CN107707178A - Filtering method, low pass filter and the servo-driver of low pass filter - Google Patents
Filtering method, low pass filter and the servo-driver of low pass filter Download PDFInfo
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- CN107707178A CN107707178A CN201710858438.7A CN201710858438A CN107707178A CN 107707178 A CN107707178 A CN 107707178A CN 201710858438 A CN201710858438 A CN 201710858438A CN 107707178 A CN107707178 A CN 107707178A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0219—Compensation of undesirable effects, e.g. quantisation noise, overflow
Abstract
The present embodiments relate to data processing field, discloses a kind of filtering method of low pass filter, low pass filter and servo-driver.In the present invention, a kind of filtering method of low pass filter, including：Periodic samples data, obtain the filtering input value of low pass filter；Data according to sampling are filtered calculating, export filtered data；Wherein, during the remainder compensation obtained during the filtering in n-th of cycle is calculated calculates to the filtering in (n+1)th cycle；N is natural number and n >=1.Filtering method, low pass filter and the servo-driver of low pass filter provided by the invention, current period is arrived by the remainder compensation obtained during the filtering of upper a cycle is calculated, next cycle is arrived in the remainder compensation obtained during the filtering of current period is calculated, so circulation, pass through the cumulative of remainder, reduce the loss of data of filtering output result, be advantageous to avoid filtering output result from being distorted.
Description
Technical field
The present embodiments relate to data processing field, more particularly to a kind of filtering method of low pass filter, low pass filtered
Ripple device and servo-driver.
Background technology
Servo-driver (servo drives) is also known as " servo controller ", " servo amplifier ", is watched for controlling
A kind of controller of motor is taken, it is acted on acts on common alternating current motor similar to frequency converter, belongs to a part for servo-drive system,
It is mainly used in high-precision alignment system.Servomotor is controlled generally by three kinds of position, speed and torque modes
System, high-precision transmission system positioning is realized, be currently the high-end product of drive technology.
In pulse servo applications, it usually needs handled in servo-driver using smoothing filter so that electricity
Machine rotation is more smooth.Wherein, smoothing filter is a kind of low pass filter, is a kind of wave filter realized in time-domain.It is logical
Diminution high frequency is crossed, some noises can be removed by expanding low frequency.The exponent number of wave filter is higher, and value is more uniform, and filter effect is better.Mesh
Before, apply the smoothing filter in servo-driver, generally useThis formula is to input
Value is filtered processing, wherein, XnIt is the input in n-th of cycle, Yn-1、YnRespectively (n-1)th cycle and n-th cycle it is defeated
Go out, be the output in last cycle and this cycle, T is the sampling period, and τ is filtering cycle.
However, it is found by the inventors that at least there are the following problems in the prior art：It is treated to filtering data in journey,
The data of filtering output result can lose, and would generally be distorted filter result.
The content of the invention
The purpose of embodiment of the present invention is to provide a kind of filtering method of low pass filter, low pass filter and servo
Driver, reduce filtering output result loss of data, be advantageous to avoid filtering output result from being distorted.
In order to solve the above technical problems, embodiments of the present invention provide a kind of filtering method of low pass filter, bag
Include：Periodic samples data, obtain the filtering input value of low pass filter；Data according to sampling are filtered calculating, defeated
Go out filtered data；Wherein, filtering of the remainder compensation obtained during the filtering in n-th of cycle is calculated to (n+1)th cycle
In calculating；N is natural number and n >=1.
Embodiments of the present invention provide a kind of low pass filter, it is characterised in that including：Sampling module, calculate mould
Block, output module；Sampling module, for periodic samples data, obtain the filtering input value of low pass filter；Computing module,
For being filtered calculating according to the data sampled；Output module, for exporting filtered data；Wherein, output module
During the remainder compensation obtained during the filtering in n-th of cycle is calculated calculates to the filtering in (n+1)th cycle；N be natural number and n >=
1。
Embodiments of the present invention additionally provide a kind of servo-driver, and servo-driver includes above-mentioned low pass filter.
Embodiment of the present invention in terms of existing technologies, by periodically being sampled to data, obtains low pass
The filtering input value of wave filter, calculating is filtered further according to the data sampled, so as to export filtered data.In basis
When the data sampled are filtered calculating, current week is arrived by the remainder compensation obtained during the filtering of upper a cycle is calculated
Phase, by current period filtering calculate in obtain remainder compensation arrive next cycle, so circulation, by remainder add up,
Reduce the loss of data of filtering output result, be advantageous to avoid filtering output result from being distorted.
In addition, being filtered calculating according to the data sampled, filtered data are exported, are specifically included：According to following
Formula is filtered calculating, exports filtered data Yn：And obtain the remaining of n-th cycle
Number Rn, Rn=(T (Xn-Yn-1)+Rn-1) % τ；Wherein, Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, Yn-1It is
The filtering output in (n-1)th cycle, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is the sampling period.Pass through
UsingProcessing is filtered to filtering input value, it can be ensured that the filtering of low pass filter is defeated
Go out result and realize that data without loss, are distorted so as to further avoid filtering output result.
In addition, being filtered calculating according to the data sampled, filtered data are exported, are specifically included：According to following
Formula is filtered calculating, exports filtered data Yn：And obtain the remaining of n-th cycle
Number Rn, Rn=(T (Xn-Yn-1)+Rn-1) % (τ+T)；Wherein, Rn-1It is the remainder obtained during the filtering in (n-1)th cycle calculates,
Yn-1It is the filtering output in (n-1)th cycle, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is the sampling period.
Provide another and be able to ensure that filtering output result data without loss, the formula for avoiding filtering output result from being distorted,
Enable the flexible and changeable realization of the filtering method of the low pass filter.
In addition, when n is more than 1, after calculating is filtered according to the data sampled, by overriding for the (n-1)th week
The remainder that the filtering of phase obtains in calculating, store the remainder obtained in the filtering calculating in n-th of cycle.By in storage current week
During the remainder that the filtering of phase obtains in calculating, the remainder obtained in the filtering calculating of a cycle is override, is advantageous to save
Memory space.
In addition, low pass filter is the smoothing filter in servo-driver；Filtered data are exported, are specifically included：
By filtered data output to electric machine controller.Applied in the smoothing filter in servo-driver, servo can be avoided
The loss of control accuracy, reaching makes motor rotate more smooth purpose.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is the flow chart according to the filtering method of the low pass filter of first embodiment of the invention；
Fig. 2 is the design sketch according to the filtering method of the low pass filter of second embodiment of the invention；
Fig. 3 is the schematic device according to the low pass filter of four embodiment of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order that reader more fully understands the application and proposes many ins and outs.But even if without these ins and outs
With many variations based on following embodiment and modification, the application technical scheme claimed can also be realized.
The first embodiment of the present invention is related to a kind of filtering method of low pass filter.What is be related in present embodiment is low
In the wave filter that the filtering method of bandpass filter can apply to have division formula, embodiment of the present invention is with first-order low-pass
Illustrated exemplified by ripple device.Idiographic flow is as shown in Figure 1.
Step 101, sampled data, the filtering input value of low pass filter is obtained.
Specifically, it is periodic samples data in present embodiment, i.e., data is adopted with certain sample frequency
Sample, to obtain the filtering input value of low pass filter.During periodicity samples to input data, if adjacent two
Time interval between secondary sampling is long, will cause the serious loss of useful signal, makes the quality variation of data；If sampling week
Phase fruit is short, then the variable quantity of measured value is too small twice, also unsuitable.Sampling period in present embodiment can be according to actual need
Sets itself is sought, such as, can be 0.1 millisecond, but be not limited thereto.In addition, in order to prevent useless high-frequency signal from entering
Sampling process and the distortion for causing sampled signal, therefore, digital filtering can be carried out to simulation input amount, to avoid before sampling
The distortion of sampled signal.
Step 102, calculating is filtered according to the data sampled, exports filtered data；Wherein, by n-th week
During the remainder compensation that the filtering of phase obtains in calculating calculates to the filtering in (n+1)th cycle；The n is natural number and n >=1.
Specifically, due to current low-pass first order filter formulaDivision be present, its
In, XnIt is the input in n-th of cycle, Yn-1、YnThe respectively output in (n-1)th cycle and n-th of cycle, T are the sampling period, τ
For filtering cycle.When use fixed-point data is handled in micro-control unit (Microcontroller Unit, abbreviation MCU)
When, the data result of division only remains integer, therefore, when dividend and divisor be divided by and it is indivisible when, or only retain whole
Count and cast out remainder, or carrying out the operation that rounds up, so, there will necessarily be the loss of data.By first-order low-pass
The formula of ripple device can be analyzed to obtain, as T (Xn-Yn-1) when being less than filtering cycle τ, the result of its division is just zero, wave filter
Output valve YnJust no longer change, the error that filter result and real data presence always can not eliminate.And wave filter exports
The loss of data, it is meant that the loss of dependent instruction (position, speed and torque), so as to which SERVO CONTROL can be caused poor.And
And even if being handled without using fixed-point data, but handled using floating data.But sampling floating data processing
Requirement of the method to MCU it is higher, and be limited to the real-coded GA data precision of its own, cause the output knot of wave filter
Fruit equally has loss.Or the method compensated again by judging the difference of input and output.But this method is led to
It often can be distorted filtering output result, cause motor rotation not smooth enough.
Therefore, in embodiments of the present invention, the remainder obtained in the filtering calculating in each cycle is preserved, for next week
During the filtering of phase calculates, so as to reduce the loss of data of filtering output result, it is additionally favorable for avoiding filtering output result hair
Raw distortion, or even filtering output result can also be made exactly equal to input.
Step 103, judge whether to reach next sampling period.When judging to reach next sampling period, step is returned
Rapid 101；Otherwise, return to step 103, continue to determine whether to reach next sampling period.
Compared with prior art, present embodiment obtains low pass filter by periodically being sampled to data
Input value is filtered, calculating is filtered further according to the data sampled, so as to export filtered data.Sampled in basis
When data are filtered calculating, current period is arrived by the remainder compensation obtained during the filtering of upper a cycle is calculated, ought
Next cycle is arrived in the remainder compensation that the filtering in preceding cycle obtains in calculating, and so circulation, by the cumulative of remainder, reduces filter
The loss of data of ripple output result, be advantageous to avoid filtering output result from being distorted.
Second embodiment of the present invention is related to a kind of filtering method of low pass filter.Present embodiments provide for preferred
Specific implementation form, filtering output result can be made exactly equal to input, and do not have data skew.
In practical application, calculating is filtered according to the data sampled, exports filtered data, can specifically be wrapped
Include：Calculating is filtered according to below equation, exports filtered data Yn：And obtain n-th
The remainder R in individual cyclen, Rn=(T (Xn-Yn-1)+Rn-1) % τ；Wherein, Rn-1It is to be obtained during the filtering in (n-1)th cycle calculates
Remainder, Yn-1It is the filtering output in (n-1)th cycle, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is sampling
Cycle.
When in a cycle, i.e., as n=1, R1=(T (X1-Y1-1)+R1-1) % τ, due in the period 1, Yn-1
And Rn-1Value be zero, therefore R can be drawn1=(T × X1) % τ.As can be seen here, R1Value depend on sampling period T, first
The filtering input value X in individual cycle1With filtering cycle τ.Also, as n=1,Likewise, by
When in the period 1, Yn-1And Rn-1Value be zero, therefore can drawThus Y1Value depend on the sampling period
T, the filtering input value X of a cycle1With filtering cycle τ.Both formula by by remainder compensation into dividend, can be with
It was found that in output Yn-1Not equal to input XnWhen, pass through the cumulative of remainder so that certain whenOr knot
Fruit is not zero certainly, therefore exports Yn-1Input can gradually be approached, it might even be possible to reach Yn-1=Xn, i.e. Yn=Xn.In Yn=Xn
When, filtering output result does not have data skew exactly equal to input.Fig. 2, which gives, works as T=0.1ms, and τ=10ms is defeated
Enter for 400 when design sketch, wherein 201 be filtering input value, 202 be idea output, and 205 be output valve before improving.
It should be noted that the filtering method of low pass filter can also include：When n is more than 1, sampled in basis
After data are filtered calculating, by the remainder obtained in overriding the filtering calculating in (n-1)th cycle, n-th of cycle is stored
Filtering calculate in obtained remainder.Because the remainder obtained in the filtering in n-th of cycle is calculated was compensated to the (n+1)th week
During the filtering of phase calculates, the remainder in n-th of cycle will necessarily be stored to compensate in dividend, but storing n-th of cycle
Remainder when, the remainder that (n-1)th cycle is stored is not used.Such as in the filtering meter for storing the 3rd cycle
During the remainder obtained in calculation, can override second period filtering calculate in obtained remainder, without being to continue with reservation the
The remainder that the filtering in two cycles obtains in calculating.So do, the purpose for saving memory space can be reached.
In addition, it is necessary to explanation, low pass filter can be the smoothing filter in servo-driver.In step 102
In, filtered data are exported, are specially：By filtered data output to electric machine controller.So as in pulse servo applications
In, when the instruction that host computer issues is without acceleration and deceleration, pass through the processing of smoothing filter in servo-driver so that motor
Rotation it is more smooth.
Compared with prior art, present embodiment passes through basis by providing preferable specific implementation formCalculating is filtered, and obtains the remainder R in n-th of cyclen, Rn=(T (Xn-Yn-1)+
Rn-1) % τ；Wherein, Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, Yn-1Be (n-1)th cycle filtering it is defeated
Go out, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is the sampling period, it can be ensured that filtering output result data
Without loss, filtering output result is avoided to be distorted.
Third embodiment of the present invention is related to a kind of filtering method of low pass filter.Present embodiments provide for another
The preferable specific implementation form of kind, can make filtering output result exactly equal to input, and not have data skew, make this low
The filtering method of bandpass filter can be flexible and changeable realization.
Specifically, calculating is filtered according to the data sampled, exports filtered data, can also specifically wrapped
Include：Calculating is filtered according to below equation, exports filtered data Yn：And obtain n-th
The remainder R in individual cyclen, Rn=(T (Xn-Yn-1)+Rn-1) % (τ+T)；Wherein, Rn-1It is to be obtained during the filtering in (n-1)th cycle calculates
The remainder arrived, Yn-1It is the filtering output in (n-1)th cycle, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is
Sampling period.
When in a cycle, i.e., as n=1, R1=(T (X1-Y1-1)+R1-1) % (τ+T), due in the period 1,
Yn-1And Rn-1Value be zero, therefore R can be drawn1=(T × X1) % (τ+T).As can be seen here, R1Value depend on sampling week
Phase T, a cycle filtering input value X1With filtering cycle τ.Also, as n=1,Together
Sample, due in the period 1, Yn-1And Rn-1Value be zero, therefore can drawThus Y1Value depend on
Sampling period T, a cycle filtering input value X1With filtering cycle τ.Both formula by by remainder compensation arrive by except
In number, it can be found that in output Yn-1Not equal to input XnWhen, pass through the cumulative of remainder so that certain whenResult be not zero certainly, therefore export Yn-1Input can gradually be approached, it might even be possible to reach Yn-1=Xn,
That is Yn=Xn.In Yn=XnWhen, filtering output result does not have data skew exactly equal to input.
Compared with prior art, present embodiment is by providing another preferable specific implementation form, according toCalculating is filtered, and obtains the remainder R in n-th of cyclen, Rn=(T (Xn-Yn-1)+
Rn-1) % (τ+T)；Wherein, Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, Yn-1It is the filter in (n-1)th cycle
Ripple exports, XnIt is the filtering input value in n-th of cycle, τ is filtering cycle, and T is the sampling period, it can be ensured that filtering output result
Data avoid filtering output result from being distorted, enable the flexible and changeable reality of the filtering method of the low pass filter without loss
It is existing.
The step of various methods divide above, be intended merely to describe it is clear, can be merged into when realizing a step or
Some steps are split, are decomposed into multiple steps, as long as including identical logical relation, all protection domain in this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Four embodiment of the invention is related to a kind of low pass filter, specifically as shown in figure 3, low pass filter includes：Adopt
Egf block 301, computing module 302 and output module 303.
Specifically, sampling module 301, for periodic samples data, the filtering input value of low pass filter is obtained；Meter
Module 302 is calculated, for being filtered calculating according to the data sampled；Output module 303, for exporting filtered data；
Wherein, during the remainder compensation that output module obtains during the filtering in n-th of cycle is calculated calculates to the filtering in (n+1)th cycle；n
For natural number and n >=1.
It is seen that present embodiment is the device embodiment corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It is noted that each module involved in present embodiment is logic module, and in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude the innovative part of the present invention, will not be with solving institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close introduces, but this is not intended that in present embodiment and other lists are not present
Member.
Fifth embodiment of the invention is related to a kind of low pass filter, and present embodiments provide for preferable specific implementation shape
Formula, filtering output result can be made exactly equal to input, and not have data skew.In present embodiment, low pass filter
Including：Sampling module 301, computing module 302 and output module 303.
Specifically, sampling module 301, for periodic samples data, the filtering input value of low pass filter is obtained；Meter
Module 302 is calculated, for being filtered calculating according to the data sampled；Output module 303, for exporting filtered data；
Wherein, during the remainder compensation that output module obtains during the filtering in n-th of cycle is calculated calculates to the filtering in (n+1)th cycle；n
For natural number and n >=1.Wherein, low pass filter is the smoothing filter in servo-driver.
In addition, computing module 302 can be specifically used for being filtered calculating according to below equation, filtered data are exported
Yn：And obtain the remainder R in n-th of cyclen, Rn=(T (Xn-Yn-1)+Rn-1) % τ；Wherein,
Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, Yn-1It is the filtering output in (n-1)th cycle, XnIt is n-th week
The filtering input value of phase, τ are filtering cycles, and T is the sampling period.
Because second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
It is engaged implementation.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, implement second
The technique effect that can reach in mode can similarly be realized in the present embodiment, no longer superfluous here in order to reduce repetition
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
Sixth embodiment of the invention is related to a kind of low pass filter, and present embodiments provide for another preferable specific
Way of realization, filtering output result can be made exactly equal to input, and not have data skew, make the filter of the low pass filter
Wave method can be flexible and changeable realization.In present embodiment, low pass filter includes：Sampling module 301, computing module 302
With output module 303.
Specifically, sampling module 301, for periodic samples data, the filtering input value of low pass filter is obtained；Meter
Module 302 is calculated, for being filtered calculating according to the data sampled；Output module 303, for exporting filtered data；
Wherein, during the remainder compensation that output module obtains during the filtering in n-th of cycle is calculated calculates to the filtering in (n+1)th cycle；n
For natural number and n >=1.
Computing module 302 can be specifically used for being filtered calculating according to below equation, export filtered data Yn：And obtain the remainder R in n-th of cyclen, Rn=(T (Xn-Yn-1)+Rn-1) % (τ+T)；Wherein,
Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, Yn-1It is the filtering output in (n-1)th cycle, XnIt is n-th week
The filtering input value of phase, τ are filtering cycles, and T is the sampling period.
Because the 3rd embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with the 3rd embodiment
It is engaged implementation.The relevant technical details mentioned in 3rd embodiment are still effective in the present embodiment, implement the 3rd
The technique effect that can reach in mode can similarly be realized in the present embodiment, no longer superfluous here in order to reduce repetition
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in the 3rd embodiment.
Seventh embodiment of the invention is related to a kind of servo-driver, and servo-driver includes the 4th embodiment to the 6th
Low pass filter any one of embodiment.
It will be appreciated by those skilled in the art that realize that all or part of step in above-described embodiment method is to pass through
Program instructs the hardware of correlation to complete, and the program storage is in the storage medium, including some instructions are causing one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform each embodiment methods described of the application
All or part of step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
- A kind of 1. filtering method of low pass filter, it is characterised in that including：Periodic samples data, obtain the filtering input value of low pass filter；Data according to sampling are filtered calculating, export filtered data；Wherein, the filtering in n-th of cycle is calculated During obtained remainder compensation calculates to the filtering in (n+1)th cycle；The n is natural number and n >=1.
- 2. the filtering method of low pass filter according to claim 1, it is characterised in that the data that the basis samples Calculating is filtered, filtered data is exported, specifically includes：Calculating is filtered according to below equation, exports filtered data Yn：And obtain The remainder R in n cyclen, Rn=(T (Xn- Yn-1)+Rn-1) % τ；Wherein, the Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, the Yn-1It is the filter in (n-1)th cycle Ripple exports, the XnIt is the filtering input value in n-th of cycle, the τ is filtering cycle, and the T is the sampling period.
- 3. the filtering method of low pass filter according to claim 1, it is characterised in that the data that the basis samples Calculating is filtered, filtered data is exported, specifically includes：Calculating is filtered according to below equation, exports filtered data Yn：And obtain The remainder R in n cyclen, Rn=(T (Xn- Yn-1)+Rn-1) % (τ+T)；Wherein, the Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, the Yn-1It is the filter in (n-1)th cycle Ripple exports, the XnIt is the filtering input value in n-th of cycle, the τ is filtering cycle, and the T is the sampling period.
- 4. the filtering method of low pass filter according to claim 1, it is characterised in that also include：When n is more than 1, after the data that the basis samples are filtered calculating, by the filter for overriding (n-1)th cycle The remainder that ripple obtains in calculating, store the remainder obtained in the filtering calculating in n-th of cycle.
- 5. the filtering method of low pass filter according to any one of claim 1 to 4, it is characterised in that the low pass Wave filter is the smoothing filter in servo-driver；The filtered data of output, are specifically included：By the filtered data output to electric machine controller.
- A kind of 6. low pass filter, it is characterised in that including：Sampling module, computing module, output module；The sampling module, for periodic samples data, obtain the filtering input value of low pass filter；The computing module, for being filtered calculating according to the data sampled；The output module, for exporting filtered data；Wherein, the output module calculates the filtering in n-th of cycle During obtained remainder compensation calculates to the filtering in (n+1)th cycle；The n is natural number and n >=1.
- 7. low pass filter according to claim 6, it is characterised in that the computing module is specifically used for according to following public affairs Formula is filtered calculating, exports filtered data Yn：And obtain the remainder in n-th of cycle Rn, Rn=(T (Xn- Yn-1)+Rn-1) % τ；Wherein, the Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, the Yn-1It is the filter in (n-1)th cycle Ripple exports, the XnIt is the filtering input value in n-th of cycle, the τ is filtering cycle, and the T is the sampling period.
- 8. low pass filter according to claim 6, it is characterised in that the computing module is specifically used for according to following public affairs Formula is filtered calculating, exports filtered data Yn：And obtain the remainder in n-th of cycle Rn, Rn=(T (Xn- Yn-1)+Rn-1) % (τ+T)；Wherein, the Rn-1The remainder obtained in the filtering calculating for being (n-1)th cycle, the Yn-1It is the filter in (n-1)th cycle Ripple exports, the XnIt is the filtering input value in n-th of cycle, the τ is filtering cycle, and the T is the sampling period.
- 9. the low pass filter according to any one of claim 6 to 8, it is characterised in that the low pass filter is to watch Take the smoothing filter in driver.
- 10. a kind of servo-driver, it is characterised in that the servo-driver is included as any one of claim 6 to 8 Low pass filter.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063645A (en) * | 2018-08-01 | 2018-12-21 | 歌尔股份有限公司 | A kind of filtering method, equipment and storage medium |
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| CN109063645A (en) * | 2018-08-01 | 2018-12-21 | 歌尔股份有限公司 | A kind of filtering method, equipment and storage medium |
| CN109063645B (en) * | 2018-08-01 | 2022-04-15 | 歌尔光学科技有限公司 | Filtering method, filtering device and storage medium |
| CN109525214A (en) * | 2018-10-11 | 2019-03-26 | 上海辛格林纳新时达电机有限公司 | Filtering method, FIR filter and the servo-driver of FIR filter |
| CN109525214B (en) * | 2018-10-11 | 2022-10-14 | 上海辛格林纳新时达电机有限公司 | Filtering method of FIR (finite Impulse response) filter, FIR filter and servo driver |
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