CN104698970A - Signal processing apparatus applied to time-varying signals - Google Patents
Signal processing apparatus applied to time-varying signals Download PDFInfo
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- CN104698970A CN104698970A CN201310659888.5A CN201310659888A CN104698970A CN 104698970 A CN104698970 A CN 104698970A CN 201310659888 A CN201310659888 A CN 201310659888A CN 104698970 A CN104698970 A CN 104698970A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37151—Handling encoder signal, compensation for light variation, stray light
Abstract
The invention discloses a signal processing apparatus applied to time-varying signals. The signal processing apparatus comprises a summator and a weighting integrator. The summator is used for receiving a first input signal and an integrated signal and generating a first output signal, wherein the first output signal is equal to a result obtained by subjecting the first input signal and the integrated signal to subtraction. The weighting integrator is used for receiving the first output signal and generating the integrated signal and comprises a weighting function generator, a multiplier and an accumulator, wherein the weighting function generator is used for receiving the first output signal and generating a weighting function when the first output signal passes by the position nearby a zero crossing point, the multiplier is used for multiplying the weighting function by the first output signal, and the accumulator is connected with the multiplier and used for accumulating the result obtained by multiplying the weighting function by the first output signal and generating the integrated signal according to the accumulated result. The signal processing apparatus applied to the time-varying signals has the advantage that direct-current offset in a photoelectronic signal can be eliminated.
Description
Technical field
The present invention relates to a kind of signal processing apparatus, and in particular to applying to the signal processing apparatus of time varying signal in a kind of servomotor control system (servomotor system).
Background technology
As everyone knows, servomotor control system can control the rotating speed of servo motor accurately, and possesses the ability that reaction accelerates fast, slows down, reverses.That is, because servomotor control system possesses the ability of accurate position control and speeds control, therefore apply to various automatic industrial and Precision Machining field widely.Such as, mechanical arm or machine work platform etc.
Please refer to Figure 1A, is servomotor control system schematic diagram shown by it.Servomotor control system comprises: command device 110, microcontroller (micro controller) 120, servo motor 130, photoelectric encoder (optical encoder) 140.
Command device 110 is the operations according to user, and output order pulse (command pulses), in order to carry out rotating speed and the course changing control of servo motor 130.Moreover photoelectric encoder 140 produces feedback pulse (feedback pulses) to microcontroller 120 according to the rotating speed of servo motor 130 with turning to.Microcontroller 120 produces driving pulse to servo motor 130 according to command pulse and feedback pulse.
Wherein, the displacement in servo motor 130 rotating shaft can be converted into feedback pulse by photoelectric encoder 140, and according to photoelectric encoder 140 export feedback pulse, microcontroller 120 can learn servo motor 130 rotating speed, turn to and position.
For optics rotary encoder (rotary optical encoder), this kind of photoelectric encoder 140 comprise optical transmitting set (light source) 142, photodetector (photo detector) 146, with rotating disk (Disk) 148.Rotating disk 148 is coupled to the rotating shaft of servo motor 130, can rotate along with servo motor 130.Moreover, the light of optical transmitting set 142 after the grating (grating) on rotating disk 148 receive by photodetector 146.According to the shape of grating on rotating disk 148, photodetector 146 can be made to produce two photosignals (photoelectronic signal) A, B.And the circuit of photoelectric encoder 140 inside can also produce feedback pulse to microcontroller 120 according to two photosignals A, B.
Please refer to Figure 1B, is the schematic diagram of photosignal A, B shown by it.In general, the frequency of two photosignals A, B is higher, and the rotating speed of servo motor 130 is faster; And the phase differential of 90 degree can be maintained between two photosignals A, B.For example, during 90 degree, the phase place of the advanced A photosignal of phase place of B photosignal, servo motor rotates (such as turning clockwise) with first direction; During 90 degree, the phase place of the advanced B photosignal of phase place of A photosignal, servo motor rotates (being such as rotated counterclockwise) with second direction.
As shown in Figure 1B, when time interval I, the frequency of two photosignals A, B is more and more higher, and 90 degree, the phase place of the advanced A photosignal of the phase place of B photosignal, and therefore servo motor 130 rotates with first direction and rotating speed is more and more faster.When time interval II, the frequency of two photosignals A, B is more and more lower, and 90 degree, the phase place of the advanced A photosignal of the phase place of B photosignal, and therefore servo motor 130 rotates with first direction and rotating speed is more and more slower until stop the rotation.
When time interval III, the frequency of two photosignals A, B is more and more higher, and 90 degree, the phase place of the advanced B photosignal of the phase place of A photosignal, and therefore servo motor 130 rotates with second direction and rotating speed is more and more faster.When time interval IV, the frequency of two photosignals A, B is more and more lower, and 90 degree, the phase place of the advanced B photosignal of the phase place of A photosignal, and therefore servo motor 130 rotates with second direction and rotating speed is more and more slower until stop the rotation.
Because the acceleration and deceleration of servo motor 130 or reverse rotation all can cause the frequency of two photosignals A, B and the change of phase place, therefore two photosignals A, B belong to time varying signal.Moreover, due to the factor of temperature or environment in the process of opto-electronic conversion, two photosignals A, B will produce direct current offset (DC offset), amplitude (amplitude) decay and phase differential can not maintain the problem of 90 degree, make feedback pulse cannot indicate the correct position of servo motor 130 and rotating speed.
Summary of the invention
For prior art Problems existing, the object of the present invention is to provide a kind of signal processing apparatus applying to time varying signal, comprise: a first adder, receive one first input signal and a first integral signal, and produce one first output signal, wherein this first output signal equals this first input signal and deducts this first integral signal; And one first weight integrator, receive this and first output signal and produce this first integral signal; Wherein, this first weight integrator also comprises: one first weighting function generator, receives this first output signal, and produces one first weighting function in this first output signal by time near a zero cross point; One first multiplier, is multiplied by this first output signal by this first weighting function; And one first totalizer, be connected to this first multiplier, be multiplied by the result of this first output signal in order to this first weighting function cumulative, and produce this first integral signal according to this.
The object of the invention is to also provide a kind of signal processing apparatus applying to time varying signal, receive one first input signal and one second input signal, and using this first input signal directly as one first output signal, this signal processing apparatus comprises: one first variable gain amplifier, adjust the gain of this first variable gain amplifier according to a first integral signal, receive this first input signal and this first input signal after producing Gain tuning; One first adder, deducts this first input signal after Gain tuning and produces one second output signal by this second input signal; And a weight correlator, receive this first output signal and second output signal with this and produce this first integral signal; Wherein, this weight correlator comprises: a weighting function generator, receives this first output signal and this second output signal, and second outputs signal in this first output signal and this and produce a weighting function by time near a zero cross point; One first multiplier, is multiplied by this second output signal by this first output signal, produces one first result; One second multiplier, is multiplied by this first result by this weighting function, produce one second result; And one first totalizer, be connected to this second multiplier, in order to this second result cumulative, and produce this first integral signal according to this.
The object of the invention is to also provide a kind of signal processing apparatus applying to time varying signal, receive one first input signal and one second input signal, this signal processing apparatus comprises: one first variable gain amplifier, adjust the gain of this first variable gain amplifier according to a first integral signal, receive this first input signal and produce one first output signal; One first size detecting device, receives this first output signal, produces a first small-signal; One first adder, deducts this first small-signal by a referential data, produce one first sampled signal; And one first weight integrator, receive this first input signal, this second input signal and this first sampled signal, and produce this first integral signal; Wherein, this first weight integrator comprises: one first weighting function generator, receives this first input signal and this second input signal, and produces one first weighting function at this first input signal and this second input signal by time near a zero cross point; One first multiplier, is multiplied by this first weighting function by this first sampled signal; And one first totalizer, be connected to this first multiplier, be multiplied by the result of this first sampled signal in order to this first weighting function cumulative, and produce this first integral signal according to this.
Beneficial effect of the present invention is, a kind of signal processing apparatus applying to time varying signal of the present invention, time two photosignals becoming applying to that photoelectric encoder in servomotor control system exports.Further, use the present invention, the direct current offset in photosignal can be eliminated and the phase differential fixed between two photosignals, and maintain the amplitude of two photosignals.
In order to have better understanding to above-mentioned and other aspect of the present invention, preferred embodiment cited below particularly, and coordinating accompanying drawing, being described in detail below:
Accompanying drawing explanation
Figure 1A is shown is servomotor control system schematic diagram.
It is the schematic diagram of photosignal A, B shown by Figure 1B.
For the present invention applies to the signal processing apparatus of time varying signal shown by Fig. 2.
Be direct current offset Circuit tuning and coherent signal schematic diagram thereof shown by Fig. 3 A to Fig. 3 C.
Be phase-adjusting circuit and coherent signal schematic diagram thereof shown by Fig. 4 A to Fig. 4 C.
Be amplitude adjusting circuit and coherent signal schematic diagram thereof shown by Fig. 5 A to Fig. 5 B.
Wherein, description of reference numerals is as follows:
110: command device
120: microcontroller
130: servo motor
140: photoelectric encoder
142: optical transmitting set
146: photodetector
148: rotating disk
210: direct current offset adjustment unit
220: phasing unit
230: amplitude adjustment unit
300: direct current offset Circuit tuning
310: the first type weight integrators
312,482,561: totalizer
316,471 ~ 472,541: multiplier
318,461,551: weighting function generator
320,420,531: totalizer
410,511: variable gain amplifier
450: weight correlator
500: amplitude adjusting circuit
521: size detection device
580: Second-Type weight integrator
Embodiment
Please refer to Fig. 2, for the present invention applies to the signal processing apparatus of time varying signal shown by it.Signal processing apparatus of the present invention can apply in photoelectric encoder, is used for receiving photosignal Ain, Bin of change when exporting of photodetector institute.Signal processing apparatus comprises: direct current offset (DC offset) adjustment unit 210, phasing unit 220 and amplitude adjustment unit 230.Wherein, DC offset adjusting unit 210 receives the first photosignal Ain and the second photosignal Bin, and after eliminating the direct current offset in the first photosignal Ain and the second photosignal Bin, exports the first adjustment signal A1 and second and adjust signal B1.Moreover phasing unit 220 receives the first adjustment signal A1 and second and adjusts signal B1, and control after the first adjustment signal A1 and second phase differential adjusted between signal B1 maintains fixing 90 degree, to export the 3rd adjustment signal A2 and the 4th and adjust signal B2.Moreover amplitude adjustment unit 230 receives the 3rd adjustment signal A2 and the 4th and adjust signal B2, and to control the amplitude that the 3rd adjustment signal A2 and the 4th adjusts signal B2 be after a fixed value, and output first outputs signal Aout and second and outputs signal Bout.Below the operating principle of all adjustment units is sequentially introduced.
Please refer to Fig. 3 A to Fig. 3 C, is direct current offset Circuit tuning and coherent signal schematic diagram thereof shown by it.Wherein, direct current offset adjustment unit 210 can be made up of two direct current offset Circuit tunings 300, respectively with the first photosignal Ain and the second photosignal Bin for input signal Xin.
As shown in Figure 3A, direct current offset Circuit tuning 300 comprises a totalizer 320 and one first type weight integrator (first type weighting integrator) 310.Totalizer 320 produces output signal Xo after input signal Xin being deducted integrated signal Xw.Moreover output signal Xo produces this integrated signal Xw after inputting the first type weight integrator 310.
First type weight integrator 310 comprises multiplier 316, weighting function generator (weightingfunction generator) 318 and a totalizer (accumulator) 312.According to embodiments of the invention, when outputing signal Xo when zero cross point (zero crossing point) is neighbouring, weighting function generator 318 can export a weighting function.Moreover, the result input totalizer 312 after output signal Xo is multiplied with weighting function by multiplier 316.And the result of totalizer 312 continued product musical instruments used in a Buddhist or Taoist mass 316, and become integrated signal Xw.
Moreover, be made up of two direct current offset Circuit tunings by direct current offset adjustment unit 210, so another embodiment that weighting function generator 318 inputs can be provided by the output signal of another direct current offset Circuit tuning.
Moreover another embodiment that weighting function generator 318 inputs can be provided by the output signal of two direct current offset Circuit tunings simultaneously.
According to embodiments of the invention, weighting function can be a pulse train function (pulse trainfunction).And following Fig. 3 B and Fig. 3 C is using pulse train function as weighting function so that the operating principle of direct current offset adjustment unit 210 to be described.
As shown in Figure 3 B, in each zero cross point of output signal Xo, weighting function generator 318 can export a pulse train function.Moreover the value of pulse train function with output signal Xo is multiplied by multiplier 316, the area namely as shown in dotted line in Fig. 3 B.That is the result that the negative cycle of output signal Xo is multiplied by pulse train function is n1, n2, n3 of negative value Output signal Xo the result being multiplied by pulse train function positive period be on the occasion of p1, p2, p3 ...
In the utilization of reality, this multiplier 316 can be reached by programmable counter (programmablecounter), namely starts to count down to a predetermined number in each zero cross point of direct current offset Circuit tuning output signal Xo and namely stops the cumulative of totalizer 312.
Suppose input signal Xin have on the occasion of direct current offset, so output signal Xo also have on the occasion of direct current offset dc.Due to output signal Xo have on the occasion of direct current offset dc, so the area of p1, p2, p3 can be greater than the area of n1, n2, n3.Therefore, totalizer 312 continued product musical instruments used in a Buddhist or Taoist mass 316 export result after, can produce on the occasion of integrated signal Xw.Therefore, as shown in Figure 3 B, output signal Xo on the occasion of direct current offset dc can be more and more less.
As shown in Figure 3 C, when the direct current offset dc outputing signal Xo is eliminated (that is direct current offset dc is reduced to 0), the area of p1, p2, p3 can equal the area of n1, n2, n3.Now, totalizer 320 can produce the output signal Xo that direct current offset dc is eliminated after input signal Xin is deducted integrated signal Xw.
In like manner, when input signal Xin has the direct current offset of negative value, output signal Xo also has the direct current offset dc of negative value.Now, totalizer 312 can produce negative integrated signal Xw, and makes the direct current offset dc outputing signal Xo be increased to zero gradually by negative value.
In other words, after the first photosignal Ain input direct-current offset adjusting circuit 300, its output signal Xo is the first adjustment signal A1 that direct current offset dc is eliminated; In like manner, by the second photosignal Bin input direct-current offset adjusting circuit 300, its output signal Xo is the second adjustment signal B1 that direct current offset dc is eliminated.
Moreover according to another embodiment of the present invention, weighting function also can be a natural Exponents attenuation function (exponential decay function).Moreover those skilled in the art is when knowing that subtraction is also the one of additive operation.That is totalizer also can carry out subtraction.
Please refer to Fig. 4 A, is phasing unit schematic diagram shown by it.Phasing unit 220 comprises variable gain amplifier 410, totalizer 420 and a weight correlator (weightingcorrelator) 450.Wherein, the first input signal Pin and the second input signal Qin phase are about 90 degree.Moreover the first input signal Pin is same as the first output signal Po, and the first output signal Po and second to output signal Qo phase be 90 degree.Wherein, the first adjustment signal A1 and second adjustment signal B1 that aforementioned direct current offset adjustment unit 210 exports can be used as the first input signal Pin and the second input signal Qin of phasing unit 220.Or the second adjustment signal B1 and first adjustment signal A1 can be used as the first input signal Pin and the second input signal Qin of phasing unit 220.And the first output signal Po and second of phasing unit 220 outputs signal Qo and namely can be and be considered as the 3rd and adjust signal A2 and the 4th and adjust signal B2.
Moreover weight correlator 450 exports an integrated signal Iw in order to adjust the yield value (gain) of variable gain amplifier 410.After variable gain amplifier 410 receives the first input signal Pin, produce the first input signal Pin after Gain tuning; Further, totalizer 420 becomes the second output signal Qo after second input signal Qin is deducted the first input signal Pin after Gain tuning.
Weight correlator 450 comprises a weighting function generator 461, two multiplier 471,472 and totalizers 482.
According to embodiments of the invention, when first output signal Po and second output signal Qo near zero cross point time, weighting function generator 461 can export a weighting function.Moreover, the first multiplier 471 can produce the first output signal Po and second output signal Qo be multiplied after the first result; Second multiplier 472 can produce the first result be multiplied with this weighting function after the second result, the second result that the second multiplier 472 exports accumulated by totalizer 482, and becomes integrated signal Iw.
For example, suppose that the phase differential between the first input signal Pin and the second input signal Qin is not 90 degree, then the first input signal Pin and the second input signal Qin can be expressed as Asin (ω t) and Bcos (ω t+ θ).That is, differ (90+ θ) between the first input signal Pin with the second input signal Qin and spend.Moreover the second input signal Qin can be expressed as: Qin=Bcos (ω t+ θ)=Bcos θ cos (ω t)-Bsin θ sin (ω t).Clearly, the second output signal Qo and first phase differential outputed signal between Po after component [Bsin θ sin (ω the t)] elimination in the second input signal Qin is 90 degree.
Therefore, namely weight correlator 450 outputs signal the phase relation between Qo according to the first output signal Po and second, obtains integrated signal Iw in order to control the yield value (gain) of variable gain amplifier 410.Moreover the second input signal Qin is deducted the first input signal Pin after Gain tuning by first adder 420 becomes the second output signal Qo, and the second output signal Qo and first phase differential outputed signal between Po is 90 degree.
The embodiment of following Fig. 4 B is using pulse train function as weighting function so that the operating principle of phasing unit 220 to be described.As shown in Figure 4 B, output signal near each zero cross point of Qo in the first output signal Po and second, weighting function generator 461 can export a pulse train function.Moreover, the area of the second result after pulse train function is multiplied with the first result by the second multiplier 472 namely as shown in shade part in Fig. 4 B.
Moreover the second result that the second multiplier 472 exports accumulated by totalizer 482, and becomes integrated signal Iw in order to control the yield value (gain) of variable gain amplifier 410.Therefore, can adjust the phase place of the second output signal Qo gradually, reaching the second output signal Qo and first phase differential outputed signal between Po is 90 degree.
In like manner, in the utilization of reality, above-mentioned second multiplier 472 can be reached by programmable counter, and each zero cross point namely outputing signal Qo in the first output signal Po and second starts to count down to a predetermined number and namely stops adding up of totalizer 482.That is, control the number that this first result inputs to this totalizer.Moreover, do not affect spirit of the present invention by exchanging before and after paired multiplier 471 and 472.
Moreover according to another embodiment of the present invention, weighting function also can a natural Exponents attenuation function as shown in Figure 4 C.Equally also can reach object of the present invention.
Please refer to Fig. 5 A, is amplitude adjusting circuit schematic diagram shown by it.Wherein, amplitude adjustment unit 230 can be made up of two amplitude adjusting circuits 500.Amplitude adjusting circuit 500 comprises variable gain amplifier 511, size detection device (magnitude detector) 521, totalizer 531 and a Second-Type weight integrator (second type weighting integrator) 580.Moreover the amplitude of the first input signal Min can be adjusted to a fixed value by the output signal Mo of amplitude adjusting circuit 500.
In other words, when the 3rd adjustment signal A2 and the 4th adjustment signal B2 that aforementioned phase offset adjustment unit 220 exports as the first input signal Min of amplitude adjusting circuit 500 with the second input signal Nin time, the 3rd amplitude adjusting signal A2 can be adjusted to this fixed value.Or when the 4th adjustment signal B2 and the 3rd adjustment signal A2 can be used as the first input signal Min and the second input signal Nin of amplitude adjusting circuit 500, the amplitude of the 4th adjustment signal B2 can be adjusted to this fixed value.
Moreover Second-Type weight integrator 580 exports integrated signal Ix with the yield value (gain) in order to adjust variable gain amplifier 511.Therefore, after variable gain amplifier 511 receives the first input signal Min, produce an output signal Mo.
Moreover Mo is via size detection device 521 for output signal, exports high low signal m1, totalizer 531 produces sampled signal m2 and inputs Second-Type weight integrator 580 after a reference value ref1 is deducted this high low signal m1.
Second-Type weight integrator 580 comprises a weighting function generator 551, multiplier 541 and a totalizer 561.
According to embodiments of the invention, when the first input signal Min and the second input signal Nin is near zero cross point, weighting function generator 551 can export a weighting function W.Moreover, multiplier 541 can produce this sampled signal m2 be multiplied with this weighting function W after result; And totalizer 561 adds up, the Output rusults of this multiplier 541, makes this totalizer 561 export integrated signal Ix.
According to embodiments of the invention, size detection device 521 can utilize squarer or absolute value device to realize.Wherein, squarer carries out a square calculating to output signal Mo, and absolute value device takes absolute value to output signal Mo.
The embodiment of following Fig. 5 B is using pulse train function as weighting function so that the operating principle of amplitude adjustment unit 230 to be described.As shown in Figure 5 B, in each zero cross point of the first input signal Min and the second input signal Nin, weighting function generator 551 can export a pulse train function W.Moreover this pulse train function W is multiplied by the value of sampled signal m2 by a multiplier 541, be the distance of this high low signal m1 with reference value ref1.
Moreover, the result that totalizer 561 continued product musical instruments used in a Buddhist or Taoist mass 541 exports, and become an integrated signal Ix in order to control the yield value (gain) of a variable gain amplifier 511.Therefore, the amplitude of output signal Mo can be adjusted gradually, and maintain this fixed value.
Moreover according to another embodiment of the present invention, weighting function also can be replaced by a natural Exponents attenuation function, also can reach object of the present invention.
In other words, first its amplitude of output signal Aout that amplitude adjustment unit 230 exports can maintain this fixed value, and in like manner the amplitude of the second output signal Bout also can maintain this fixed value.
Moreover according to another embodiment of the present invention, the input of weighting function generator also can be outputed signal Bout to replace by the first output signal Aout and second.
Moreover, of the present invention also can according to the signal quality of the first photosignal Ain and the second photosignal Bin, select direct current offset adjustment unit 210, phasing unit 220 and amplitude adjustment unit 230 one of them, or wherein two be used as signal processing apparatus.
For example, when supposing not have direct current offset in photosignal Ain and the second photosignal Bin, then signal processing apparatus is formed with phasing unit 220 and amplitude adjustment unit 230.Or the phase place in photosignal Ain and the second photosignal Bin and amplitude do not need to adjust again, then only utilize direct current offset adjustment unit 210 to form signal processing apparatus.Certainly, signal processing apparatus of the present invention also can have other combination, repeats no more herein.
Moreover weighting function produces by during zero cross point at signal in the present invention, but the present invention is not due to this.The technician in this field, can profit in a like fashion, at signal by after zero cross point, produce weighting function again after postponing an of short duration set time, also can reach effect of the present invention.That is weighting function only needs to produce near the zero cross point of signal.
More than illustrate known, the invention has the advantages that and a signal processing apparatus is provided, time two photosignals becoming applying to that photoelectric encoder in servomotor control system exports.Further, use the present invention, the direct current offset in photosignal can be eliminated and the phase differential fixed between two photosignals, and maintain the amplitude of two photosignals.
In sum, although the present invention is with preferred embodiment openly as above, so itself and be not used to limit the present invention.The technical staff in the technical field of the invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on the appended right person of defining.
Claims (30)
1. apply to a signal processing apparatus for time varying signal, comprising:
One first adder, receives one first input signal and a first integral signal, and produces one first output signal, and wherein this first output signal equals this first input signal and deducts this first integral signal; And
One first weight integrator, receives this and first outputs signal and produce this first integral signal;
Wherein, this first weight integrator also comprises:
One first weighting function generator, receives this first output signal, and produces one first weighting function in this first output signal by time near a zero cross point;
One first multiplier, is multiplied by this first output signal by this first weighting function; And
One first totalizer, is connected to this first multiplier, is multiplied by the result of this first output signal, and produces this first integral signal according to this in order to this first weighting function cumulative.
2. signal processing apparatus as claimed in claim 1, wherein, this first weighting function is a pulse train function or a natural Exponents attenuation function.
3. wherein, this first multiplier can be programmable counter to signal processing apparatus as claimed in claim 1, controls this first number inputing to this totalizer.
4. signal processing apparatus as claimed in claim 1, also comprises:
One second adder, receives one second input signal and a second integral signal, and produces one second output signal, and wherein this second output signal equals this second input signal and deducts this second integral signal; And
One second weight integrator, receives this and second outputs signal and produce this second integral signal;
Wherein, this second weight integrator also comprises:
One second weighting function generator, receives this second output signal, and produces one second weighting function in this second output signal by time near this zero cross point;
One second multiplier, is multiplied by this second output signal by this second weighting function; And
One second totalizer, is connected to this second multiplier, and this second weighting function cumulative is multiplied by the result of this second output signal, and produces this second integral signal according to this;
Wherein, this first input signal and this second input signal produced by a photoelectric encoder.
5. signal processing apparatus as claimed in claim 4, wherein this signal processing apparatus produces this first output signal after eliminating a direct current offset of this first input signal, and produces this second output signal after eliminating this direct current offset of this second input signal.
6. signal processing apparatus as claimed in claim 4 wherein, and the input of this first weighting function generator can be obtained by this second output signal.
7. signal processing apparatus as claimed in claim 4 wherein, and the input of this first weighting function generator second can be outputed signal and obtains by this first output signal and this.
8. signal processing apparatus as claimed in claim 4 wherein, and the input of this second weighting function generator can be obtained by this first output signal.
9. signal processing apparatus as claimed in claim 4 wherein, and the input of this second weighting function generator can be outputed signal by this first output signal and second and obtain.
10. signal processing apparatus as claimed in claim 4, also comprises a phasing unit, and using this first output signal directly as one the 3rd output signal, and this phasing unit comprises:
One first variable gain amplifier, adjusts the gain of this first variable gain amplifier according to a third integral signal, receive this and first to output signal and this first output signal after producing Gain tuning;
One the 3rd totalizer, deducts this first output signal generation 1 the 4th output signal after Gain tuning by this second output signal; And
One weight correlator, receives the 3rd output signal and outputs signal with the 4th and produce this third integral signal.
11. signal processing apparatus as claimed in claim 10, wherein this phasing unit adjust this first output signal and this second output signal between phase relation, make the 3rd output signal and the 4th output signal between phase differential be 90 degree.
12. signal processing apparatus as claimed in claim 10, also comprise an amplitude adjustment unit, comprising:
One second variable gain amplifier, adjusts the gain of this second variable gain amplifier according to one the 4th integrated signal, receive the 3rd and output signal and produce one the 5th output signal;
One first size detecting device, produces a first small-signal after receiving the 5th output signal;
One the 4th totalizer, deducts this first small-signal by a referential data, produce one first sampled signal; And
One the 3rd weight integrator, receives this 3rd output signal, the 4th output signal number and this first sampled signal, and produces the 4th integrated signal.
13. signal processing apparatus as claimed in claim 12, also comprise:
One the 3rd variable gain amplifier, adjusts the gain of the 3rd variable gain amplifier according to one the 5th integrated signal, receive the 4th and output signal and produce one the 6th output signal;
One second size detecting device, produces a second largest small-signal after receiving the 6th output signal;
One slender acanthopanax musical instruments used in a Buddhist or Taoist mass, deducts this second largest small-signal by this referential data, produce one second sampled signal; And
One the 4th weight integrator, receives the 3rd output signal, the 4th output signal number and this second sampled signal, and produces the 5th integrated signal.
14. signal processing apparatus as claimed in claim 13, wherein the first size detecting device and this second size detecting device are a squarer or an absolute value device.
15. signal processing apparatus as claimed in claim 13, wherein this amplitude adjustment unit adjusts the 3rd output signal and the 4th amplitude outputed signal, and makes the 5th output signal and the 6th output signal have the amplitude of formed objects.
16. 1 kinds of signal processing apparatus applying to time varying signal, receive one first input signal and one second input signal, and using this first input signal directly as one first output signal, this signal processing apparatus comprises:
One first variable gain amplifier, adjusts the gain of this first variable gain amplifier according to a first integral signal, receive this first input signal and this first input signal after producing Gain tuning;
One first adder, deducts this first input signal after Gain tuning and produces one second output signal by this second input signal; And
One weight correlator, receives this first output signal and second outputs signal with this and produce this first integral signal;
Wherein, this weight correlator comprises:
One weighting function generator, receives this first output signal and this second output signal, and produces a weighting function in this first output signal and this second output signal by time near a zero cross point;
One first multiplier, is multiplied by this second output signal by this first output signal, produces one first result;
One second multiplier, is multiplied by this first result by this weighting function, produce one second result; And
One first totalizer, is connected to this second multiplier, in order to this second result cumulative, and produces this first integral signal according to this.
17. signal processing apparatus as claimed in claim 16, wherein, this weighting function is a pulse train function or a natural Exponents attenuation function.
Wherein, this second multiplier can be programmable counter to 18. signal processing apparatus as claimed in claim 16, controls the number that this first result inputs to this totalizer.
19. signal processing apparatus as claimed in claim 16, wherein, this first input signal and this second input signal produced by a photoelectric encoder, and this signal processing apparatus adjusts the phase relation between this first input signal and this second input signal, make this first output signal and this second output signal between phase differential be 90 degree.
20. signal processing apparatus as claimed in claim 16, also comprise an amplitude adjustment unit, comprising:
One second variable gain amplifier, adjusts the gain of this second variable gain amplifier according to a second integral signal, receive this and first output signal and produce one the 3rd output signal;
One first size detecting device, produces a first small-signal after receiving the 3rd output signal;
One second adder, deducts this first small-signal by a referential data, produce one first sampled signal; And
One first weight integrator, receives this first output signal, this second output signal and this first sampled signal, and produces this second integral signal.
21. signal processing apparatus as claimed in claim 20, also comprise: one the 3rd variable gain amplifier, adjusts the gain of the 3rd variable gain amplifier according to a third integral signal, receive this and second output signal and produce one the 4th output signal;
One second size detecting device, produces a second largest small-signal after receiving the 4th output signal;
One the 3rd totalizer, deducts this second largest small-signal by this referential data, produce one second sampled signal;
One second weight integrator, receives this first output signal, this second output signal and this second sampled signal, and produces this third integral signal.
22. signal processing apparatus as claimed in claim 21, wherein the first size detecting device and this second size detecting device are a squarer or an absolute value device.
23. signal processing apparatus as claimed in claim 21, wherein this amplitude adjustment unit adjusts this first output signal and this second amplitude outputed signal, and makes the 3rd output signal and the 4th output signal have the amplitude of formed objects.
24. 1 kinds of signal processing apparatus applying to time varying signal, receive one first input signal and one second input signal, this signal processing apparatus comprises:
One first variable gain amplifier, adjusts the gain of this first variable gain amplifier according to a first integral signal, receive this first input signal and produce one first output signal;
One first size detecting device, receives this first output signal, produces a first small-signal;
One first adder, deducts this first small-signal by a referential data, produce one first sampled signal; And
One first weight integrator, receives this first input signal, this second input signal and this first sampled signal, and produces this first integral signal;
Wherein, this first weight integrator comprises:
One first weighting function generator, receives this first input signal and this second input signal, and produces one first weighting function at this first input signal and this second input signal by time near a zero cross point;
One first multiplier, is multiplied by this first weighting function by this first sampled signal; And
One first totalizer, is connected to this first multiplier, is multiplied by the result of this first sampled signal, and produces this first integral signal according to this in order to this first weighting function cumulative.
25. signal processing apparatus as claimed in claim 24, also comprise: one second variable gain amplifier, adjust the gain of this second variable gain amplifier according to a second integral signal, receive this second input signal and produce one second output signal;
One second size detecting device, receives this second output signal, produces a second largest small-signal;
One second adder, deducts this second largest small-signal by this referential data, produce one second sampled signal;
One second weight integrator, receives this first input signal, this second input signal and this second sampled signal, and produces this second integral signal;
Wherein, this second weight integrator comprises:
One second weighting function generator, receives this first input signal and this second input signal, and produces one second weighting function at this first input signal and this second input signal by time near a zero cross point;
One second multiplier, is multiplied by this second weighting function by this second sampled signal; And
One second totalizer, is connected to this second multiplier, is multiplied by the result of this second sampled signal, and produces this second integral signal according to this in order to this second weighting function cumulative.
26. signal processing apparatus as claimed in claim 25, wherein, this first weighting function and this second weighting function are a pulse train function or a natural Exponents attenuation function.
Wherein, the input of this first weighting function generator and this second weighting function generator can be this and first outputs signal and second to output signal with this 27. signal processing apparatus as claimed in claim 25.
Wherein, this first multiplier and this second multiplier can be a programmable counter to 28. signal processing apparatus as claimed in claim 25, control this first sampled signal and this second sampled signal and input to this number to the first totalizer and this second totalizer.
29. signal processing apparatus as claimed in claim 25, wherein the first size detecting device and this second size detecting device are a squarer or an absolute value device.
30. signal processing apparatus as claimed in claim 25, wherein, this first input signal and this second input signal produced by a photoelectric encoder, and this signal processing apparatus adjusts the amplitude of this first input signal and this second input signal, this first output signal is made second to output signal the amplitude with formed objects with this.
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