CN112180762B - Nonlinear signal system construction method, apparatus, device and medium - Google Patents
Nonlinear signal system construction method, apparatus, device and medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a nonlinear signal system construction method, which comprises the following steps: acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation; performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion; and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression. The invention generates the higher harmonics of the excitation signals based on the series expansion of the discrete trigonometric function, further realizes the motor output modeling of any excitation signal, and greatly simplifies the modeling process of the whole output signal. Further, a nonlinear signal system constructing apparatus, a device and a storage medium are proposed.
Description
Technical Field
The present invention relates to the field of signal generation technologies, and in particular, to a method, an apparatus, a device, and a medium for constructing a nonlinear signal system.
Background
The linear motor is used as a tactile feedback device with better user experience, and is increasingly widely applied to mobile terminals such as mobile phones. In order to realize more accurate control of the linear motor system, it is necessary to improve the motor modeling accuracy. When modeling a motor system, only the linear part of the motor system is generally considered, and the nonlinear distortion of the motor system is ignored; however, when the nonlinear distortion part of the motor is large, the influence caused by the nonlinear distortion part is not negligible, and a certain method must be adopted for modeling a nonlinear system.
In one known motor modeling method, modeling is performed by building a variable amplitude exponential-type chirp signal. The variable amplitude exponential chirp signal system can solve the problem that the amplitude identified in the prior art is only limited in a smaller voltage range by designing amplitudes of different frequencies. The Step signal form adopted in the scheme is a section of single-frequency continuous signal, and the frequency between sections is gradually changed like a Step; and the chirp signal used is a continuous signal with a continuously varying frequency. The identification of the variable amplitude exponential chirp signal system provides a possibility for modeling an arbitrary amplitude excitation signal of a linear motor. But the disadvantage is also obvious, in the scheme, the A conversion matrix is needed for obtaining the kernel function, and when the amplitude is changed, the calculation of the A conversion matrix is more complicated. There is therefore a need for a simple motor modeling scheme to simplify the modeling process of the entire output signal.
Disclosure of Invention
In view of the above, there is a need to provide a simple and accurate nonlinear signal system construction method, apparatus, device and medium.
A nonlinear signal system construction method, the method comprising:
acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation;
performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion;
and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
In one embodiment, the discrete trigonometric function transforming the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation includes:
and carrying out discrete cosine transform on the excitation signal to obtain a discrete cosine transform function after the discrete cosine transform.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes:
obtaining a cosine expansion relational expression of the excitation signal according to the discrete cosine transform function and the cosine series;
and performing cosine series expansion on the transformation function according to the cosine expansion relational expression to obtain a cosine target analytic expression after cosine series expansion.
In one embodiment, the discrete trigonometric function transforming the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation includes:
and carrying out discrete sine transformation on the excitation signal to obtain a discrete sine transformation function after the discrete sine transformation.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes:
acquiring a sine expansion relational expression of the excitation signal according to the discrete sine transformation function and the sine series;
and performing sinusoidal series expansion on the transformation function according to the sinusoidal expansion relational expression to obtain a sinusoidal target analytic expression after the sinusoidal series expansion.
In one embodiment, the calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression includes:
obtaining a harmonic response expression corresponding to the higher harmonic expression;
and constructing a nonlinear signal system of the excitation signal according to the higher harmonic expression and the harmonic response expression.
In one embodiment, after the constructing the nonlinear signal system of the excitation signal according to the higher harmonic component, the method further includes:
acquiring an excitation output signal and a compensation coefficient of the excitation signal;
acquiring a target output signal, constructing a compensation output signal of the excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal;
correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value;
and taking the compensation output signal when the error value is smaller than a preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
A nonlinear signal system construction apparatus, the apparatus comprising:
the device comprises a first acquisition module, a second acquisition module and a first processing module, wherein the first acquisition module is used for acquiring an excitation signal, performing discrete trigonometric function transformation on the excitation signal and acquiring a discrete transformation function after the discrete trigonometric function transformation;
the second acquisition module is used for performing trigonometric function series expansion on the discrete transformation function and acquiring a target analytic expression after the trigonometric function series expansion;
and the signal generation module is used for calculating a higher harmonic expression of the excitation signal according to the target analytic expression and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation;
performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion;
and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
A nonlinear signal system construction apparatus comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation;
performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion;
and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
The invention provides a method, a device, equipment and a medium for constructing a nonlinear signal system, which are used for generating higher harmonics of an excitation signal based on series expansion of a discrete trigonometric function so as to realize motor output modeling of any excitation signal and greatly simplify the modeling process of the whole output signal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart of a nonlinear signal system construction method in one embodiment;
FIG. 2 is a schematic diagram of an excitation signal in one embodiment;
FIG. 3 is a diagram of a discrete cosine transform function in one embodiment;
FIG. 4 is a schematic diagram of the excitation signal and the third harmonic in one embodiment;
FIG. 5 is a schematic structural diagram of a nonlinear signal system constructing apparatus in one embodiment;
fig. 6 is a block diagram showing a configuration of a nonlinear signal system constructing apparatus in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic flow chart of a nonlinear signal system construction method in an embodiment, where the nonlinear signal system construction method in this embodiment provides steps including:
102, acquiring an excitation signal, performing discrete trigonometric function transformation on the excitation signal, and acquiring a discrete transformation function after the discrete trigonometric function transformation.
The source of the excitation signal may be a computer, a mobile device, or other hardware and software devices with signal generating and transmitting functions in the art. In this embodiment, the discrete trigonometric function transformation includes discrete cosine transformation and discrete sine transformation, and correspondingly, the discrete transformation function includes discrete cosine function and discrete sine function.
In one embodiment, as shown in FIG. 2, FIG. 2 is a schematic diagram of the excitation signal. A schematic diagram of discrete cosine transform for obtaining a discrete cosine transform function after discrete cosine transform of an excitation signal is shown in fig. 3, where an expression of the discrete cosine transform function is as follows:
wherein
In one embodiment, the discrete sine transformation is performed on the excitation signal, and the discrete sine transformation function after obtaining the discrete sine transformation is as follows:
wherein, N is the length of x, and y and x have the same length.
And 104, performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion.
In one embodiment, a cosine expansion relation of the excitation signal is obtained according to a discrete cosine transform function and a cosine series, and the transform function is subjected to cosine series expansion according to the cosine expansion relation. The cosine target analytic expression after the cosine series expansion is obtained, referring to fig. 2, the analytic expression value of the cosine target analytic expression in fig. 2 is completely consistent with the actual value of the excitation function, and thus, no error exists in the expression of the target analytic expression. Specifically, the cosine target analytic formula is as follows:
in a specific embodiment, a sine expansion relation of the excitation signal is obtained according to the discrete sine transformation function and the sine progression, and the transformation function is subjected to sine progression expansion according to the sine expansion relation to obtain a sine target analytic expression after the sine progression expansion. The sinusoidal target analytical formula is as follows:
for an actual linear motor excitation signal, the signal is arbitrary and there is usually no direct analytical expression, which brings difficulties to the motor excitation signal harmonic generation. Illustratively, a typical excitation signal for a linear motor is a short-time broadband signal of length 20ms, without a direct analytical expression. Through the calculation in the steps 102 and 104 of the present embodiment, a target analytic expression of an arbitrary function can be obtained, which provides convenience for the subsequent modeling of a nonlinear signal system.
And 106, calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
The higher harmonics are integer-times components of the excitation signal. Therefore, the higher harmonic expression corresponding to the cosine target analytic expression is as follows:
the higher harmonic expressions corresponding to the sinusoidal target analytic expression are as follows:
illustratively, referring to fig. 4, fig. 4 is a schematic diagram of the excitation signal and the third harmonic. It will be appreciated that other higher harmonics may also be generated according to the higher harmonic expression.
Further, a harmonic response expression corresponding to the higher harmonic expression is obtained, and a nonlinear signal system of the excitation signal is constructed according to the higher harmonic expression and the harmonic response expression, wherein the expression is as follows:
where φ (t) is the 1 st harmonic phase of signal x, x [ m φ (t) ] is the m harmonic of the excitation signal, hm (t) is the mth harmonic response of the system, and y (t) is the system output signal.
According to the nonlinear signal system construction method, the higher harmonics of the excitation signals are generated based on the series expansion of the discrete trigonometric function, so that the motor output modeling of any excitation signal is realized, and the modeling process of the whole output signal is greatly simplified.
In general, when a vibration/sound generating device is excited by a single frequency signal to operate, in addition to fundamental wave energy reflecting an input signal, energy of higher harmonics of 2, 3, 4, etc. orders based on the fundamental wave frequency is present in a spectrum of a collected output signal. These higher harmonics are not present in the input signal, but are caused by the non-linearity and structure of the electronic components in the audio device, and these new frequency components cause the waveform of the output signal to be distorted, which affects the sound quality and brings a poor hearing experience to the user, so that optimization is required.
In a specific embodiment, after a nonlinear signal system corresponding to the excitation signal is constructed, the aim of eliminating the nonlinear distortion of the motor is also achieved by compensating the excitation signal.
Specifically, firstly, an excitation output signal and a compensation coefficient of the excitation signal are obtained, and a compensation output signal of the excitation signal is constructed according to the compensation coefficient and the excitation output signal, and the compensation output signal is as follows:
X1＝a10x(n)+a20x(2n)+a30x(3n)+...
wherein X1 is the compensated output signal, a10、a20、a30For the harmonic coefficients, x (n) is the original excitation signal, and x (2n) and x (3n) are the 2 nd order and 3 rd order harmonic signals of the original excitation signal x (n), respectively.
Further, a target output signal y is obtainedobj(n) calculating the compensated output signal X1 and the target output signal yobj(n), specifically calculating the square root error epsilon of the two, namely:
if the error value is greater than or equal to the preset error value, the compensation coefficient is corrected according to the error value to obtain a corrected compensation output signal, which is as follows:
X1＝a1ix(n)+a2ix(2n)+a2ix(3n)+...
wherein a is1i、a2i、a2iRespectively, the corrected compensation coefficients. The compensated output signal X1 and the target output signal y are recalculatedobj(n) and judging the difference value. And repeating the correction of the compensation coefficient until the error value is smaller than the preset error value. Finally, the compensation output signal when the error value is smaller than the preset error value is taken as the actual output signal to outputThe signal drives the motor to vibrate.
The modeling method can obtain the optimal compensation signal for driving the motor by combining the optimization method of the compensation signal, thereby realizing the nonlinear compensation of the motor and achieving the purpose of eliminating the nonlinear distortion of the motor.
In one embodiment, as shown in fig. 5, a nonlinear signal system constructing apparatus is proposed, the apparatus comprising:
a first obtaining module 502, configured to obtain an excitation signal, perform discrete trigonometric function transformation on the excitation signal, and obtain a discrete transformation function after the discrete trigonometric function transformation;
a second obtaining module 504, configured to perform trigonometric function series expansion on the discrete transformation function, and obtain a target analytic expression after the trigonometric function series expansion;
and the signal generating module 506 is configured to calculate a higher harmonic expression of the excitation signal according to the target analytic expression, and model a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
The nonlinear signal system construction device generates the higher harmonics of the excitation signals based on the series expansion of the discrete trigonometric function, further realizes the motor output modeling of any excitation signal, and greatly simplifies the modeling process of the whole output signal.
In an embodiment, the first obtaining module 502 is further specifically configured to: and carrying out discrete cosine transform on the excitation signal to obtain a discrete cosine transform function after the discrete cosine transform.
In an embodiment, the second obtaining module 504 is further specifically configured to: obtaining a cosine expansion relational expression of the excitation signal according to the discrete cosine transform function and the cosine series; and performing cosine series expansion on the transformation function according to the cosine expansion relational expression to obtain a cosine target analytic expression after cosine series expansion.
In an embodiment, the first obtaining module 502 is further specifically configured to: and carrying out discrete sine transformation on the excitation signal to obtain a discrete sine transformation function after the discrete sine transformation.
In an embodiment, the second obtaining module 504 is further specifically configured to: acquiring a sine expansion relational expression of the excitation signal according to the discrete sine transformation function and the sine series; and performing sinusoidal series expansion on the transformation function according to the sinusoidal expansion relational expression to obtain a sinusoidal target analytical expression after the sinusoidal series expansion.
In an embodiment, the signal generating module 506 is further specifically configured to: obtaining a harmonic response expression corresponding to the higher harmonic expression; and constructing a nonlinear signal system of the excitation signal according to the high-order harmonic expression and the harmonic response expression.
In one embodiment, the nonlinear signal system construction apparatus further includes: the signal compensation module is used for acquiring an excitation output signal and a compensation coefficient of the excitation signal; acquiring a target output signal, constructing a compensation output signal of an excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal; correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value; and taking the compensation output signal when the error value is smaller than the preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
Fig. 6 shows an internal configuration diagram of the nonlinear signal system construction apparatus in one embodiment. As shown in fig. 6, the nonlinear signal system construction apparatus includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the nonlinear signal system construction apparatus stores an operating system, and may further store a computer program, which, when executed by the processor, causes the processor to implement the nonlinear signal system construction method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a method of constructing a nonlinear signal system. It will be understood by those skilled in the art that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration relevant to the present application, and does not constitute a limitation on the nonlinear signal system construction apparatus to which the present application is applied, and a particular nonlinear signal system construction apparatus may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
A nonlinear signal system construction apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation; performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion; and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
In one embodiment, the discrete trigonometric function transformation is performed on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation, and the discrete transformation function comprises: and carrying out discrete cosine transform on the excitation signal to obtain a discrete cosine transform function after the discrete cosine transform.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes: obtaining a cosine expansion relational expression of the excitation signal according to the discrete cosine transform function and the cosine series; and performing cosine series expansion on the transformation function according to the cosine expansion relational expression to obtain a cosine target analytic expression after cosine series expansion.
In one embodiment, the discrete trigonometric function transformation is performed on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation, and the discrete transformation function comprises: and carrying out discrete sine transformation on the excitation signal to obtain a discrete sine transformation function after the discrete sine transformation.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes: acquiring a sine expansion relational expression of the excitation signal according to the discrete sine transformation function and the sine series; and performing sinusoidal series expansion on the transformation function according to the sinusoidal expansion relational expression to obtain a sinusoidal target analytical expression after the sinusoidal series expansion.
In one embodiment, calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression includes: obtaining a harmonic response expression corresponding to the higher harmonic expression; and constructing a nonlinear signal system of the excitation signal according to the high-order harmonic expression and the harmonic response expression.
In one embodiment, after constructing the nonlinear signal system of the excitation signal according to the higher harmonic component, the method further comprises: acquiring an excitation output signal and a compensation coefficient of an excitation signal; acquiring a target output signal, constructing a compensation output signal of an excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal; correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value; and taking the compensation output signal when the error value is smaller than the preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
A computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of: acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation; performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion; and calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression.
In one embodiment, the discrete trigonometric function transformation is performed on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation, and the discrete transformation function comprises: and carrying out discrete cosine transform on the excitation signal to obtain a discrete cosine transform function after the discrete cosine transform.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes: obtaining a cosine expansion relational expression of the excitation signal according to the discrete cosine transform function and the cosine series; and performing cosine series expansion on the transformation function according to the cosine expansion relational expression to obtain a cosine target analytic expression after cosine series expansion.
In one embodiment, the discrete trigonometric function transformation is performed on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation, and the discrete transformation function comprises: and carrying out discrete sine transformation on the excitation signal to obtain a discrete sine transformation function after the discrete sine transformation.
In one embodiment, the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion includes: acquiring a sine expansion relational expression of the excitation signal according to the discrete sine transformation function and the sine series; and performing sinusoidal series expansion on the transformation function according to the sinusoidal expansion relational expression to obtain a sinusoidal target analytical expression after the sinusoidal series expansion.
In one embodiment, calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression includes: obtaining a harmonic response expression corresponding to the higher harmonic expression; and constructing a nonlinear signal system of the excitation signal according to the high-order harmonic expression and the harmonic response expression.
In one embodiment, after constructing the nonlinear signal system of the excitation signal according to the higher harmonic component, the method further comprises: acquiring an excitation output signal and a compensation coefficient of an excitation signal; acquiring a target output signal, constructing a compensation output signal of an excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal; correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value; and taking the compensation output signal when the error value is smaller than the preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
It should be noted that the above method, apparatus, device and computer-readable storage medium for constructing a nonlinear signal system belong to a general inventive concept, and the contents in the embodiments of the method, apparatus, device and computer-readable storage medium for constructing a nonlinear signal system are mutually applicable.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A method for constructing a nonlinear signal system, the method comprising:
acquiring an excitation signal, and performing discrete trigonometric function transformation on the excitation signal to acquire a discrete transformation function after the discrete trigonometric function transformation;
performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after the trigonometric function series expansion;
calculating a higher harmonic expression of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression;
wherein, after the modeling the nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression, the method further comprises: acquiring an excitation output signal and a compensation coefficient of the excitation signal; acquiring a target output signal, constructing a compensation output signal of the excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal; correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value; and taking the compensation output signal when the error value is smaller than a preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
2. The method according to claim 1, wherein said performing a discrete trigonometric function transformation on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation comprises:
and carrying out discrete cosine transform on the excitation signal to obtain a discrete cosine transform function after the discrete cosine transform.
3. The method according to claim 2, wherein the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion comprises:
obtaining a cosine expansion relational expression of the excitation signal according to the discrete cosine transform function and the cosine series;
and performing cosine series expansion on the transformation function according to the cosine expansion relational expression to obtain a cosine target analytic expression after cosine series expansion.
4. The method according to claim 1, wherein said performing a discrete trigonometric function transformation on the excitation signal to obtain a discrete transformation function after the discrete trigonometric function transformation comprises:
and carrying out discrete sine transformation on the excitation signal to obtain a discrete sine transformation function after the discrete sine transformation.
5. The method according to claim 4, wherein the performing trigonometric function series expansion on the discrete transformation function to obtain a target analytic expression after trigonometric function series expansion comprises:
acquiring a sine expansion relational expression of the excitation signal according to the discrete sine transformation function and the sine series;
and performing sinusoidal series expansion on the transformation function according to the sinusoidal expansion relational expression to obtain a sinusoidal target analytic expression after the sinusoidal series expansion.
6. The method of claim 1, wherein the calculating a higher harmonic representation of the excitation signal according to the target analytic expression, and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic representation comprises:
obtaining a harmonic response expression corresponding to the higher harmonic expression;
and constructing a nonlinear signal system of the excitation signal according to the higher harmonic expression and the harmonic response expression.
7. A nonlinear signal system construction apparatus, characterized in that the apparatus comprises:
the device comprises a first acquisition module, a second acquisition module and a first processing module, wherein the first acquisition module is used for acquiring an excitation signal, performing discrete trigonometric function transformation on the excitation signal and acquiring a discrete transformation function after the discrete trigonometric function transformation;
the second acquisition module is used for performing trigonometric function series expansion on the discrete transformation function and acquiring a target analytic expression after the trigonometric function series expansion;
the signal generation module is used for calculating a higher harmonic expression of the excitation signal according to the target analytic expression and modeling a nonlinear signal system corresponding to the excitation signal according to the higher harmonic expression;
the device also comprises a correction module used for acquiring an excitation output signal and a compensation coefficient of the excitation signal; acquiring a target output signal, constructing a compensation output signal of the excitation signal according to the compensation coefficient and the excitation output signal, and calculating an error value of the compensation output signal and the target output signal; correcting the compensation coefficient according to the error value until the error value is smaller than a preset error value; and taking the compensation output signal when the error value is smaller than a preset error value as an actual output signal, and driving the motor to vibrate by using the actual output signal.
8. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
9. A nonlinear signal system construction apparatus comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method of any of claims 1 to 6.
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