CN102832934A - Method and processor for changing peak difference analog signal to digital control model - Google Patents
Method and processor for changing peak difference analog signal to digital control model Download PDFInfo
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- CN102832934A CN102832934A CN2012102634905A CN201210263490A CN102832934A CN 102832934 A CN102832934 A CN 102832934A CN 2012102634905 A CN2012102634905 A CN 2012102634905A CN 201210263490 A CN201210263490 A CN 201210263490A CN 102832934 A CN102832934 A CN 102832934A
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Abstract
The invention discloses a method and processor for changing a peak difference analog signal to a digital control model, belonging to the technical field of signal conversion. The method comprises the following steps of: changing an analog signal of which the waveform has peak difference into a string of waveform codes; calculating the change speed of the original analog signal of the corresponding segment by use of the string of waveform codes; determining the start point waveform code; and substituting the change speed and the start point waveform code into the manually set digital control model function to calculate a digital control signal. Through the invention, the feedback control start point and end point as well as the control mode between the start point and the end point can be accurately obtained, and the feedback control digital control model function can be manually changed to the optimal start point, end point and control mode between the start point and the end point. The method and processor disclosed by the invention are best suitable for the feedback regulation of the motion state for the object in variable-speed circular motion.
Description
Technical field
The invention belongs to the technical field of signal transformation, particularly relate to peak difference anomalous mode analog signal is added the artificial Digital Control pattern function of setting, become the method and the processor of Digital Control model signals.
Background technology
The FEEDBACK CONTROL motion state is carried out in moving object, can obtain the motion state signal of telecommunication of moving object earlier, with this signal of telecommunication FEEDBACK CONTROL motion state.If can only obtain the analog signal of motion state, then can not in analog signal, add artificial any controlling models of setting, more can not add any controlling models of the artificial setting relevant with the object of which movement location point.Make analog signal can not reach the effect of artificial fully desirable control to the mode of FEEDBACK CONTROL motion state.
Analog signal can't be selected the special exercise location point: analog signal is used for the FEEDBACK CONTROL object of which movement; Consider the object of which movement location point; Then controlling models is relevant with each waveform, and wave form varies is too fast, makes the too fast and out of hand meaning of variation of controlling models; Do not consider the movement position point otherwise have only, directly with waveform voltage or electric current as the FEEDBACK CONTROL key element.So existing analog signal FEEDBACK CONTROL object of which movement is not considered the object of which movement location point, can not consider the movement position point.
Summary of the invention
The purpose of this invention is to provide the waveform that will represent object moving state is the analog signal that peak value difference is arranged; Become the signal processing method of control signal relevant with the object of which movement position, that have artificial setting control model with speed, and the processor of realizing the sort signal processing method.
Design of the present invention is: because the waveform peak of the analog electrical signal of expression variable motion object is inequality; Can represent the object of which movement location point with peak value waveform inequality; Waveform there is the peak value difference waveform of the analog signal of peak value difference become a string waveform codes with analog to digital converter; Promptly become digital signal to analog signal; So that digital signal is added the artificial Digital Control model of setting, reach and object is carried out the FEEDBACK CONTROL motion state not placed restrictions on by original analog signal, can be to a movement velocity carry out the purpose of FEEDBACK CONTROL object of which movement with the artificial different feedback control model of setting in the special exercise position.
The present invention becomes the method for Digital Control model signals with peak difference anomalous mode analog signal:
Become the method for Digital Control model signals with peak difference anomalous mode analog signal; Comprise that waveform has the analog signal of peak value difference, is characterized in that: also comprise analog-to-digital conversion and crest identifier 22, starting point selector 23, velocity calculator 24, digital control model memory 25 and Model Calculation device 26;
The first step; Become digital code to each ripple of analog signal: have the analog signal of peak value difference to discern the peak value of each waveform to waveform with analog-to-digital conversion and crest identifier 22; The signal of different wave peak value is labeled as different digital signal codes, obtains and the identical a string waveform codes of each waveform order of original analog signal; Represent one section corresponding original analog signal with a string waveform codes.In the encode process; Waveform has the ripple of peak value difference; With different codes; Make one section original analog signal become the digital signal of a string different code, the code of the digital signal of this string different code successively order is arranged the waveform order arrangement successively that is same as this section original analog signal, and promptly waveform codes is corresponding with the priority location point of original waveform.
Analog-to-digital conversion and crest identifier 22 be connection source selector 23 and velocity calculator 24 respectively, imports starting point selector 23 and velocity calculator 24 to this string digital signal codes respectively;
Second step; The data of computing object movement velocity: velocity calculator 24 calculates the waveform alternate rate in the original analog signal in the setting-up time section; Or calculate the whole waveform numbers in the original analog signal in the setting-up time section, with whole this digitalized datas of waveform number in waveform alternate rate or the setting-up time section as the pace of change of this section original analog signal.Object is a prolonged exercise, wants the feedback regulation motion state for a certain section in prolonged exercise, so, set a time period, calculate the object of which movement speed in this time period, as the parameter of next section motion state adjusting.Should be according to " setting-up time section " length of pressing model sport time span set-up and calculated speed after the adjusting of this object overall movement speed speed and needs.
In the 3rd step, the starting point of selection feedback regulation: starting point selector 23 is connected with velocity calculator 24, and the data of this section original analog signal pace of change that starting point selector 23 usefulness velocity calculators 24 provide are selected corresponding waveform codes; This waveform codes is as changing starting point, i.e. starting point waveform codes to the signal that has peak difference anomalous mode analog signal to become the Digital Control model signals.In " setting-up time section ", with the different movement velocity of object, select for use different waveform codes as " starting point waveform codes ", be the different movement velocity of follow-up realization object, the feedback regulation that different assigned positions is artificially set is made data and is prepared.
The 4th step; Carry out function calculation and obtain best feedback regulation Digital Control signal: with Model Calculation device 26 difference connection source selectors 23 and velocity calculator 24; These two variablees of the pace of change data of Model Calculation device 26 usefulness original analog signals and starting point waveform codes are selected corresponding Digital Control pattern function in digital control model memory 25; And the pace of change data of original analog signal and two variable substitutions of starting point waveform codes Digital Control pattern function; Obtain the Digital Control signal, this Digital Control signal is used for controlled target electrical equipment.Because the Digital Control pattern function in the digital control model memory 25 is artificial the setting, can revise, be to be modified as best feedback regulation effect.So Model Calculation device 26 just can be exported best feedback regulation Digital Control signal.
Also comprise digital to analog converter 27, digital to analog converter 27 is connected with Model Calculation device 26, and digital to analog converter 27 becomes the Digital Control signal analog control signal that has the Digital Control model.So that the Digital Control signal of Model Calculation device 26 output also can be used for receiving the controller of the Be Controlled object of analog signal.
Realize that the above becomes the processor of the method for Digital Control model signals with peak difference anomalous mode analog signal: comprise analog-to-digital conversion and crest identifier 22, starting point selector 23, velocity calculator 24, digital control model memory 25 and Model Calculation device 26;
Analog-to-digital conversion has with crest identifier 22 and is connected the joint that waveform has the analog signal of peak value difference, and analog-to-digital conversion and crest identifier 22 be connection source selectors 23 and velocity calculators 24 respectively;
Starting point selector 23 is connected with velocity calculator 24;
Model Calculation device 26 is connection source selector 23, velocity calculator 24 and digital control model memory 25 respectively;
Model Calculation device 26 has the output Signal connector.
Realize that the processor that becomes the method for Digital Control model signals with peak difference anomalous mode analog signal also comprises digital to analog converter 27, digital to analog converter 27 is connected with Model Calculation device 26.
The object of which movement starting point of FEEDBACK CONTROL of the present invention is that object of which movement arrives a certain FEEDBACK CONTROL assigned position.
Advantage of the present invention: after setting one group of feedback control model; Two key element decisions of the object of which movement starting point of FEEDBACK CONTROL and object of which movement speed feedback control model, i.e. control mode between starting point, terminal point, starting point and the terminal point of these two key element decision FEEDBACK CONTROL.Can the people FEEDBACK CONTROL Digital Control pattern function for a change, make these identical two key elements can produce the control mode between different starting points, terminal point, starting point and the terminal point.Promptly can artificially change feedback control model to the control mode between optimal starting point, terminal point, starting point and the terminal point.
Realize this can the people for a change feedback control model be the analog signal of expression object of which movement to perfect condition; Become the digital signal that contains object of which movement starting point and two key elements of object of which movement speed, select the artificial FEEDBACK CONTROL digitlization Mathematical Modeling of setting with these two digital signals.Because feedback control model is artificial the setting, so, can be adjusted to optimal model to FEEDBACK CONTROL digitlization Mathematical Modeling, reach the FEEDBACK CONTROL effect that object of which movement is managed most.Solved directly with analog signal the moving object FEEDBACK CONTROL, after speed is confirmed, had only a kind of controlling models, be difficult to realize the problem of FEEDBACK CONTROL effect that object of which movement is managed most.
The method that becomes the Digital Control model with peak difference anomalous mode analog signal of the present invention; Processor with realizing becoming with peak difference anomalous mode analog signal the method for Digital Control model is particularly useful for and carries out the FEEDBACK CONTROL object moving state to making speed change circular motion object.Be easier to represent because obtain the angle position ratio of speed change circular motion object, and the waveform peak signal of telecommunication inequality also can be represented the angle position of speed change circular motion intuitively with the waveform peak signal of telecommunication inequality.So processor of the present invention preferably is applicable to speed change circular motion object is carried out the feedback regulation motion state.
Description of drawings
Fig. 1 is the annexation sketch map of each module of the present invention.
Embodiment
Embodiment 1, become the method for Digital Control model signals, and realize the processor that this method is used with peak difference anomalous mode analog signal.
The annexation that realization becomes peak difference anomalous mode analog signal each module in the processor of Digital Control model signals is following:
Each module comprises analog-to-digital conversion and crest identifier 22, starting point selector 23, velocity calculator 24, digital control model memory 25 and Model Calculation device 26 in this processor;
Analog-to-digital conversion has with crest identifier 22 and is connected the joint that waveform has the analog signal of peak value difference, and analog-to-digital conversion and crest identifier 22 be connection source selectors 23 and velocity calculators 24 respectively;
Starting point selector 23 is connected with velocity calculator 24;
Model Calculation device 26 is connection source selector 23, velocity calculator 24 and digital control model memory 25 respectively;
Model Calculation device 26 has the output Signal connector.
Use peak difference anomalous mode analog signal to become the processor of Digital Control model signals, the method that becomes peak difference anomalous mode analog signal the Digital Control model signals is following:
The first step; Become digital code to each ripple of analog signal: have the analog signal of peak value difference to discern the peak value of each waveform to waveform with analog-to-digital conversion and crest identifier 22; The signal of different wave peak value is labeled as different digital signal codes, obtains and the identical a string waveform codes of each waveform order of original analog signal; Represent one section corresponding original analog signal with a string waveform codes.In the encode process; Waveform has the ripple of peak value difference; With different codes; Make one section original analog signal become the digital signal codes of a string different code, the code of the digital signal of this string different code successively order is arranged the waveform order arrangement successively that is same as this section original analog signal, and promptly waveform codes is corresponding with the priority location point of original waveform.
Analog-to-digital conversion and crest identifier 22 be connection source selector 23 and velocity calculator 24 respectively, imports starting point selector 23 and velocity calculator 24 to this string digital signal codes respectively;
Second step; The data of computing object movement velocity: velocity calculator 24 calculates the waveform alternate rate in the original analog signal in the setting-up time section; Or calculate the whole waveform numbers in the original analog signal in the setting-up time section, with whole this digitalized datas of waveform number in waveform alternate rate or the setting-up time section as the pace of change of this section original analog signal.Object is a prolonged exercise, wants the feedback regulation motion state for a certain section in prolonged exercise, so, set a time period, calculate the object of which movement speed in this time period, as the parameter of next section motion state adjusting.Should be according to " setting-up time section " length of pressing model sport time span set-up and calculated speed after the adjusting of this object overall movement speed speed and needs.
In the 3rd step, the starting point of selection feedback regulation: starting point selector 23 is connected with velocity calculator 24, and the data of this section original analog signal pace of change that starting point selector 23 usefulness velocity calculators 24 provide are selected corresponding waveform codes; This waveform codes is as changing starting point, i.e. starting point waveform codes to the signal that has peak difference anomalous mode analog signal to become the Digital Control model signals.In " setting-up time section "; With the different movement velocity of object; Select for use different waveform codes as " starting point waveform codes ", be the different movement velocity of follow-up realization object, do the data preparation in the feedback regulation that the desired location point of object of which movement is artificially set.
The 4th step; Carry out function calculation and obtain best feedback regulation Digital Control signal: with Model Calculation device 26 difference connection source selectors 23 and velocity calculator 24; These two variablees of the pace of change data of Model Calculation device 26 usefulness original analog signals and starting point waveform codes are selected corresponding Digital Control pattern function in digital control model memory 25; And the pace of change data of original analog signal and two variable substitutions of starting point waveform codes Digital Control pattern function; Obtain the Digital Control signal, this Digital Control signal is used for controlled target electrical equipment.Because the Digital Control pattern function in the digital control model memory 25 is artificial the setting, can revise, be to be modified as best feedback regulation effect.So Model Calculation device 26 just can be exported best feedback regulation Digital Control signal.
Embodiment 2, can export the processor of analog control signal, and the method for output analog control signal.
1 said realization changes the processor that peak difference anomalous mode analog signal becomes the Digital Control model signals into can export analog control signal processor like embodiment, is on Model Calculation device 26 outputs of embodiment 1 said processor, to connect a digital to analog converter.Digital to analog converter becomes analog control signal to the Digital Control signal of Model Calculation device 26 output, so that the Digital Control signal of Model Calculation device 26 outputs also can be used for receiving the controller of the Be Controlled object of analog signal.
Claims (4)
1. become the method for Digital Control model signals with peak difference anomalous mode analog signal; Comprise that waveform has the analog signal of peak value difference, is characterized in that: also comprise analog-to-digital conversion and crest identifier (22), starting point selector (23), velocity calculator (24), digital control model memory (25) and Model Calculation device (26);
There is waveform the analog signal of peak value difference to discern the peak value of each waveform with analog-to-digital conversion and crest identifier (22); The signal of different wave peak value is labeled as different digital signal codes, obtains and the identical a string waveform codes of each waveform order of original analog signal; Represent one section corresponding original analog signal with a string waveform codes;
Analog-to-digital conversion and crest identifier (22) be connection source selector (23) and velocity calculator (24) respectively, imports starting point selector (23) and velocity calculator (24) to this string digital signal codes respectively;
Velocity calculator (24) calculates the waveform alternate rate in the original analog signal in the setting-up time section; Or calculate the whole waveform numbers in the original analog signal in the setting-up time section, with whole this digitalized datas of waveform number in waveform alternate rate or the setting-up time section as the pace of change of this section original analog signal;
Starting point selector (23) is connected with velocity calculator (24), and starting point selector (23) is selected corresponding waveform codes with the data of this section original analog signal pace of change that velocity calculator (24) provides; This waveform codes is promptly carried out the starting point waveform codes of FEEDBACK CONTROL as changing starting point to the signal that has peak difference anomalous mode analog signal to become the Digital Control model signals;
With Model Calculation device (26) difference connection source selector (23) and velocity calculator (24); Model Calculation device (26) is selected corresponding Digital Control pattern function with pace of change data and these two variablees of starting point waveform codes of original analog signal in digital control model memory (25); And the pace of change data of original analog signal and two variable substitutions of starting point waveform codes Digital Control pattern function; Obtain the Digital Control signal, this Digital Control signal is used for controlled target electrical equipment.
2. the method that becomes the Digital Control model signals with peak difference anomalous mode analog signal according to claim 1; It is characterized in that: also comprise digital to analog converter (27); Digital to analog converter (27) is connected with Model Calculation device (26), and digital to analog converter (27) becomes the Digital Control signal analog control signal that has the Digital Control model.
3. realizing that claim 1 is said becomes the processor of the method for Digital Control model signals with peak difference anomalous mode analog signal, it is characterized in that: comprise analog-to-digital conversion and crest identifier (22), starting point selector (23), velocity calculator (24), digital control model memory (25) and Model Calculation device (26);
Analog-to-digital conversion has with crest identifier (22) and is connected the joint that waveform has the analog signal of peak value difference, and analog-to-digital conversion and crest identifier (22) be connection source selector (23) and velocity calculator (24) respectively;
Starting point selector (23) is connected with velocity calculator (24);
Model Calculation device (26) is connection source selector (23), velocity calculator (24) and digital control model memory (25) respectively;
Model Calculation device (26) has the output Signal connector.
4. realization according to claim 3 becomes the processor of the method for Digital Control model signals with peak difference anomalous mode analog signal, and it is characterized in that: also comprise digital to analog converter (27), digital to analog converter (27) is connected with Model Calculation device (26).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103760769A (en) * | 2013-12-31 | 2014-04-30 | 北京理工大学 | Small unmanned aerial vehicle control object modeling method based on test data |
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| CN101931406A (en) * | 2010-08-31 | 2010-12-29 | 西安交通大学 | Transposed analog-digital and digital-analog conversion method |
| CN202798672U (en) * | 2012-07-27 | 2013-03-13 | 成都宽和科技有限责任公司 | Processor changing peak difference analog signal to digital control model |
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|---|---|---|---|---|
| US20070225889A1 (en) * | 2006-03-22 | 2007-09-27 | Morris Robert L | Jerk management using multivariable active driveline damping |
| CN101931406A (en) * | 2010-08-31 | 2010-12-29 | 西安交通大学 | Transposed analog-digital and digital-analog conversion method |
| CN202798672U (en) * | 2012-07-27 | 2013-03-13 | 成都宽和科技有限责任公司 | Processor changing peak difference analog signal to digital control model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103760769A (en) * | 2013-12-31 | 2014-04-30 | 北京理工大学 | Small unmanned aerial vehicle control object modeling method based on test data |
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Application publication date: 20121219 |