A self-adaptive input compensation method and system for a rocker potentiometer

Abstract

This invention discloses an adaptive input compensation method and system for a joystick potentiometer, relating to the fields of human-computer interaction input control and potential signal processing technology. The system includes a contact-type joystick potentiometer, a raw potential signal acquisition module, a dynamic state recognition module, a return-to-center trajectory analysis module, a mechanical state degradation modeling module, an adaptive input compensation module, and a stable control signal output module. This invention acquires raw potential signals in the X and Y directions of the joystick, calculates the displacement change rate, direction change rate, and signal fluctuation amplitude, extracts the joystick's return-to-center trajectory characteristics, and accurately identifies aging states such as mechanical wear, contact gap changes, and return-to-center offset. This invention proposes an adaptive input compensation method and system for a joystick potentiometer, aiming to solve the technical problem of existing technologies' inability to maintain stable input control accuracy over long periods.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction input control and potential signal processing technology, specifically to an adaptive input compensation method and system for a joystick potentiometer. Background Technology

[0002] A joystick potentiometer is a common human-machine input device, widely used in various human-machine interaction devices such as game controllers, industrial joysticks, and remote controls. Its core function is to convert the mechanical deflection and swinging motion of the joystick into an electrical signal output, thereby enabling the control of direction, speed, position, or functional status. Currently, joystick potentiometers are mainly divided into two types: contact and non-contact. Contact joystick potentiometers rely on the joystick's transmission structure to drive a resistive slider or brush to slide on a resistive element, causing the output potential to change accordingly with the joystick's deflection angle.

[0003] After prolonged use, contact-type joystick potentiometers are affected by factors such as mechanical wear, changes in assembly clearance, aging of the spring mechanism, and unstable contact, causing the silicone rubber in the return-to-center movement to shift. Compared to the stable return-to-center characteristics of a new joystick, an aged joystick is prone to problems such as return-to-center shift, center point deviation, and output signal jitter, which can easily lead to false triggering and unstable signal output.

[0004] Existing joystick calibration and compensation technologies are mostly static fixed compensation or factory single calibration, which can only deal with instantaneous noise and initial calibration problems. They do not utilize the characteristics of joystick return trajectory changes to identify the mechanical aging state of the equipment, and cannot adaptively update compensation parameters according to changes in equipment wear. This results in defects such as center drift, poor return accuracy, and signal jitter when the equipment is used for a long time, making it difficult to maintain stable input control accuracy in the long term, and failing to balance input response speed and long-term working stability. Summary of the Invention

[0005] To address the above shortcomings, this invention proposes an adaptive input compensation method and system for a rocker potentiometer, aiming to solve the technical problem that existing technologies struggle to maintain stable input control accuracy over the long term.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive input compensation method for a rocker potentiometer, the method comprising the following steps: Step 1, execute S1: Acquire the raw potential signal, acquire the joystick's position... X direction and Y The original potential output signals in the direction are denoted as follows: X ( t ), Y ( t ); The second step is to execute S2: calculate the rate of change of displacement. V ( t), calculate the offset amplitude of the joystick relative to the center position at the current sampling moment. R(t) Through the offset amplitude R(t) Calculate the rate of change of displacement of the joystick. V ( t ), through the displacement change rate V ( t Determine the dynamic trend of the joystick; The third step is to execute S4: calculate the signal fluctuation amplitude. A j ( t ), within the preset time window W Calculate the amplitude of micro-displacement fluctuations. A j ( t That is, to calculate the offset amplitude of the joystick. R(t) The difference between the maximum and minimum values; Step 4: Execute S5: Identify the dynamic state of the joystick By comparing the offset magnitude R(t) With swing displacement threshold R s The magnitude and the comparison with the displacement change rate V ( t The absolute value of ) and the swing speed threshold V s The size of the swing is used to identify the swing state; By comparing the offset magnitude R(t) offset magnitude from the previous sampling time R ( t The magnitude of -1), and the comparison with the rate of change of displacement. V ( t ) and numerical values 0 The size of the value is used to identify the return-to-center state; By comparing the offset magnitude R(t) threshold of the center neighborhood R j The size and the amplitude of the micro-displacement fluctuation A j ( t ) and jitter amplitude threshold A j0 The size, slightly shaking state; Step 5: Execute S6: Dynamic analysis of the return trajectory. After the joystick is detected to have entered the return state, record the trajectory data from the release moment to the stabilization moment, and extract: return convergence speed and return convergence time. T c ( t ), center residual offset E c (t The amplitude of the micro-displacement fluctuation A j ( t ), directional change rate Oh ( t The smoothness of the trajectory serves as the basis for controlling and recognizing the mechanical state.

[0007] Preferably, the potential value corresponding to the central reference position is set to X 0、 Y If the value is 0, then the offset amplitude of the joystick is... R(t) satisfy ; rate of change of displacement V ( t )satisfy ; in, R ( t -1) represents the offset magnitude at the previous sampling time, Δ t The sampling interval; When the displacement change rate V ( t When the displacement rate is greater than 0, it indicates that the rocker arm is far from the center; when the displacement rate is greater than 0, it indicates that the rocker arm is far from the center. V ( t When the displacement change rate is less than 0, it indicates that the joystick is returning to the center; when the displacement change rate is less than 0, it indicates that the joystick is returning to the center. V ( t When the value is close to 0 and there are slight fluctuations, it indicates that the joystick is in a state of slight shaking near the center.

[0008] Preferably, the amplitude of the micro-displacement fluctuation A j ( t )satisfy ;in, i For time window W The sampling point number within, i =1,2,..., N ; N This represents the total number of sampling points within the window. A j ( t () indicates the current time. t The fluctuation range of the offset amplitude within the corresponding time window.

[0009] Preferably, the center residual offset E c ( t )satisfy ;in, X c ( t ), Y c (t ) represents the potential value after the rocker arm returns to center and stabilizes.

[0010] Preferably, between the second and third steps, an additional step is performed: S3: calculating the rate of change of direction. Oh ( t ), calculate the current direction angle of the joystick at the sampling time. i ( t ), through the current direction angle i ( t Calculate its rate of change of direction. Oh ( t ), through the rate of change of direction Oh ( t Identify whether there is a directional shift or non-smooth change in the return path; The current direction angle i ( t )satisfy ; The rate of change of direction Oh ( t )satisfy ; in: i ( t () indicates the direction angle of the joystick relative to the center position at the current sampling moment; i ( t -1) represents the direction angle of the joystick relative to the center position at the previous sampling time.

[0011] Preferably, after the fifth step, a sixth step is included: performing S7: historical trajectory sliding update, setting a sliding window for the most recent N homing cycles; after each homing process is completed, the system records the residual center offset for that cycle. E c ( t The amplitude of the micro-displacement fluctuation A j ( t The convergence time of the return path T c ( t Features such as degradation degree index are updated. D ( t When new periodic data enters the sliding window, the earliest periodic data is removed from the sliding window; the system updates the mechanical condition degradation model based on the statistical results of multiple periods within the window.

[0012] Preferably, the method further includes, in step seven, executing S8: the mechanical state degradation model, which converts trajectory anomalies in several homing cycles into degradation degree indicators that can be used for compensatory control. D (t The return-to-center offset, contact jitter, and return-to-center hysteresis are fused into the mechanical state degradation model. The degradation degree index D ( t )satisfy ; in, E max , A max , T max This is the normalized baseline value; w 1. w 2. w 3 is the weighting coefficient, which satisfies .

[0013] Preferably, the method further includes step eight, performing S9: dynamically adjusting the compensation parameters and setting the center drift compensation coefficient. α ( t Dynamic filter weights β ( t According to the degradation index D ( t The compensation strength is determined to correct the center drift caused by the joystick deviating from the center reference position after returning to center. The signal after center drift correction is denoted as... X ′( t ), Y ′( t The dynamic filtering weights are adjusted according to the state of the joystick. β ( t ), and through the dynamic filtering weights β ( t The final output signal is calculated. X o ( t ), Y o ( t ); The center drift compensation coefficient α ( t )satisfy ;in, α 0 is the base compensation coefficient. k α This is the compensation gain coefficient; The X ′( t )satisfy ; The Y ′( t )satisfy ; The X o ( t )satisfy ; The Y o ( t )satisfy .

[0014] Preferably, the method further includes a ninth step, executing S10: outputting a stable control signal and outputting a compensated and filtered stable input signal to the subsequent control system.

[0015] An adaptive input compensation system for a rocker potentiometer includes a contact rocker potentiometer, a raw potential signal acquisition module, a dynamic state recognition module, a return-to-center trajectory analysis module, a mechanical state degradation modeling module, an adaptive input compensation module, and a stable control signal output module.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention is based on the dynamic state recognition of the joystick, and performs differentiated processing on the swing state, return state and micro-jitter state, which effectively improves the overall input control accuracy of the joystick.

[0017] 2. This invention can identify mechanical wear, contact gap changes, and centering offset by extracting the centering trajectory features of the joystick, thereby improving the ability to perceive the mechanical state of the joystick.

[0018] 3. This invention achieves dynamic evaluation of the long-term use status of contact rocker potentiometers by establishing a mechanical state degradation model.

[0019] 4. This invention can dynamically adjust the compensation parameters and filtering weights according to the degree of degradation, thereby improving center stability and anti-jitter capability.

[0020] 5. This invention reduces erroneous inputs caused by center drift, and improves centering accuracy and control reliability.

[0021] 6. This invention suppresses signal fluctuations while ensuring input response speed, thereby improving control consistency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0023] Figure 1 This is a block diagram of the overall structure of the system.

[0024] Figure 2 This is a flowchart of the method.

[0025] In the picture: 101: Contact-type rocker potentiometer; 102: Raw potential signal acquisition module; 103: Dynamic state recognition module; 104: Return-to-center trajectory analysis module; 105: Mechanical state degradation modeling module; 106: Adaptive input compensation module; 107: Stable control signal output module; S1: Acquire raw potential signal; S2: Calculate displacement change rate V ( t S3: Calculate the rate of change of direction Oh ( t S4: Calculate the amplitude of signal fluctuations. A j ( t S5: Identify the dynamic state of the joystick; S6: Dynamic analysis of the return trajectory; S7: Historical trajectory sliding update; S8: Mechanical state degradation model; S9: Dynamically adjust compensation parameters; S10: Output stable control signal. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "inner", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0028] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] like Figure 2 As shown, an adaptive input compensation method for a joystick potentiometer includes the following steps: The first step is to execute S1: acquire the raw potential signal. In practice, this involves acquiring the signal from the joystick.X direction and Y The original potential output signals in the direction are denoted as follows: X ( t ), Y ( t );in, X ( t () represents the potential value in the X direction at the current sampling time. Y ( t ) represents the Y-direction potential value at the current sampling time; S1: The original potential signal is collected to obtain the real-time output signal of the contact rocker potentiometer, providing basic data for subsequent dynamic state recognition and compensation.

[0030] The second step is to execute S2: calculate the rate of change of displacement. V ( t In specific implementation, the offset amplitude of the joystick relative to the center position at the current sampling moment is calculated. R(t) Through the offset amplitude R(t) Calculate the rate of change of displacement of the joystick. V ( t ), through the displacement change rate V ( t Determine the dynamic trend of the joystick; Let the potential value corresponding to the center reference position be X 0、 Y If the value is 0, then the offset amplitude of the joystick is... R(t) satisfy ; rate of change of displacement V ( t )satisfy ; in, R ( t -1) represents the offset magnitude at the previous sampling time, Δ t The sampling interval; When the displacement change rate V ( t When the displacement rate is greater than 0, it indicates that the rocker arm is far from the center; when the displacement rate is greater than 0, it indicates that the rocker arm is far from the center. V ( t When the displacement change rate is less than 0, it indicates that the joystick is returning to the center; when the displacement change rate is less than 0, it indicates that the joystick is returning to the center. V ( t When the value is close to 0 and there are slight fluctuations, it indicates that the joystick is in a state of slight jitter near the center; S2: Calculate the rate of change of displacement. V ( t This is used to determine whether the joystick is currently moving away from the center, maintaining its offset, or returning to the center.

[0031] Third step: Execute S3: Calculate the rate of change of direction. Oh ( t In specific implementation, the current direction angle of the joystick at the sampling time is calculated. i ( t ), through the current direction angle i ( t Calculate its rate of change of direction. Oh ( t ), through the rate of change of direction Oh ( t Identify whether there is a directional shift or non-smooth change in the return path; The current direction angle i ( t )satisfy ; The rate of change of direction Oh ( t )satisfy ; S3: Calculate the rate of change of direction Oh ( t This is used to determine whether the joystick's movement direction is stable, whether there are sudden changes, deviations, or jitters, based on the rate of change of direction. Oh ( t Identify whether there is a directional offset or non-smooth change in the return path, providing a basis for judging the wear offset trajectory; The rate of change of direction Oh ( t This is used to characterize the trajectory changes during the return-to-center process, and is used for trajectory analysis and mechanical condition identification. When | Oh ( t )|< Oh At 1 o'clock, it indicates that the change in direction is stable and the trajectory back to center is normal; when Oh 1≤| Oh ( t )|< Oh When | 2 indicates a slight directional deviation; when | Oh ( t )|≥ Oh When the value is 2, it indicates a significant change in direction or an uneven trajectory.

[0032] Step 4: Execute S4: Calculate the signal fluctuation amplitude. A j ( t In specific implementation, within the preset time window W Calculate the amplitude of micro-displacement fluctuations. A j ( t That is, to calculate the offset amplitude of the joystick. R(t) The difference between the maximum and minimum values; The amplitude of the micro-displacement fluctuation A j ( t )satisfy ;in, i For time window W The sampling point number within, i =1,2,..., N ; N This represents the total number of sampling points within the window. A j ( t () indicates the current time. t The fluctuation range of the offset amplitude within the corresponding time window.

[0033] S4: Calculate the signal fluctuation amplitude A j ( t This is used to identify whether the joystick experiences slight jitter or unstable contact near the center, through the time window. W The amplitude of the micro-displacement fluctuation within A j ( t It can determine the signal stability near the center and identify contact jitter and minor input errors; The amplitude of the micro-displacement fluctuation A j ( t This is used to reflect the degree of signal fluctuation near the center. A j0 The threshold value for jitter amplitude; when A j ( t )≤ A j0 When the joystick is stable, the center area is considered stable; when... A j ( t )> A j0 At this time, it is considered that there is contact jitter or mechanical looseness. For example, for a 12-bit ADC (0~4095), the jitter amplitude threshold is... A j0 It can be set to 10~20 ADC count values; when A j ( t When )=5, it is considered stable; when A j ( t When the value is 25, significant jitter is considered to exist.

[0034] Step 5: Execute S5: Identify the dynamic state of the joystick By comparing the offset magnitude R(t)With swing displacement threshold R s The magnitude and the comparison with the displacement change rate V ( t The absolute value of ) and the swing speed threshold V s The size of the swing is used to identify the swing state; By comparing the offset magnitude R(t) offset magnitude from the previous sampling time R ( t The magnitude of -1), and the comparison with the rate of change of displacement. V ( t ) and numerical values 0 The size of the value is used to identify the return-to-center state; By comparing the offset magnitude R(t) threshold of the center neighborhood R j The size and the amplitude of the micro-displacement fluctuation A j ( t ) and jitter amplitude threshold A j0 The size, slightly shaking state; When satisfied R ( t )> R s , and | V ( t )|> V s When it is in a swing state, it is identified as such; when it meets the following conditions... R ( t )< R ( t -1), and V ( t When the offset amplitude is less than 0 and continuously decreases towards the center position, it is identified as a centering state; when the following conditions are met: R ( t )≤ R j ,and A j ( t )> A j0 At that time, it was identified as a slight shaking state.

[0035] S5: Identifying the dynamic state of the joystick is used to adopt different compensation strategies based on the motion state of the joystick, thereby improving the targeting of signal processing.

[0036] Step 6: Perform S6: Dynamic analysis of the return-to-center trajectory. In specific implementation, after the joystick is detected to have entered the return-to-center state, record the trajectory data from the release moment to the stabilization moment, and extract: return-to-center convergence speed and return-to-center convergence time. T c ( t ), center residual offset E c ( t The amplitude of the micro-displacement fluctuation A j ( t ), directional change rate Oh ( t The smoothness of the trajectory serves as the basis for controlling and recognizing the mechanical state. The residual offset at the center E c ( t )satisfy ;in, X c ( t ), Y c ( t ) represents the potential value after the rocker arm returns to center and stabilizes.

[0037] The residual offset at the center E c ( t The larger the value, the more pronounced the homing offset; the amplitude of the micro-displacement fluctuation... A j ( t The larger the value, the more pronounced the contact jitter; the convergence time... T c ( t The longer the length, the more pronounced the lag or frictional resistance.

[0038] S6: The dynamic analysis of the return trajectory is used to reflect the mechanical structure status through the return trajectory after the rocker is released.

[0039] Step 7: Execute S7: Historical trajectory sliding update. In specific implementation, a sliding window is set for the most recent N homing cycles; after each homing process is completed, the system records the residual center offset for that cycle. E c ( t The amplitude of the micro-displacement fluctuation A j ( t The convergence time of the return path T c ( t Features such as degradation degree index are updated. D( t When new periodic data enters the sliding window, the earliest periodic data is moved out of the sliding window; the system updates the mechanical state degradation model based on the statistical results of multiple periods within the window; S7: historical trajectory sliding update is used to avoid the impact of a single abnormal operation on the compensation result and improve long-term stability; through the historical trajectory statistics of multiple return periods, the mechanical state degradation trend is identified.

[0040] Step 8: Execute S8: Mechanical State Degradation Model. In specific implementation, trajectory anomalies in several homing cycles are transformed into degradation degree indicators that can be used for compensatory control. D ( t The return-to-center offset, contact jitter, and return-to-center hysteresis are fused into the mechanical state degradation model. The degradation degree index D ( t )satisfy ; in, E max , A max , T max This is the normalized baseline value; w 1. w 2. w 3 is the weighting coefficient, which satisfies ; The S8: Mechanical state degradation model is used to transform trajectory anomalies in multiple homing cycles into degradation degree indices that can be used for compensatory control. D ( t The model integrates centering offset, contact jitter, and centering hysteresis into a mechanical state degradation model, which is used for dynamic compensation parameter generation.

[0041] Step 9: Execute S9: Dynamically adjust compensation parameters. In specific implementation, set the center drift compensation coefficient. α ( t Dynamic filter weights β ( t According to the degradation index D ( t The compensation strength is determined to correct the center drift caused by the joystick deviating from the center reference position after returning to center. The signal after center drift correction is denoted as... X ′( t ), Y ′( t The dynamic filtering weights are applied at different levels depending on the state of the joystick. β ( t ), and through the dynamic filtering weightsβ ( t The final output signal is calculated. X o ( t ), Y o ( t ); The center drift compensation coefficient α ( t )satisfy ;in, α 0 is the base compensation coefficient. k α For compensation gain coefficient; when D ( t When the value is smaller, it indicates a better mechanical condition and lower compensation strength; when D ( t When the value is large, it indicates that the mechanical condition has deteriorated significantly and the compensation intensity has increased; The X ′( t )satisfy ; The Y ′( t )satisfy ; The X o ( t )satisfy ; The Y o ( t )satisfy ; When the joystick is in a swinging state, the dynamic filter weight is increased. β ( t To enhance real-time response; when the joystick is in a micro-jitter state, the dynamic filtering weight is reduced. β ( t Enhance jitter suppression; when the joystick is in the return-to-center state, based on the degradation degree index... D ( t Adjust the dynamic filter weights β ( t This balances stability during return to the center with consistency in response. S9: Dynamically adjust the compensation parameters based on the residual offset direction and the residual offset amount at the center. E c ( t) Oriented compensation is performed in the X and Y directions. The filtering weight dynamically determines the compensation intensity according to the dynamic state of the joystick and the degree of mechanical degradation. It corrects the center drift caused by the joystick deviating from the center reference position after returning to center, and takes into account both response speed and stability in different joystick states. The direction of the residual offset after centering is determined by the actual center position after the rocker arm has stabilized. X c ( t ), Y c ( t Relative to the theoretical center position ( X 0、 Y The offset direction of (0) is determined by ( X c ( t )- X 0) and ( Y c ( t )- Y 0) Jointly determined; the residual offset of the center E c ( t The offset direction and its corresponding offset direction are used to generate compensation parameters in the X and Y directions to achieve center drift compensation. Therefore, the dynamic compensation in S9: dynamically adjusting the compensation parameters is mainly based on the residual center offset Ec(t) and the offset direction of the actual center position relative to the theoretical center position.

[0042] Step 10: Execute S10: Output a stable control signal, providing a compensated and filtered stable input signal to the subsequent control system. In practice, the output signal is the compensated stable input signal. X o ( t ), Y o ( t As the final control signal, this signal can be used for direction control, speed control, position control, or other functional control.

[0043] like Figure 1 As shown, an adaptive input compensation system for a rocker potentiometer includes a contact rocker potentiometer 101, an original potential signal acquisition module 102, a dynamic state recognition module 103, a return trajectory analysis module 104, a mechanical state degradation modeling module 105, an adaptive input compensation module 106, and a stable control signal output module 107. The contact-type rocker potentiometer 101 adopts an existing dual-axis contact-type rocker potentiometer, and its X-axis and Y-axis potential output terminals output analog voltage signals respectively.

[0044] The original potential signal acquisition module 102 can be implemented using a microcontroller's built-in ADC acquisition circuit or an external analog-to-digital converter chip. For example, an STM32 series microcontroller with a built-in 12-bit ADC can be used, or an external ADC chip such as ADS1115 or MCP3208 can be used.

[0045] The dynamic state recognition module 103, the return trajectory analysis module 104, the mechanical state degradation modeling module 105, and the adaptive input compensation module 106 can be implemented by a microcontroller, digital signal processor, or embedded processor running a program. Preferably, an STM32F103, STM32G431, GD32F103, ESP32, NXP LPC series microcontroller, or other control chips with ADC acquisition, timer, interrupt, and data processing functions can be used.

[0046] The stable control signal output module 107 can adopt USB HID, UART, CAN, or I-type interfaces depending on the interface type of the downstream device. 2 It can be implemented using C, SPI, PWM or analog voltage output methods, and is used to output the compensated and stable control signal to the game controller main control board, industrial controller, remote control terminal or other downstream control system.

[0047] The above modules can be integrated into the same microcontroller as software functional modules, or they can be implemented by combining an ADC acquisition circuit, an MCU processing unit, a storage unit, and a communication output interface. This invention does not limit specific chip models or hardware platforms; any hardware or software system capable of performing raw potential signal acquisition, dynamic state recognition, homing trajectory analysis, mechanical state degradation modeling, adaptive compensation, and stable signal output is an embodiment of this invention.

[0048] The contact-type rocker potentiometer 101 is used to convert the mechanical swing of the rocker into a potential output signal. In this embodiment, the contact-type rocker potentiometer 101 includes a rocker universal swing transmission shaft, a return spring, a resistor slider assembly, and a support structure for supporting the rocker swing. The resistor slider assembly generates a potential change during the rocker swing and outputs the original potential signal.

[0049] The original potential signal acquisition module 102 is used to acquire the original potential output signals of the contact rocker potentiometer 101 in at least two directions; in this embodiment, the original potential output signals include the original potential signal in the X direction and the original potential signal in the Y direction; the original potential signal acquisition module 102 is used to perform S1: acquire the original potential signal.

[0050] The dynamic state recognition module 103 is used to perform S2: calculate the displacement change rate. V ( tS3: Calculate the rate of change of direction Oh ( t S4: Calculate the signal fluctuation amplitude A j ( t The displacement change rate is calculated based on the continuously sampled signal. V ( t ), the rate of change of direction Oh ( t and the amplitude of the signal fluctuation A j ( t It can identify whether the joystick is currently in a swing state, a return-to-center state, or a slight jitter state.

[0051] The centering trajectory analysis module 104 is used to execute S5: identify the dynamic state of the joystick and S6: dynamic analysis of the centering trajectory. When the joystick enters the centering state, the centering trajectory is dynamically analyzed to extract trajectory convergence features, centering offset features and micro-displacement fluctuation features.

[0052] The mechanical state degradation modeling module 105 is used to execute S7: historical trajectory sliding update and S8: mechanical state degradation model, and to establish or update the mechanical state degradation model based on the historical trajectory characteristics of multiple cyclic cycles. The mechanical state degradation model can characterize the state changes of the contact rocker potentiometer caused by mechanical wear, contact gap changes, elastic fatigue or contact jitter during long-term use.

[0053] The adaptive input compensation module 106 is used to execute step S9: dynamically adjust the compensation parameters, and dynamically generate the input compensation parameters and the dynamic filter weights according to the mechanical state degradation model. β ( t The original potential signal is then subjected to center drift correction, nonlinear deviation compensation, and contact jitter suppression.

[0054] The stable control signal output module 107 is used to perform S10: output a stable control signal, and output the compensated stable control signal to the subsequent control circuit, controller or actuator.

[0055] Through the above modules, the present invention forms a complete link consisting of original signal acquisition, dynamic state recognition, return trajectory analysis, mechanical state degradation modeling, adaptive input compensation, and stable signal output.

[0056] This embodiment uses a dual-axis contact joystick potentiometer in a game controller as an example to illustrate the specific implementation process of the present invention. The joystick potentiometer used includes an X-axis potentiometer and a Y-axis potentiometer, with an output range of 0–3.3V, corresponding to an analog-to-digital converter (ADC) sampling value of 0–4095. The system sampling frequency is set to 100Hz, that is, joystick position data is collected once every 10ms.

[0057] Step 1: Acquisition of raw potential signals The first step, acquiring the original potential signal, corresponds to S1: acquiring the original potential signal; When the user pushes the joystick to produce a deflection, the system uses an ADC to collect the X-axis and Y-axis potential output signals in real time: X ( t ), Y ( t ) in: X ( t () indicates the potential value in the X direction; Y ( t ) represents the potential value in the Y direction.

[0058] The theoretical center position was obtained after initial calibration: X 0 = 2048 Y 0 = 2048.

[0059] Step 2: Calculate the joystick offset amplitude Step 2: Calculate the joystick offset amplitude corresponding to S2: Calculate the displacement change rate. V ( t ) Calculate the current offset distance based on the acquired signal: ; For example: when X ( t )=2600, Y ( t If ) = 2450, then: R ( t The value is 683, indicating that the joystick is in a state of significant deflection.

[0060] Step 3: Dynamic State Recognition The third step, dynamic state recognition, corresponds to step S3: calculating the rate of change of direction. Oh ( t S4: Calculate the amplitude of signal fluctuations. A j ( t S5: Identify the dynamic state of the joystick.

[0061] Calculated based on continuous sampling points: Rate of change of displacement:

[0062] Rate of change of direction:

[0063] Fluctuation amplitude:

[0064] The system determines the state based on preset thresholds: swing state; return to center state; slight jitter state.

[0065] For example: When the user releases the joystick: R ( t )=683→520→300→150→30 If the value decreases continuously, the system determines that it has entered the return-to-neutral state.

[0066] Step 4: Extraction of Trajectory Features The fourth step, the extraction of the return trajectory features, corresponds to step S6: dynamic analysis of the return trajectory.

[0067] Once the centering state is detected, the system records the entire centering process.

[0068] For example, the trajectory of a certain return to the center is as follows: ; Therefore, we can obtain the convergence time at the midpoint. T c =0.42s Stable position after returning to center: (2058, 2051) Center residual offset: E c =10.44 Simultaneously, the amplitude of micro-displacement fluctuations near the center was statistically analyzed: A j =4.2 Step 5: Historical trajectory sliding update The fifth step, historical trajectory sliding update, corresponds to step S7: historical trajectory sliding update.

[0069] The system establishes a historical trajectory window for the 50 most recent return-to-center processes.

[0070] Record the convergence time after each homing process is completed. T c ; Center residual offset E c Fluctuation Amplitude A j .

[0071] When the 51st data entry occurs: the earliest record is deleted; historical statistics are updated. This yields the trajectory change trend under long-term usage conditions.

[0072] Step 6: Mechanical Condition Degradation Assessment The sixth step: mechanical condition degradation assessment corresponds to S8: mechanical condition degradation.

[0073] Degradation level index:

[0074] For example: E c =10.44, A j =4.2 set up: E max =30, A max =10, T max =1, w 1= w 2= w 3 = 0.333 but: D =0.40 This indicates that the joystick has experienced slight mechanical degradation.

[0075] Step 7: Dynamically generate compensation parameters The seventh step: dynamically generating compensation parameters corresponds to step S9: dynamically adjusting compensation parameters.

[0076] Based on the degree of degradation:

[0077] set up α 0 = 0.5 k α =0.8, then α=0.82, generating the center drift compensation parameters.

[0078] Simultaneously generate dynamic filter weights. β ( t ), used for subsequent filtering processing.

[0079] Step 8: Center Drift Correction The eighth step, center drift correction, corresponds to step S9: dynamic adjustment of compensation parameters.

[0080] Correct the output signal:

[0081]

[0082] This causes the output center to converge back to the theoretical center position.

[0083] Step 9: Dynamic Filtering Compensation The ninth step, dynamic filtering compensation, corresponds to step S9: dynamically adjusting the compensation parameters.

[0084] Adjust the filter weights based on the current state of the joystick: Swing state β =0.85, ensuring a fast response; Slight shaking state β =0.30, enhancing jitter suppression; Return to normal state β =0.55, balancing stability and response speed.

[0085] Final output X o ( t ), Y o ( t () as a stable control signal.

Claims

1. A method for adaptive input compensation of a rocker potentiometer, characterized in that, The method includes the following steps: Step 1, execute S1: Acquire the raw potential signal, acquire the joystick's position... X direction and Y The original potential output signals in the direction are denoted as follows: X ( t ), Y ( t ); The second step is to execute S2: calculate the rate of change of displacement. V ( t ), calculate the offset amplitude of the joystick relative to the center position at the current sampling moment. R(t) Through the offset amplitude R(t) Calculate the rate of change of displacement of the joystick. V ( t ), through the displacement change rate V ( t Determine the dynamic trend of the joystick; The third step is to execute S4: calculate the signal fluctuation amplitude. A j ( t ), within the preset time window W Calculate the amplitude of micro-displacement fluctuations. A j ( t That is, to calculate the offset amplitude of the joystick. R(t) The difference between the maximum and minimum values; Step 4: Execute S5: Identify the dynamic state of the joystick By comparing the offset magnitude R(t) With swing displacement threshold R s The magnitude and the comparison with the displacement change rate V ( t The absolute value of ) and the swing speed threshold V s The size of the swing is used to identify the swing state; By comparing the offset magnitude R(t) offset magnitude from the previous sampling time R ( t -1) and the magnitude of the displacement change rate compared to the value of the displacement change rate. V ( t ) and numerical values 0 The size of the value is used to identify the return-to-center state; By comparing the offset magnitude R(t) threshold of the center neighborhood R j The size and the amplitude of the micro-displacement fluctuation A j ( t ) and jitter amplitude threshold A j0 The size of the vibration is used to identify micro-shaking conditions; Step 5: Execute S6: Dynamic analysis of the return trajectory. After the joystick is detected to have entered the return state, record the trajectory data from the release moment to the stabilization moment, and extract: return convergence speed and return convergence time. T c ( t ), center residual offset E c ( t The amplitude of the micro-displacement fluctuation A j ( t ), directional change rate Ω ( t The smoothness of the trajectory serves as the basis for controlling and recognizing the mechanical state.

2. The adaptive input compensation method and system for a rocker potentiometer according to claim 1, characterized in that, Let the potential value corresponding to the center reference position be X 0、 Y If the value is 0, then the offset amplitude of the joystick is... R(t) satisfy ; rate of change of displacement V ( t )satisfy ; in, R ( t -1) represents the offset magnitude at the previous sampling time, Δ t The sampling interval; When the displacement change rate V ( t When the displacement rate is greater than 0, it indicates that the rocker arm is far from the center; when the displacement rate is greater than 0, it indicates that the rocker arm is far from the center. V ( t When the displacement change rate is less than 0, it indicates that the joystick is returning to the center; when the displacement change rate is less than 0, it indicates that the joystick is returning to the center. V ( t When the value is close to 0 and there are slight fluctuations, it indicates that the joystick is in a state of slight shaking near the center.

3. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that... The amplitude of the micro-displacement fluctuation A j ( t )satisfy ;in, i For time window W The sampling point number within, i =1,2,..., N ; N This represents the total number of sampling points within the window. A j ( t () indicates the current time. t The fluctuation range of the offset amplitude within the corresponding time window.

4. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, The residual offset at the center E c ( t )satisfy ; in, X c ( t ), Y c ( t ) represents the potential value after the rocker arm returns to center and stabilizes.

5. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, Between the second and third steps, there is an additional step, S3: calculating the rate of change of direction. Ω ( t ), calculate the current direction angle of the joystick at the sampling time. θ ( t ), through the current direction angle θ ( t Calculate its rate of change of direction. Ω ( t ), through the rate of change of direction Ω ( t Identify whether there is a directional shift or non-smooth change in the return path; The current direction angle θ ( t )satisfy ; The rate of change of direction Ω ( t )satisfy ; in: θ ( t () indicates the direction angle of the joystick relative to the center position at the current sampling moment; θ ( t -1) represents the direction angle of the joystick relative to the center position at the previous sampling time.

6. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, Following the fifth step, a sixth step is also included: executing S7: historical trajectory sliding update, setting a sliding window for the most recent N homing cycles; after each homing process is completed, the system records the residual center offset for that cycle. E c ( t The amplitude of the micro-displacement fluctuation A j ( t The convergence time of the return path T c ( t Features such as degradation degree index are updated. D ( t When new periodic data enters the sliding window, the earliest periodic data is removed from the sliding window; the system updates the mechanical condition degradation model based on the statistical results of multiple periods within the window.

7. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, The method further includes, in step seven, executing S8: the mechanical state degradation model, which converts trajectory anomalies in several homing cycles into degradation degree indicators that can be used for compensatory control. D ( t The return-to-center offset, contact jitter, and return-to-center hysteresis are fused into the mechanical state degradation model. The degradation degree index D ( t )satisfy ; in, E max , A max , T max This is the normalized baseline value; w 1. w 2. w 3 is the weighting coefficient, which satisfies .

8. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, The method further includes step eight, executing S9: dynamically adjusting compensation parameters and setting the center drift compensation coefficient. α ( t Dynamic filter weights β ( t According to the degradation index D ( t The compensation strength is determined to correct the center drift caused by the joystick deviating from the center reference position after returning to center. The signal after center drift correction is denoted as... X ′( t ), Y ′( t The dynamic filtering weights are applied at different levels depending on the state of the joystick. β ( t ), and through the dynamic filtering weights β ( t The final output signal is calculated. X o ( t ), Y o ( t ); The center drift compensation coefficient α ( t )satisfy ; in, α 0 is the base compensation coefficient. k α This is the compensation gain coefficient; The X ′( t )satisfy ; The Y ′( t )satisfy ; The X o ( t )satisfy ; The Y o ( t )satisfy ; X c ( t ), Y c ( t The values ​​represent the X-axis and Y-axis potential values ​​corresponding to the final stable position after the joystick completes the return-to-center process. In other words, the average potential value measured after the joystick enters the center region and remains stable for a preset time.

9. The adaptive input compensation method for a rocker potentiometer according to claim 1, characterized in that, The method also includes step 10, executing S10: outputting a stable control signal, and outputting a stable input signal after compensation and filtering to the subsequent control system.

10. A rocker potentiometer adaptive input compensation system, comprising a contact rocker potentiometer (101), an original potential signal acquisition module (102), a dynamic state recognition module (103), a return trajectory analysis module (104), a mechanical state degradation modeling module (105), an adaptive input compensation module (106), and a stable control signal output module (107).

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