CN102175296A - Fast two-stage filter algorithm applied to high precision digital weighing sensor - Google Patents
Fast two-stage filter algorithm applied to high precision digital weighing sensor Download PDFInfo
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Abstract
The invention discloses a fast two-stage filter algorithm applied to a high precision digital weighing sensor, which comprises the following steps of: (1) as required by system, selectively designing two filters and setting a stability threshold and a stability condition; (2) opening a first-stage filter for basic data smoothing and for fast tracking for data variation; (3) opening a second-stage digital filter for further smoothing data when data output of the first-stage filter meets the stability condition; (4) closing the second-stage filter when data output of the first-stage filter does not meet the stability condition in the weight increasing or weight decreasing process of the system; and (5) repeating the steps (3) to (4) until the measurement comes to an end. The fast two-stage filter algorithm of the invention realizes seamless dynamic cascade of the filters at two stages by the method of setting the stability threshold and the stability condition, and compared with the traditional two-stage digital filter cascading algorithm, shortens the time for the reestablishment of the filters in the weight increasing or weight decreasing process of the system.
Description
Technical field
The present invention relates to a kind of filtering algorithm that is used for digital weighing sensor, belong to the digital weighing technical field.
Background technology
LOAD CELLS is a kind ofly to change quality signal the device of measurable electric signal output into, is a kind of force transducer that uses on the weighing apparatus, and it can convert the gravity that acts on the testee to gageable output signal by a certain percentage.
Traditional LOAD CELLS mostly adopts traditional digital displaying meter as weight display, and its ultimate principle is excitation and receives from the strain bridge analog electrical signal that amplify, analog to digital conversion is exported digital quantity at last.Because the analog sensor transmission is simulating signal, very easily be subjected to various noise, signal transmssion line is short more good more, this just makes instrument will be installed in as far as possible the place near the strain bridge sensor, and the there abominable industry spot of environment often, high temperature, dust, noise etc. work the mischief to precision, stability and the reliability of sensor invariably.And instrument costs an arm and a leg, and working in rugged environment directly influences its serviceable life, and this obviously is very disadvantageous to economic benefit of enterprises.
Along with the development of digital information technology, therefore weighing technology has also had very big variation now.Be in particular in: because development of integrated circuits, high performance chip continues to bring out (1), and various error settling modes constantly perfect makes following sensor have higher precision, higher stability and stronger antijamming capability.(2) develop rapidly of integrated IC design and encapsulation technology makes the size of integrated circuit (IC) chip reduce significantly, makes being reduced to for possible of size of sensor.(3) along with development of electronic technology, sensor can keep finishing acquisition of signal and big portion such as processing, logic determines, both-way communication, self check, self-correcting, self compensation, self diagnosis and calculating or repertoire under the undersized prerequisite.
These advantages of digital display circuit and the continuous development of chip technology make the development digital transducer that possibility arranged.The general employing of digital weighing sensor carried out the digital intelligent processing nearby to simulating signal, carries out collection, processing, transmission and the demonstration of signal then via the number bus transmission manner.This design has overcome the conventional system architecture signal and has been subject to disturb, and transmission range is short, the shortcoming of finite capacity, and it is big to have power system capacity, and signal transmission distance is long, the advantage that antijamming capability is strong.
The digital weighing sensor system hardware is divided into simulation part and numerical portion, and its simulation part branch comprises the amplification conditioning of strain bridge output signal and the driving source of AD conversion and supply strain bridge, and numerical portion comprises microprocessor and Interface for digital communication etc.As shown in Figure 1, the signal of digital weighing sensor at first by amplifier amplify, analog filtering, convert digital signal to through A/D converter then.Digital measurement signal after converting is handled through digital filtering, the rower degree of going forward side by side calibration and linear the adjustment.The data of finishing dealing with are delivered to host computer by serial communication.All parameter settings can be stored among the EEPROM, and parameter can reliably be preserved under unexpected power-down conditions.
Inevitable some noise that exists in the digital weighing sensor system we can say that any slight noise can both cause the error that surpasses a code value.Because temperature drift and have thermal noise source and the 1/f noise source, be mixed in minimum that noise in the actual signal substantially exceeded requirement of system design and differentiate the size of voltage, and these error voltages are uncertain, change in uncertain mode, so the digital filtering of system software is essential.The essence of digital filtering is a kind of software anti-jamming.Software anti-jamming is meant after system is disturbed, a kind of householder method of eliminating the false and retaining the true after normal operation of system recovery or input signal are disturbed.Advantages such as this technology has flexible design, saves hardware resource, and it is convenient and easy to operate.
At present, the software filtering method that can be applied in the digital weighing system has: (1) limit filtration method; Judge rule of thumb that promptly determine that the maximum deflection difference value (being made as A) of double sampling permission is judged when detecting new value at every turn, if the poor≤A of this sub-value and last sub-value, then this sub-value is effective; If the poor＞A of this sub-value and last sub-value, then this sub-value is invalid, abandons this sub-value, uses sub-value and replaces this sub-value.This method can effectively overcome the impulse disturbances that causes because of factor once in a while, but can't suppress the sort of periodic interference, and smoothness is poor.(2) median filtering method, i.e. continuous sampling N time (N generally gets odd number) is arranged N sampled value by size, gets intermediate value and is this effective value.This method can effectively overcome the fluctuation that causes because of accidentalia to be disturbed, and measured parameter is slowly had good filtering effect.Shortcoming is should not use fast-changing parameter.(3) mean filter method is promptly carried out the arithmetic mean computing to a N continuous sampled value, the effective value that obtains as this filtering.The characteristics of this method are: when the N value was big, the signal smoothing degree was higher, but sensitivity is lower; The N value hour, the signal smoothing degree is lower, but sensitivity is higher, is applicable to that the signal to generally having random disturbance carries out filtering.The characteristics of sort signal are that a mean value is arranged, and signal is fluctuation up and down near a certain numerical range.Its shortcoming is: inapplicable for the real-time application system that measuring speed is had relatively high expectations; And the space complexity to system is had relatively high expectations.(4) moving average filter method, promptly going N sampled value to regard a formation as continuously, the length of formation is fixed as N; Sample a new data at every turn and put into tail of the queue, and throw away data (first in first out) of original head of the queue; N in a formation data are carried out the arithmetic mean computing, just can obtain new filtering result.This method has good inhibition effect to PERIODIC INTERFERENCE, and the smoothness height is applicable to the system of high frequency oscillation.Its shortcoming is: sensitivity is low, and is relatively poor to the inhibition ability that the accidental pulse feature that occurs disturbs, and is difficult for eliminating because the caused sampled value deviation of impulse disturbances is not suitable for the more serious occasion of impulse disturbances; And the space complexity to system is had relatively high expectations.(5) disappear and tremble filter method, a filtering counter promptly is set; Each sampled value and current effective value are compared; If sampled value=current effective value, then counter O reset; If sampled value is greater than or less than current effective value, then counter adds 1, and judges that whether counter is more than or equal to upper limit N (overflowing); If counter overflows, then replace current effective value with this sub-value, and clear counter.Measured parameter has filter effect preferably to this method for changing slowly, can avoid near the ON/OFF repeatedly of the controller critical value beat or display on numerical value shake.Shortcoming is: unsuitable for fast-changing parameter; If the value that samples in that time that counter overflows is interference value just, then interference value can be used as effective input import system.(6) method of employing digital filter.That is represent the LINEAR DIFFERENCE EQUATION WITH CONSTANT COEFFICIENTS of input/output relation according to digital filter:
y(n)＝b
0x(n)+b
1x(n-1)+Λ+b
Nx(n-N)
(1)
-a
1y(n-1)-Λ-a
Ny(n-N)
Calculate and obtain output valve.Wherein, need require design to obtain different transmission coefficient (a according to the cutoff frequency of wave filter, Time Created, filter effect etc.
i, b
i).
In the system design of reality, simple numerical filtering method filter effect often can not reach the requirement of system.Especially no longer suitable in the design of high-precision digital sensor.Thereby digital filter has obtained application in the digital sensor design.Wherein, iir digital filter in design can be by the achievement of the analog filter of maturation, and as Butterworth, Chebyshev and elliptic filter etc., its design effort amount is smaller, less demanding to computational tool.Though iir filter can not be realized proper linear phase, the experience of the analog filter that it is accumulated before not only can utilizing, and can obtain good amplitude versus frequency characte with lower order filter.With respect to the FIR wave filter, satisfying under the identical index, the exponent number of iir filter is significantly less than FIR, and hardware is realized easily and has been significantly reduced operand, do not requiring that under the situation of strict linear phase, the application of iir filter is quite extensive.
In the design of high-precision digital weighing sensor, often need to improve the precision of system by low cutoff frequency and the smooth digital filter of amplitude versus frequency characte.But the wave filter that amplitude versus frequency characte is good often has relatively long Time Created.This real-time for weighing system has caused very big infringement.In the high accuracy number LOAD CELLS system design of reality, the deviser often will take into account the real-time and the data stability of system.But in the practical project practice, the two is conflicting often.
Summary of the invention
Problem at existing high-precision digital weighing sensor technology existence, the invention provides a kind of quick two-stage filtering algorithm that is applied to the high accuracy number LOAD CELLS, with when improving the digital weighing sensor system accuracy, shorten the Time Created of wave filter, guarantee the real-time of system.
The quick two-stage filtering algorithm that is applied to the high accuracy number LOAD CELLS of the present invention, comprise dual stage filter, the quick tracking that first order wave filter is used for basic data smoothing and data are changed, second level wave filter are used for the output data of first order wave filter is carried out further level and smooth; Specifically may further comprise the steps:
(1) chooses two groups of wave filters of design according to the requirement of high accuracy number LOAD CELLS system, obtain two groups of filter parameter (a1
i, b1
i) and (a2
i, b2
i); And set stable threshold d, stable condition W and open condition count threshold M1, close condition count threshold M2, wherein, stable condition W initially is made as 0;
For the high-precision sensor system of certain practical application, the stable threshold d that actual conditions (as the desired data precision of hardware condition, system and the concrete applied environment of system) that can be by high accuracy number LOAD CELLS system and specific requirement obtain to optimize the most, open condition count threshold M1 and close condition count threshold M2.Stable condition W is a Boolean quantity, determined by first order filter output value, stable threshold etc., and original state is false.Stable threshold d, open condition count threshold M1 and close the system that definite foundation of condition count threshold M2 builds (adopting ADS1251) and the concrete commercial Application environment classification, in different size of the noise of digital display circuit (different industrial environments is on-the-spot introduce) establishment as AD chip, LPC2138 high accuracy number LOAD CELLS system as the microcontroller chip.This is the work of a statistics, need carry out data analysis (determining by MATLAB emulation and concrete optimum experimental) to the output valve of first order wave filter.The setting of filter parameter will guarantee that system meets the requirements of the stability of accomplishing 200,000 yards on the basis of 223 yards amounts.Determining of threshold value by data analysis and emulation establishment.Open condition count threshold M1 and close condition count threshold M2 and take into account real-time when rule need guarantee system robustness really.
(2) open first order wave filter, the quick tracking that is used for basic data smoothing and data are changed, the output valve of first order wave filter is determined according to following formula:
y(n)＝b
0x(n)+b
1x(n-1)+Λ+b
Nx(n-N)
-a
1y(n-1)-Λ-a
Ny(n-N)
Wherein, need obtain different transmission coefficient (a according to cutoff frequency, Time Created, the filter effect design of wave filter
i, b
i), N is the exponent number of digital filter, and x (n) is the current input value of digital filter, and y (n) is the current output valve of digital filter; X (n-i) (i=1,2 ..., N) be the historical input value of digital filter, y (n-i) (i=1,2 ..., N) be the historical output valve of digital filter; a
ib
i(i=1,2 ..., N) be the transmission coefficient of digital filter.
(3) when the output valve of first order wave filter satisfies stable condition W, open second level digital filter, be used for further level and smooth to data, the calculating of second level digital filter output valve also draws by following formula:
y(n)＝b
0x(n)+b
1x(n-1)+Λ+b
Nx(n-N)
-a
1y(n-1)-Λ-a
Ny(n-N)
Wherein, for the acquisition of stable condition, specifically adopt following algorithm:
1. high accuracy number LOAD CELLS system initialization setting stable condition counter T is 0;
2. judge the current output valve of first order wave filter with it the absolute value of the running mean of top n number (N is according to the sample frequency setting of AD chip) difference whether be less than or equal to stable threshold d;
If 3. 2. middle judgement is set up, counter T adds 1; Otherwise counter T clear 0;
4. surpass when opening condition count threshold M1 when the value of counter T, stable condition W satisfies, and is changed to 1; And counter T clear 0;
(4) when high accuracy number LOAD CELLS system increasing the weight of or the loss of weight process in the output valve of first order wave filter when not satisfying stable condition, second level wave filter cuts out, so that first order wave filter is realized the quick tracking to the data variation, wherein, for closing of second level wave filter, specifically adopt following algorithm:
1. under stable condition W is 1 prerequisite, judge the current output valve of first order wave filter with it the absolute value of the difference of the sliding average of top n number (N is according to the sample frequency setting of AD chip) whether greater than stable threshold d;
If 2. 1. middle condition satisfies, system stability condition counter T adds 1; Otherwise T is changed to 0;
3. surpass when closing condition count threshold M2 when the value of counter T, then stable condition W is changed to 0, and second level wave filter cuts out, and counter T clear 0;
(5) finish up to measuring repeating step (3)-(4).
The present invention sets stable threshold and stable condition by the dynamic cascading of two-stage digital wave filter, and algorithm is realized simple, can effectively improve the real-time of system.Reaching practical application by experiment proves, the present invention is a kind of feasible digital filtering scheme.
Description of drawings
Fig. 1 is the signal flow graph of digital weighing sensor system.
Fig. 2 is quick dual stage filter and Butterworth filter and Chebyshev I mode filter filter effect comparison diagram.
Embodiment
High accuracy number LOAD CELLS system increase the weight of or the loss of weight process in when producing the class step signal, wave filter need rebulid.Data simulation and engineering experiment show, first order wave filter is if produce overshoot phenomenon in setting up process, the data of its output will change acutely,, the data that produce in this process handle the Time Created of second level wave filter even also longer as if directly being sent in the wave filter of the second level than the Time Created of raw data directly being sent into second level wave filter.
The present invention is by setting the opening/closing that stable threshold and stable condition come clear and definite second level wave filter.The setting of stable threshold need be according to the hardware condition of system, desired data precision and concrete applied environment.Stable condition then is a Boolean quantity, and when stable condition was true (being 1), second level wave filter was opened; When stable condition was false (being 0), second level wave filter cut out.In addition, for influence that prevents fragmentary impulse and the robustness that guarantees judgement, the present invention is provided with soft counter, opens the condition count threshold and closes the condition count threshold.When stable condition is a fictitious time, for the current output valve of first order wave filter of continuous appearance with it the absolute value of the difference of the sliding average of top n number (N is according to the sample frequency setting of AD chip) count less than the situation of stable threshold d, greater than opening the condition count threshold, the conversion stable condition is true up to count results; When stable condition is a true time, for the current output valve of first order wave filter of continuous appearance with it the absolute value of the difference of the sliding average of top n number (N is according to the sample frequency setting of AD chip) count greater than the situation of stable threshold d, greater than closing the condition count threshold, the conversion stable condition is false up to count results.In addition, should be optimized real-time according to concrete application for the setting of opening the condition count threshold and closing the condition count threshold with further raising system.
Utilize a kind of quick two-stage filtering algorithm that is applied to the high accuracy number LOAD CELLS of matlab emulation tool simulation, investigate the performance of this algorithm.The first order wave filter of our initialization system adopts second order Chebyshev I mode filter, second level wave filter adopts the second order Butterworth filter, cutoff frequency is set at 0.05HZ, the data of input are the step signal of the white Gaussian noise that superposeed producing of matlab simulation, and are 9600HZ to the signals sampling frequency.
As Fig. 2, solid line is for using the filter effect curve of Chebyshev filter, and dot-and-dash line is for using the filter effect curve of Butterworth mode filter, and dotted line is then corresponding to the filter effect curve that threshold value d is 0.5 o'clock quick dual stage filter is set.As can be seen from the figure this Design of Filter has been inherited the good filter effect of Butterworth and Chebyshev short Time Created fully when threshold value gets 0.5.
Adopting ADS1251 to realize filtering algorithm of the present invention with the C language on as AD chip, the high accuracy number LOAD CELLS system of LPC2138 as the microcontroller chip.Be set at 9600HZ in AD chip sampling rate, the sign indicating number amount of system is 2
23Condition under, the experiment that increases and decreases by the weight of carrying out repeatedly the weighing object, related data is added up, obtains the result such as the following table of quick dual stage filter algorithm of the present invention and Butterworth filter and Chebyshev I mode filter filter effect contrast:
Quick dual stage filter algorithm of the present invention has as can be seen from the above table also been taken into account the real-time of system and the stability of output data well in practical engineering application.
The present invention has realized the dynamic cascading of two-stage digital wave filter by setting stable threshold and stable condition, makes significantly reduce the Time Created of second level wave filter.Algorithm of the present invention is realized simple, and the real-time of can be when taking into account filter effect effective raising system is a kind of feasible digital filtering scheme.
Claims (1)
1. quick two-stage filtering algorithm that is applied to the high accuracy number LOAD CELLS, comprise dual stage filter, the quick tracking that first order wave filter is used for basic data smoothing and data are changed, second level wave filter are used for the output data of first order wave filter is carried out further level and smooth; Specifically may further comprise the steps:
(1) chooses two groups of wave filters of design according to the requirement of high accuracy number LOAD CELLS system, obtain the transmission coefficient (a1 of two groups of wave filters
i, b1
i) and (a2
i, b2
i); And set stable threshold d, stable condition W and open condition count threshold M1, close condition count threshold M2, wherein, stable condition W is made as 0;
(2) open first order wave filter, the quick tracking that is used for basic data smoothing and data are changed, the output valve of first order wave filter is determined according to following formula:
y(n)＝b
0x(n)+b
1x(n-1)+Λ+b
Nx(n-N)
-a
1y(n-1)-Λ-a
Ny(n-N)
Wherein, need obtain different transmission coefficient (a according to cutoff frequency, Time Created, the filter effect design of wave filter
i, b
i), N is the exponent number of digital filter, and x (n) is the current input value of digital filter, and y (n) is the current output valve of digital filter; X (n-i), i=1,2 ..., N is the historical input value of digital filter, y (n-i), and i=1,2 ..., N is the historical output valve of digital filter; a
ib
i, i=1,2 ..., N is the transmission coefficient of digital filter;
(3) when the output valve of first order wave filter satisfies stable condition W, open second level digital filter, be used for further level and smooth to data, the calculating of second level digital filter output valve also draws by following formula:
y(n)＝b
0x(n)+b
1x(n-1)+Λ+b
Nx(n-N)
-a
1y(n-1)-Λ-a
Ny(n-N)
Wherein, for the acquisition of stable condition, specifically adopt following algorithm:
1. high accuracy number LOAD CELLS system initialization setting stable condition counter T is 0;
2. judge the current output valve of first order wave filter with it the absolute value of the running mean difference of top n number whether be less than or equal to stable threshold d;
If 3. 2. middle judgement is set up, counter T adds 1; Otherwise counter T clear 0;
4. surpass when opening condition count threshold M1 when the value of counter T, stable condition W satisfies, and is changed to 1; And counter T clear 0;
(4) when high accuracy number LOAD CELLS system increasing the weight of or the loss of weight process in the output valve of first order wave filter when not satisfying stable condition, second level wave filter cuts out, so that first order wave filter is realized the quick tracking to the data variation, wherein, for closing of second level wave filter, specifically adopt following algorithm:
1. under stable condition W is 1 prerequisite, judge the current output valve of first order wave filter with it the absolute value of the difference of the sliding average of top n number whether greater than stable threshold d;
If 2. 1. middle condition satisfies, system stability condition counter T adds 1; Otherwise T is changed to 0;
3. surpass when closing condition count threshold M2 when the value of counter T, then stable condition W is changed to 0, and second level wave filter cuts out, and counter T clear 0;
(5) finish up to measuring repeating step (3)-(4).
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