represents that the input parameter is located in the rising interval of the activation function, represents that the input parameter is located in the zero activated interval of the activation function.

[0010] In a possible implementation of the first aspect, the step of obtaining the activation function of the notch filter comprises: The expression formula of the activation function of the notch filter is:

[0011] wherein, represents the activation function of the notch filter, represents the absolute value of the input parameter, represents the critical value of the fully activated interval of the activation function, a threshold value representing an ascending region of the activation function, a threshold value representing a fully activated region of the activation function, a threshold value representing an ascending region of the activation function, a threshold value representing a zero activated region of the activation function.

[0012] In a possible implementation of the first aspect, the step of obtaining the second activation coefficient based on the first activation coefficient comprises: The expression of the second activation coefficient is:

[0013] wherein, is the second activation coefficient, is the first activation coefficient.

[0014] In a possible implementation of the first aspect, the step of obtaining the second notch filter output signal based on the first activation coefficient, the first notch filter output signal, the second activation coefficient and the position signal comprises: The expression of the second notch filter output signal is:

[0015] wherein, represents the second notch filter output signal, represents the first activation coefficient, represents the first notch filter output signal, represents the second activation coefficient, represents the position signal.

[0016] According to a second aspect of the present application, there is provided a notch filter activation device based on a position signal, applied to a controller in a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, the controller being electrically connected with the position detection sensor of the mechanical device, and the controller comprising at least one notch filter, the device comprising: a first obtaining module configured to obtain a position signal of the mechanical device detected by the position detection sensor; a first output module configured to obtain a first notch filter output signal based on the position signal; a second obtaining module configured to obtain a preset activation position of the notch filter; a calculation module configured to obtain a first activation coefficient and a second activation coefficient based on the position signal and the activation position; ​a second output module, configured to process the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal to obtain a second notch filter output signal.

[0017] In a possible implementation of the second aspect, the calculation module is specifically configured to: obtain an activation function of the notch filter; obtain an input parameter of the activation function based on the position signal and the activation position; input the input parameter into the activation function to obtain a first activation coefficient; obtain a second activation coefficient based on the first activation coefficient.

[0018] Based on any one of the above aspects, the embodiments of the present application provide a notch filter activation method and device based on a position signal, which are applied to a controller in a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, and the controller is electrically connected with the position detection sensor of the mechanical device. First, a position signal of the mechanical device detected by the position detection sensor is obtained, then a first notch filter output signal is obtained based on the position signal. Next, an activation position of the notch filter is obtained, then a first activation coefficient and a second activation coefficient are obtained based on the position signal and the activation position. Finally, a second notch filter output signal is obtained by processing the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal. On the one hand, the notch filter can be dynamically activated based on the position signal of the mechanical device, thereby ensuring that the notch filter can suppress the resonance interference in a specific position interval and ensuring the stability of the control system. On the other hand, the number of notch filters activated by the controller at the same time is reduced, thereby reducing the phase delay of the control system. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be called in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 An application scenario diagram of the control system provided by the present embodiment; Figure 2 A step flowchart of the notch filter activation method based on a position signal provided by the present embodiment; Figure 3 A step flowchart of the notch filter activation method based on a position signal provided by the present embodiment; Figure 2 A sub-step flowchart of step S14 in the embodiment. Figure 4 A functional module schematic diagram of a position signal based notch filter activation device provided by the embodiment.

[0021] Icon: 1-control system, 10-controller, 11-mechanical equipment, 12-position detection sensor, 20-position signal based notch filter activation device, 200-first acquisition module, 210-first output module, 220-second acquisition module, 230-computing module, 240-second output module. DETAILED DESCRIPTION

[0022] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0024] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0025] In the description of the present application, it should be noted that the orientation or position relationship indicated by the terms "up", "down", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0026] It should be noted that the different features in the embodiments of the present application can be combined with each other without conflict.

[0027] In order to solve the technical problems mentioned in the foregoing background art, the inventors innovatively designed the following technical solutions, and the specific implementation schemes of the present application will be described in detail below with reference to the drawings.

[0028] Please refer to Figure 1 , Figure 1 The schematic diagram of the interaction scenario of the control system 1 provided in this embodiment is shown in FIG. 1. The control system 1 can include a mechanical device 11 and a position detection sensor 12 arranged on the mechanical device 11. A controller 10 is electrically connected with the position detection sensor 12 of the mechanical device 11. The controller 10 includes at least one notch filter. In this embodiment, the controller 10 can include at least one notch filter. When the number of notch filters activated by the controller at the same time is multiple, it is easy to affect the phase of the control system 1.

[0029] In addition, the position detection sensor 12 can be connected with the controller 10 through wireless communication (such as Bluetooth, WIFI, etc.). Illustratively, the controller 10 can obtain the position signal detected by the position detection sensor 12, and process the first notch filter output signal based on the detected position signal to obtain the second notch filter output signal, that is, the signal of the first notch filter output signal of the notch filter activated in the preset position interval.

[0030] It can be understood that Figure 1 The control system 1 shown is only one possible example. In other possible embodiments, the control system 1 can also include only one part of the components shown in FIG. 1 or other components. Figure 1

[0031] The application scenario shown in FIG. 2 is used to illustrate the notch filter activation method based on the position signal provided in this embodiment. Please refer to Figure 1 , Figure 2 The step flow chart of the notch filter activation method based on the position signal provided in this embodiment is shown in FIG. 3. The method is applied to the controller 10 in the control system 1 shown in FIG. 1, that is, the method is executed by the controller 10. Figure 2 Figure 1 The detailed steps of the notch filter activation method based on the position signal executed by the controller 10 are described as follows.

[0032] Step S11: Obtain the position signal of the mechanical device 11 detected by the position detection sensor 12.

[0033] In this embodiment, the position detection sensor 12 can be a high-precision position sensor (such as an optical encoder, a magnetic grating ruler, etc.). The specific type of the position detection sensor 12 is not limited here and should be selected according to the actual situation.

[0034] Step S12: Obtain the first notch filter output signal based on the position signal.

[0035] Step S12: Obtain the first notch filter output signal based on the position signal. ​​

[0036] In the embodiment, the first notch filter output signal is a result of direct processing of the position signal by the notch filter, that is, the first notch filter output signal is an original notch filter output signal, and at this time, the position signal is processed as an input signal of the notch filter.

[0037] In step S13, a preset active position of the notch filter is obtained.

[0038] In the embodiment, the active position of the notch filter can be a constant, indicating that the notch filter needs to be activated at the active position, and the active positions of different notch filters can be different. The active position of the notch filter is not specifically limited here and needs to be set according to actual conditions.

[0039] In step S14, a first activation coefficient and a second activation coefficient are obtained based on the position signal and the active position.

[0040] In this step, an input parameter of the activation function is obtained based on the position signal and the active position, the first activation coefficient is obtained by inputting the input parameter into the activation function, and the second activation coefficient is obtained based on the first activation coefficient.

[0041] In the embodiment, the first activation coefficient and the second activation coefficient are in the range of [0, 1].

[0042] In step S15, the first notch filter output signal is processed based on the first activation coefficient, the second activation coefficient, and the position signal to obtain a second notch filter output signal.

[0043] In the embodiment, the first activation coefficient and the second activation coefficient are used as weight coefficients of the second notch filter output signal to control the proportional relationship between the first notch filter output signal and the position signal, wherein the first activation coefficient is used as a weight coefficient of the first notch filter output signal, and the second activation coefficient is used as a weight coefficient of the position signal. The final second notch filter output signal is obtained by weighted mixing of the first activation coefficient, the second activation coefficient, the position signal, and the first notch filter output signal. In this way, the embodiment can dynamically activate the notch filter based on the position signal, ensure that the notch filter is activated within a preset position range, avoid affecting the performance of the controller 10 by activating in other position regions, ensure the stability of the control system 1, and at the same time, achieve the effect that one notch filter can cover different resonance frequency intervals, without introducing multiple notch filters, thereby reducing the number of notch filters activated by the controller 10 at the same time, and further reducing the phase delay of the control system 1.

[0044] Further, please refer to Figure 3 , Figure 3 for Figure 2Flow chart of sub-step of step S14. Step S14 is implemented by the following way.

[0045] Sub-step S140, obtaining the activation function of the notch filter.

[0046] In the embodiment, the activation function mainly functions to map the difference between the position signal and the activated position to the weight coefficient of the filtering strength of the notch filter. The activation function can be a piecewise continuous function, which is usually pre-stored in the memory (e.g. ROM) of the controller 10, including two modes of linear transition or cosine smooth transition.

[0047] Sub-step S141, obtaining the input parameter of the activation function based on the position signal and the activated position.

[0048] In this step, the difference between the position signal and the activated position is taken as the input parameter, and the input parameter is input into the activation function, and the absolute value of the difference is usually taken for calculation.

[0049] Sub-step S142, inputting the input parameter into the activation function to obtain the first activation coefficient.

[0050] In this step, the activation interval of the input function in the activation function is first determined, and then the input function is input into the activation function corresponding to the activation interval to obtain the first activation function.

[0051] Sub-step S143, obtaining the second activation coefficient based on the first activation coefficient.

[0052] In this step, the second activation coefficient is complementary to the first activation coefficient.

[0053] Further, sub-step S141 is implemented by the following way.

[0054] The difference between the position signal and the activated position is taken as the input parameter of the activation function.

[0055] In the embodiment, the activated position can be the resonance point of the control system 1, and the difference between the position signal and the activated position is the distance between the current position and the resonance point. For example, the smaller the difference between the position signal and the activated position, the closer the current position to the resonance point, and the filtering strength of the notch filter needs to be increased, i.e. the weight coefficient of the output signal of the first notch filter needs to be increased. For example, the larger the difference between the position signal and the activated position, the farther the distance to the resonance point, and the filtering strength of the notch filter needs to be reduced according to the actual situation to avoid affecting the performance of the controller 10 in this position signal region.

[0056] Further, sub-step S140 is implemented by the following way.

[0057] An activation function of the notch filter is obtained, wherein the activation function comprises a plurality of activation intervals, each activation interval corresponds to different activation function, and the activation intervals comprise a full activation interval, a rising interval and a zero activation interval.

[0058] In this embodiment, the activation function is divided into three activation intervals, wherein the full activation interval indicates that the notch filter is fully activated, the rising interval is a transition region, and the activation strength of the notch filter in the rising interval is inversely proportional to the input parameter, that is, as the difference between the position signal and the activation position gradually decreases, the activation strength of the notch filter gradually increases. The zero activation interval indicates that the notch filter does not need to be activated in this region.

[0059] The sub-step S142 is implemented by inputting the input parameter into the activation function corresponding to the activation interval to obtain the first activation coefficient.

[0060] In this embodiment, when the input parameter is in the full activation interval, it indicates that the distance between the current position signal and the activation position (such as the resonance point) is close, and the notch filter needs to be fully activated to achieve the effect of resonance suppression. When the input parameter is in the rising interval, it indicates that the distance between the current position signal and the activation position (such as the resonance point) is moderate, and the activation strength of the notch filter, that is, the first activation coefficient, needs to be determined according to the specific difference between the position signal and the activation position. When the input parameter is in the zero activation interval, it indicates that the distance between the current position signal and the activation position (such as the resonance point) is far, and the notch filter does not need to be activated, and if the notch filter is activated at this time, it may affect the performance of the controller 10. Therefore, based on the position signal, the notch filter can be activated within the preset position range, avoiding affecting the performance of the controller 10 in other position regions, thereby ensuring the stability of the control system 1.

[0061] Further, the expression formula of the activation function of the notch filter in this embodiment can be different. In one embodiment of this embodiment, the expression formula of the activation function of the notch filter can be:

[0062] wherein, represents the activation function of the notch filter, represents the absolute value of the input parameter, represents the critical value of the full activation interval of the activation function, represents the critical value of the rising interval of the activation function, represents that the input parameter is in the full activation interval of the activation function, represents that the input parameter is in the rising interval of the activation function, represents that the input parameter is in the zero activation interval of the activation function.

[0063] In this embodiment, when the input parameter is located in the fully activated region ( If the input parameter is within the rising region ( ), then the activation function is 1. or Within ), the activation function is When the input parameter is located in the zero activation region ( If the value is within the range of 0, then the activation function is 0.

[0064] In this embodiment, the activation function adopts a linear transition in the rising region. The linear transition method has the advantages of low computational cost and fast response, and is generally suitable for control systems 1 with high real-time requirements, such as robot control systems.

[0065] In another embodiment of this invention, the activation function of the notch filter can also be expressed as:

[0066] in, This represents the activation function of the notch filter. This represents the absolute value of the input parameter. This represents the critical value of the fully activated region of the activation function. This represents the critical value in the rising region of the activation function. This indicates that the input parameter is located within the fully activated region of the activation function. This indicates that the input parameters are located in the rising region of the activation function. This indicates that the input parameter is located within the zero activation region of the activation function.

[0067] In this embodiment, when the input parameter is located in the fully activated region ( If the input parameter is within the rising region ( ), then the activation function is 1. or Within ), the activation function is When the input parameter is located in the zero activation region ( If the value is within the range of 0, then the activation function is 0.

[0068] In this embodiment, the activation function adopts a cosine smooth transition in the rising region. The cosine smooth transition has the advantages of smooth transition and reduced high-frequency harmonic disturbances, and is generally suitable for high-precision control systems, such as lithography machines or medical equipment.

[0069] It is worth noting that the activation function expression formula in this embodiment includes, but is not limited to, the two implementation methods described above. Furthermore, and The specific value is not limited here and can be selected according to the actual situation.

[0070] Further, the sub-step S143 is implemented in the following way.

[0071] The expression formula of the second activation coefficient is: =

[0072] wherein, is the second activation coefficient, is the first activation coefficient.

[0073] Further, the step S15 is implemented in the following way.

[0074] The expression formula of the second notch filter output signal is:

[0075] wherein, denotes the second notch filter output signal, denotes the first activation coefficient, denotes the first notch filter output signal, denotes the second activation coefficient, denotes the position signal.

[0076] In the embodiment, the proportion of the position signal and the first notch filter output signal of the notch filter is dynamically adjusted by the first activation coefficient and the second activation coefficient. Wherein, denotes the weight of the first notch filter output signal (i.e. the original notch filter output signal) adjusted by the first activation coefficient, denotes the weight of the position signal adjusted by the second activation coefficient.

[0077] Exemplarily, when the current position signal is close to the activation position (located in the full activation zone), the weight of the first notch filter output signal needs to be assigned as 1, i.e. the current second notch filter output signal is the same as the first notch filter output signal, so as to realize the resonance suppression effect of the notch filter.

[0078] Exemplarily, when the distance between the current position signal and the activation position is moderate (located in the rising zone), the first notch filter output signal and the position signal are smoothed by the first activation coefficient and the second activation coefficient, so as to eliminate the switching impact, reduce the phase delay of the control system 1, and ensure the stability of the control system 1. For example, when the distance between the current position signal and the activation position is continuously increasing, but has not reached the zero activation zone, the first activation coefficient is reduced and the second activation coefficient is increased. When the distance between the current position signal and the activation position is continuously decreasing, but has not reached the full activation zone, the first activation coefficient is increased and the second activation coefficient is reduced. At this time, the signal obtained by the weighted mixing is the second notch filter output signal.

[0079] For example, when the current position signal is far from the active position (located in the zero activation region), the weight of the position signal needs to be assigned to 1, that is, the current output signal of the second notch filter is the position signal, in order to retain the bandwidth of the control system 1 and improve the response speed.

[0080] Based on the same inventive concept, please refer to Figure 4 The figure shows a schematic diagram of the functional modules of a notch filter activation device 20 based on a position signal provided in this embodiment. This embodiment can divide the notch filter activation device 20 based on a position signal into functional modules according to the above method embodiment. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; the actual implementation may have other division methods. For example, in the case of dividing each functional module according to its own function... Figure 4 The notch filter activation device 20 based on position signals shown is only a schematic diagram. The notch filter activation device 20 based on position signals may include a first acquisition module 200, a first output module 210, a second acquisition module 220, a calculation module 230, and a second output module 240. The functions of each module of this notch filter activation device 20 based on position signals will be described in detail below.

[0081] The first acquisition module 200 is used to acquire the position signal of the mechanical equipment 11 detected by the position detection sensor 12.

[0082] In this embodiment, the first acquisition module 200 can be used to execute... Figure 2 For a detailed description of the first acquisition module 200, please refer to the description of step S11 shown.

[0083] The first output module 210 is used to obtain the output signal of the first notch filter based on the position signal; In this embodiment, the first output module 210 can be used to execute... Figure 2 For a detailed description of the first output module 210, see the description of step S12 shown.

[0084] The second acquisition module 220 is used to acquire the preset activation position of the notch filter.

[0085] In this embodiment, the second acquisition module 220 can be used to perform... Figure 2 For a detailed description of the second acquisition module 220, please refer to the description of step S13 shown in step S13.

[0086] The computing module 230 is configured to obtain the first activation coefficient and the second activation coefficient based on the position signal and the activation position.

[0087] In this embodiment, the computing module 230 can be configured to perform the step S14 shown in FIG. 4. Figure 2 The specific description of the computing module 230 can refer to the description of the step S14.

[0088] The second output module 240 is configured to process the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal to obtain the second notch filter output signal.

[0089] In this embodiment, the second output module 240 can be configured to perform the step S15 shown in FIG. 4. Figure 2 The specific description of the second output module 240 can refer to the description of the step S15.

[0090] Further, the computing module 230 is specifically configured to: First, obtain an activation function of the notch filter.

[0091] In this embodiment, the activation function can be a piecewise continuous function, which can include linear transition or cosine smooth transition.

[0092] Then, obtain an input parameter of the activation function based on the position signal and the activation position.

[0093] In this step, the difference between the position signal and the activation position is taken as the input parameter.

[0094] Then, input the input parameter into the activation function to obtain the first activation coefficient.

[0095] Finally, obtain the second activation coefficient based on the first activation coefficient.

[0096] In this embodiment, the computing module 230 can be configured to perform the step S14 shown in FIG. 4. Figure 2 The specific description of the computing module can refer to the description of the step S14.

[0097] Further, the present embodiment also provides a readable storage medium storing an executable program, and the executable program can be used to implement the notch filter activation method based on the position signal provided by the above method embodiment when executed.

[0098] Of course, the executable program readable storage medium provided by the present embodiment is not limited to the method operation as above, but can also perform the related operation in the notch filter activation method based on the position signal provided by any embodiment of the present application.

[0099] In summary, the application provides a trap filter activation method and device based on position signals, which is applied to a controller in a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, and the controller is electrically connected with the position detection sensor of the mechanical device. First, the position signal of the mechanical device detected by the position detection sensor is acquired, then the first trap filter output signal is obtained based on the position signal. Next, the activation position preset for the trap filter is acquired, then the first activation coefficient and the second activation coefficient are obtained based on the position signal and the activation position. Finally, the first trap filter output signal is processed based on the first activation coefficient, the second activation coefficient and the position signal to obtain the second trap filter output signal. On the one hand, the trap filter can be activated dynamically based on the position signal of the mechanical device, so as to ensure that the trap filter can suppress the resonance interference in a specific position range and ensure the stability of the control system. On the other hand, the number of trap filters activated by the controller at the same time is reduced, so as to reduce the phase delay of the control system.

[0100] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The device for implementing the functions specified in one flow or multiple flows and / or blocks.

[0101] Although the present application is described herein in conjunction with various embodiments, other variations and modifications of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the described embodiments, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Measures described in mutually different dependent claims can be combined and produce beneficial results.

[0102] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of notch filter activation based on a position signal, characterized by, A controller applied to a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, the controller being electrically connected with the position detection sensor of the mechanical device, the controller comprising at least one notch filter, the method comprising: obtaining a position signal of the mechanical device detected by the position detection sensor; obtaining a first notch filter output signal based on the position signal; obtaining an activation position preset for the notch filter; obtaining a first activation coefficient and a second activation coefficient based on the position signal and the activation position; processing the first notch filter output signal based on the first activation coefficient, the second activation coefficient and the position signal to obtain a second notch filter output signal.

2. The method of claim 1, wherein the method further comprises: The step of obtaining the first activation coefficient and the second activation coefficient based on the position signal and the activation position comprises: obtaining an activation function of the notch filter; obtaining an input parameter of the activation function based on the position signal and the activation position; inputting the input parameter into the activation function to obtain the first activation coefficient; obtaining the second activation coefficient based on the first activation coefficient.

3. The method of claim 2, wherein the method further comprises: The step of obtaining the input parameter of the activation function based on the position signal and the activation position comprises: taking a difference value of the position signal and the activation position as the input parameter of the activation function.

4. The method of claim 2, wherein the location-based signal is a cellular signal. The step of obtaining the activation function of the notch filter comprises: obtaining an activation function of the notch filter, wherein the activation function comprises a plurality of activation intervals, each activation interval corresponding to a different activation function, and the activation intervals comprise a full activation interval, a rising interval and a zero activation interval. The step of inputting the input parameter into the activation function to obtain the first activation coefficient comprises: determining an activation interval in which the input parameter is located; inputting the input parameter into the activation function corresponding to the activation interval to obtain the first activation coefficient.

5. The method of claim 4, wherein the method further comprises: The step of obtaining the activation function of the notch filter comprises: an expression formula of the activation function of the notch filter is: wherein, represents an activation function of the notch filter, represents an absolute value of the input parameter, represents a threshold value of a fully activated region of the activation function, represents a threshold value of a rising region of the activation function, represents that the input parameter is located in the fully activated region of the activation function, represents that the input parameter is located in the rising region of the activation function, represents that the input parameter is located in a zero activated region of the activation function.

6. The method of claim 4, wherein the method further comprises: The step of obtaining the activation function of the notch filter comprises: an expression formula of the activation function of the notch filter is: wherein, represents an activation function of the notch filter, represents an absolute value of the input parameter, represents a threshold value of a fully activated region of the activation function, represents a threshold value of a rising region of the activation function, represents that the input parameter is located in the fully activated region of the activation function, represents that the input parameter is located in the rising region of the activation function, represents that the input parameter is located in a zero activated region of the activation function.

7. The method of claim 2, wherein the method further comprises: The step of obtaining the second activation coefficient based on the first activation coefficient comprises: an expression formula of the second activation coefficient is: = wherein, is the second activation coefficient, is the first activation coefficient.

8. The method of claim 1, wherein the method further comprises: The step of obtaining the second notch filter output signal based on the first activation coefficient, the first notch filter output signal, the second activation coefficient and the position signal comprises: an expression formula of the second notch filter output signal is: wherein denotes the second notch filter output signal, denotes the first activation coefficient, denotes the first notch filter output signal, denotes the second activation coefficient, denotes the position signal.

9. A notch filter activation apparatus based on a position signal, characterized by A controller applied to a control system, the control system further comprising a mechanical device and a position detection sensor arranged on the mechanical device, the controller being electrically connected with the position detection sensor of the mechanical device, the controller comprising at least one notch filter, the device comprising: a first obtaining module, configured to obtain a position signal of the mechanical device detected by the position detection sensor; a first output module, configured to obtain a first notch filter output signal based on the position signal; a second obtaining module, configured to obtain an active position of the notch filter preset; a calculating module, configured to obtain a first active coefficient and a second active coefficient based on the position signal and the active position; a second output module, configured to process the first notch filter output signal based on the first active coefficient, the second active coefficient and the position signal to obtain a second notch filter output signal.

10. The position signal based notch filter activation apparatus of claim 9, wherein, The calculating module is specifically configured to: obtain an activation function of the notch filter; obtain an input parameter of the activation function based on the position signal and the active position; input the input parameter into the activation function to obtain the first active coefficient; obtain the second active coefficient based on the first active coefficient.

Images