CN106227988A - A kind of relative error calculation optimization method - Google Patents
A kind of relative error calculation optimization method Download PDFInfo
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- CN106227988A CN106227988A CN201610543079.1A CN201610543079A CN106227988A CN 106227988 A CN106227988 A CN 106227988A CN 201610543079 A CN201610543079 A CN 201610543079A CN 106227988 A CN106227988 A CN 106227988A
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- relative error
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Abstract
The invention discloses a kind of relative error calculation optimization method, the method includes: obtain the actual value of observed quantity；Obtain the estimated value of observed quantity；Exponential type relative error algorithm is used to calculate the relative error between estimated value and the actual value of described observed quantity.The method realizes avoiding zero crossings relative error result of calculation invalid, it is thus achieved that zero crossings relative error.
Description
Technical field
The present invention relates to signal detection technique field, particularly relate to a kind of relative error calculation optimization method.
Background technology
At present, sliding mode observer state space is used to estimate when calculating brushless direct-current machine counter electromotive signal,
When using existing conventional relative error computational methods to calculate the relative error between estimated value and counter electromotive force actual value, i.e.
Relative error is equal to the measured value absolute value with true value difference divided by true value.Owing to being song symmetrical about x-axis in two-dimensional coordinate system
Line, the value of the amount of being observed counter electromotive force is symmetrical about x-axis, therefore the relative error value of calculation that counter electromotive force is near zero is exhausted
Very big to value, cause zero crossings relative error result of calculation invalid, acquisition must not zero crossings relative error.Its result meeting
Having a strong impact on the effect of evaluation function, make evaluation function lose calculating meaning, the entirety of observer observation error afterwards is commented by this
Valency can produce serious influence.
Summary of the invention
It is an object of the invention to provide a kind of relative error calculation optimization method, to realize avoiding zero crossings relative error
Result of calculation is invalid, it is thus achieved that zero crossings relative error.
For solving above-mentioned technical problem, the present invention provides a kind of relative error calculation optimization method, and the method includes:
Obtain the actual value of observed quantity；
Obtain the estimated value of observed quantity；
Exponential type relative error algorithm is used to calculate the relative error between estimated value and the actual value of described observed quantity.
Preferably, the computing formula of described exponential type relative error algorithm is as follows:
Wherein, x is the actual value of described observed quantity,For the estimated value of described observed quantity, ephaseFor described observed quantity
Relative error between estimated value and actual value.
Preferably, described observed quantity is back-emf signal.
Preferably, the actual value of described observed quantity is symmetrical about x-axis.
Preferably, the estimated value of described acquisition observed quantity, including:
Use sliding mode observer that back-emf signal is estimated, obtain the estimated value of back-emf signal.
Preferably, described back-emf signal is brushless direct-current machine counter electromotive signal.
Preferably, described relative error is relative error near two-dimensional coordinate x-axis.
A kind of relative error calculation optimization method provided by the present invention, obtains the actual value of observed quantity；Obtain observed quantity
Estimated value；Exponential type relative error algorithm is used to calculate the relative error between estimated value and the actual value of described observed quantity.
Visible, use exponential type relative error algorithm to calculate relative error, when actual value is close to zero, the relative error obtained is still
Effectively, it is achieved avoid zero crossings relative error result of calculation invalid, it is thus achieved that the effective relative error of zero crossings.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the flow chart of a kind of relative error calculation optimization method provided by the present invention；
Fig. 2 is the numerical result schematic diagram of actual value, estimated value, general relative error and exponential type relative error.
Detailed description of the invention
The core of the present invention is to provide a kind of relative error calculation optimization method, to realize avoiding zero crossings relative error
Result of calculation is invalid, it is thus achieved that zero crossings relative error.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with in the embodiment of the present invention
Accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Refer to the flow chart that Fig. 1, Fig. 1 are a kind of relative error calculation optimization method provided by the present invention, the method
Including:
S11: obtain the actual value of observed quantity；
S12: obtain the estimated value of observed quantity；
S13: use the relative error between estimated value and the actual value of exponential type relative error algorithm calculating observation amount.
Visible, use exponential type relative error algorithm to calculate relative error, when actual value is close to zero, obtain is relative
Error is the most effective, it is achieved avoid zero crossings relative error result of calculation invalid, it is thus achieved that the effective relative error of zero crossings.
Based on said method, concrete, the computing formula of exponential type relative error algorithm is as follows:
Wherein, x is the actual value of observed quantity,For the estimated value of observed quantity, ephaseFor the estimated value of observed quantity with true
Relative error between value.E is the nature truth of a matter.
Using the calculating formula of above-mentioned this relative error, when actual value is close to 0, the denominator calculating formula is close to 1,
When actual value is close to 0, more than 0 and denominator numerical value is about 1 for denominator perseverance all the time, and the result of whole calculating formula is effective
, i.e. the result of relative error is between 0 to 1.When actual value is equal to 0, denominator is equal to 1, and whole formula result is effective,
I.e. relative error is between 0 to 1, therefore, uses exponential type relative error algorithm to calculate relative error, when actual value is close
When zero, the relative error obtained is the most effective, it is achieved avoid zero crossings relative error result of calculation invalid, it is thus achieved that zero crossings
Effective relative error.
Concrete, in said method, actual value is close to zero.Certainly, actual value can also be equal to 0.
Further, observed quantity is back-emf signal.
Wherein, the actual value of observed quantity is symmetrical about x-axis, i.e. the actual value of back-emf signal is about x-axis pair
Claim.Counter electromotive force is curve symmetrical about x-axis in two-dimensional coordinate system.
The process of step S12, particularly as follows: use sliding mode observer to estimate back-emf signal, obtains counter electromotive force
The estimated value of signal.
Further, back-emf signal is brushless direct-current machine counter electromotive signal.
Further, relative error be the actual value of relative error near two-dimensional coordinate x-axis, i.e. observed quantity close to zero time obtain
The relative error arrived.
Relative error near two-dimensional coordinate x-axis is calculated and is optimized by the present invention, and near two-dimensional coordinate x-axis, relative error is i.e.
The relative error obtained when actual value is close to zero, the present invention, when calculating relative error near two-dimensional coordinate x-axis, uses exponential type
Relative error form of calculation, it is to avoid zero crossings invalid relative error result of calculation.
Above, what the present invention used that exponential type relative error algorithm calculates between counter electromotive force estimated value and actual value is relative
Error, due to the relative error between estimated value and the actual value of employing exponential type relative error algorithm calculating observation amount, so
Calculate when calculating relative error near two-dimensional coordinate x-axis actual value near zero time relative error, use exponential type phase
To Error Calculation form, it is to avoid zero crossings invalid relative error result of calculation.The present invention is for relative near two-dimensional coordinate x-axis
Error Calculation is optimized, and when calculating relative error near two-dimensional coordinate x-axis, uses exponential type relative error form of calculation,
Avoid zero crossings invalid relative error result of calculation.
Refer to the numerical result that Fig. 2, Fig. 2 are actual value, estimated value, general relative error and exponential type relative error show
It is intended to., first little figure is counter electromotive force actual value in Fig. 2 from top to bottom, and second little figure is sliding mode observer counter electromotive force
Estimated value, the 3rd little figure is general relative error arithmetic result, and the 4th little figure is that exponential type relative error arithmetic result is
Exponential type relative error algorithm in this paper.By first little figure it can be seen that owing to the value of the amount of being observed counter electromotive force is
About x-axis symmetry, therefore the absolute value of the relative error value of calculation near zero is the biggest.Its result can have a strong impact on evaluation letter
The effect of number, makes evaluation function lose calculating meaning, and the overall evaluation of observer observation error afterwards can be produced serious by this
Impact.
The present invention proposes exponential type relative error algorithm, and its expression formula is:
Wherein, x is the actual value of back-emf signal,For observer estimated value, ephaseFor the estimated value of observed quantity with true
Relative error between real-valued, on the right of equal sign, in formula, e is the nature truth of a matter.The relative error obtained is exactly that exponential type is missed relatively
Difference.
The expression formula of the most existing conventional relative error computational methods of general relative error computational methods is as follows:
Wherein, x is the actual value of back-emf signal,For observer estimated value, ephaseFor the estimated value of observed quantity with true
Relative error between real-valued, obtain is general relative error.
The i.e. formula of the exponential type relative error algorithm (1) that the present invention proposes with the formula of general relative error computational methods is
Formula (2) is different.When x is change in the range of real number, the denominator perseverance of exponential type relative error is more than 0, and when x is 0
Time, denominator term is 1.And formula (2) is when x is close to 0, overall fractional value quickly increases, when x is 0 for infinity, serious shadow
Ring the calculating of relative error.Therefore, the present invention utilize formula (1) calculate counter electromotive force actual value and sliding mode observer estimated value it
Between relative error, to avoid insignificant value of calculation near zero, it is thus achieved that the effective relative error of zero crossings.
To sum up, a kind of relative error calculation optimization method provided by the present invention, obtain the actual value of observed quantity；Obtain and see
The estimated value measured；Use the relative error between estimated value and the actual value of exponential type relative error algorithm calculating observation amount.
Visible, use exponential type relative error algorithm to calculate relative error, when actual value is close to zero, the relative error obtained is still
Effectively, it is achieved avoid zero crossings relative error result of calculation invalid, it is thus achieved that the effective relative error of zero crossings.
Above a kind of relative error calculation optimization method provided by the present invention is described in detail.Used herein
Principle and the embodiment of the present invention are set forth by specific case, and the explanation of above example is only intended to help to understand
The method of the present invention and core concept thereof.It should be pointed out that, for those skilled in the art, without departing from this
On the premise of inventive principle, it is also possible to the present invention is carried out some improvement and modification, these improve and modification also falls into the present invention
In scope of the claims.
Claims (7)
1. a relative error calculation optimization method, it is characterised in that including:
Obtain the actual value of observed quantity；
Obtain the estimated value of observed quantity；
Exponential type relative error algorithm is used to calculate the relative error between estimated value and the actual value of described observed quantity.
2. the method for claim 1, it is characterised in that the computing formula of described exponential type relative error algorithm is as follows:
Wherein, x is the actual value of described observed quantity,For the estimated value of described observed quantity, ephaseEstimation for described observed quantity
Relative error between value and actual value.
3. method as claimed in claim 2, it is characterised in that described observed quantity is back-emf signal.
4. method as claimed in claim 3, it is characterised in that the actual value of described observed quantity is symmetrical about x-axis.
5. method as claimed in claim 2, it is characterised in that the estimated value of described acquisition observed quantity, including:
Use sliding mode observer that back-emf signal is estimated, obtain the estimated value of back-emf signal.
6. method as claimed in claim 2, it is characterised in that described back-emf signal is brushless direct-current machine counter electromotive
Signal.
7. the method as described in any one in claim 1 to 6, it is characterised in that described relative error is two-dimensional coordinate x-axis
Neighbouring relative error.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110728826A (en) * | 2019-05-20 | 2020-01-24 | 唐山工业职业技术学院 | Underground space toxic and harmful gas early warning method based on intelligent technology |
| CN114429152A (en) * | 2021-12-31 | 2022-05-03 | 苏州大学 | Rolling bearing fault diagnosis method based on dynamic index antagonism self-adaption |
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| JP2007172306A (en) * | 2005-12-22 | 2007-07-05 | Yamaha Motor Co Ltd | Multipurpose optimization apparatus, multipurpose optimization method and multipurpose optimization program |
| CN102142060A (en) * | 2011-01-04 | 2011-08-03 | 浙江大学 | Operating condition optimization method for molecular weight distribution of free radical polymer |
Non-Patent Citations (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110728826A (en) * | 2019-05-20 | 2020-01-24 | 唐山工业职业技术学院 | Underground space toxic and harmful gas early warning method based on intelligent technology |
| CN114429152A (en) * | 2021-12-31 | 2022-05-03 | 苏州大学 | Rolling bearing fault diagnosis method based on dynamic index antagonism self-adaption |
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Application publication date: 20161214 |