CN109341846A - Signal frequency acquisition methods, device and computer readable storage medium - Google Patents
Signal frequency acquisition methods, device and computer readable storage medium Download PDFInfo
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- CN109341846A CN109341846A CN201810969434.0A CN201810969434A CN109341846A CN 109341846 A CN109341846 A CN 109341846A CN 201810969434 A CN201810969434 A CN 201810969434A CN 109341846 A CN109341846 A CN 109341846A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H13/00—Measuring resonant frequency
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Abstract
The present invention provides a kind of signal frequency acquisition methods, device and computer readable storage mediums, which comprises successively stores data corresponding to sampled signal to the first data storage cell according to the sampling time；Using a data as step-length, N number of data of Coutinuous store are successively extracted from first data storage cell, and when in N number of data being the extreme value in N number of data in the data of predeterminated position, by the data storage in predeterminated position to the second data storage cell, the N is the integer greater than 3；The frequency of the sampled signal is determined according to the time interval of at least two extreme value data in second data storage cell.The present invention passes through the extreme value successively extracted in the corresponding data of multiple sampled signals, and signal frequency is obtained according to the time interval of the extreme value of extraction, can not only reduce hardware occupancy, but also can obtain signal frequency result in real time.
Description
Technical field
The present invention relates to field of signal processing, more specifically to a kind of signal frequency acquisition methods, device and calculating
Machine readable storage medium storing program for executing.
Background technique
With the upgrading of intelligence manufacture, electric machine controller application it is more and more wider, towards device object it is also multifarious.
For efficiency and precision, motor execution response requirement is also higher and higher, and how to improve response also becomes a huge challenge.
The promotion that motor executes response needs high rigidity, and high rigidity and equipment is closely bound up.And due to physics
Object has resonant frequency, while control system also has unstable Frequency point, if electric machine controller cannot identify in time
These resonant frequency points simultaneously inhibit, and will lead to system weight can not then work, and gently then operational effect is deteriorated.
Electric machine controller extracts signal using Fast Fourier Transform (FFT) (FFT) substantially in identification signal frequency at present
Frequency, and true resonant frequency point is determined according to amplitude.In addition, can also be extracted by filtering method, and using differential algorithm
Peak valley point simultaneously calculates frequency.
However, the identification precision of Fast Fourier Transform (FFT) scheme is influenced by acquisition data volume and frequency acquisition, in high precision
Need big data buffer area, and Fast Fourier Transform (FFT) scheme need to have acquired all data after just calculated, therefore number
Can not effectively it be inhibited according in collection process.In addition, Fast Fourier Transform (FFT) scheme is there is also calculating, the time is long, it is complicated to calculate
The problem of, expend biggish memory.
There is also side lobe effect, the frequency amplitude of near DC is likely to cover indeed vibrations Fast Fourier Transform (FFT) scheme
The amplitude of frequency fails so as to cause to extract.Windowing process is needed at this time, and this also increases realize difficulty.
And in filters solutions, one is situated between is easy to be influenced by signal noise and quantizing noise with two Jie's differential algorithms, misses
Sentence.
Summary of the invention
The technical problem to be solved in the present invention is that for above-mentioned signal frequency calculate real-time is poor, hardware occupy compared with
It is more and the problem of be easy to appear erroneous judgement, a kind of signal frequency acquisition methods, device and computer readable storage medium are provided.
The technical solution that the present invention solves above-mentioned technical problem is to provide a kind of signal frequency acquisition methods, comprising:
Data corresponding to sampled signal are successively stored according to the sampling time to the first data storage cell；
Using a data as step-length, N number of data of Coutinuous store are successively extracted from first data storage cell,
And when in N number of data being the extreme value in N number of data in the data of predeterminated position, described it will be in predeterminated position
Data storage to the second data storage cell, the N is the integer greater than 3；
The sampled signal is determined according to the time interval of at least two extreme value data in second data storage cell
Frequency.
Preferably, the N < [Fs × 2/f], wherein Fs is the sample frequency of signal, and f is preset maximum frequency, [] table
Show round numbers operation.
Preferably, the predeterminated position is the middle position of N number of data, in which:
If the N is even number, the data in the middle position are N/2 data or the N in N number of data
The N/2+1 data in a data；
If the N is odd number, the data in the middle position are (N+1)/2 data in N number of data.
Preferably, first data storage cell be buffer circle, it is described using a data as step-length, successively from
N number of data of Coutinuous store are extracted in first data storage cell, and the number of predeterminated position is in N number of data
When according to being the extreme value in N number of data, include: to the second data storage cell by the data storage in predeterminated position
Sliding window is created, the sliding window includes N number of storage byte；
The buffer circle is traversed by sliding step of a data, will successively be deposited in first data storage cell
N number of data of storage extract N number of storage byte of the sliding window, and the sliding window is extreme value in the storage byte of predeterminated position
When, by the data storage of the storage byte of the predeterminated position to second data storage cell.
Preferably, using a data as step-length, Coutinuous store successively is extracted from first data storage cell
N number of data when, if the data in N number of data in predeterminated position are extreme value and the extreme values in N number of data
When beyond preset range, abandons the extreme value or replace extreme value storage to store list to second data preset data
Member.
Preferably, the time interval according at least two extreme value data in second data storage cell determines institute
State the frequency of sampled signal, comprising:
It is adopted according to the time interval acquisition of two extreme value data of adjacent storage in second data storage cell
The frequency of sample signal.
Preferably, if two extreme value data of the adjacent storage are all maximum or are all minimum, the signal
Frequency be 1/ Δ T1, wherein Δ T1Between the time of two extreme value data of adjacent storage in second data storage cell
Every；
If two extreme value data of the adjacent storage are respectively maximum and minimum, the frequency of the signal is 1/
(2×ΔT2), wherein Δ T2For the time interval of two extreme value data of adjacent storage in second data storage cell.
Preferably, data corresponding to sampled signal are successively being stored according to the sampling time to the first data storage cell
When, while the sampling time corresponding to the sampled signal is stored, it is described according at least two in second data storage cell
The time interval of a extreme value data determines the frequency of the sampled signal, comprising:
The sampled signal is determined according to extreme value data each in the second data storage cell corresponding sampling time
Frequency.
Preferably, using a data as step-length, Coutinuous store successively is extracted from first data storage cell
N number of data when, further includes: the data in N number of data in predeterminated position are not extreme values in N number of data
When, by preset data storage into second data storage cell；
The time interval of at least two extreme values data is determined according to following manner: according to the sampling of the sampled signal
The number of the preset data between period and at least two extreme values data determines at least two extreme values data
Time interval.
Preferably, the time interval according at least two extreme value data in second data storage cell obtains institute
The frequency for stating sampled signal includes:
Calculate separately the time interval of two extreme value data of adjacent storage in second data storage cell；
The frequency of the sampled signal is determined according to the average value of multiple time intervals.
Preferably, the sampled signal is one of following signals: the speed signal of speed ring sampling from the motor controller,
The speed deviation signal of speed ring sampling from the motor controller, from the vibration signal of motor oscillating sensor sample.
The present invention also provides a kind of signal frequency acquisition device, including memory and processor, stored in the memory
There is the computer program that can be run on the processor, which is characterized in that when the processor executes the computer program
The step of realizing method as described above.
The present invention also provides a kind of computer readable storage medium, computer program, institute are stored on the storage medium
When stating computer program and being executed by processor, the step of realizing method as described above.
Signal frequency acquisition methods, device and computer readable storage medium of the invention, by successively extracting multiple adopt
Extreme value in the corresponding data of sample signal, and signal frequency is obtained according to the time interval of the extreme value of extraction, it can not only reduce
Hardware occupies, and can obtain signal frequency result in real time.
Detailed description of the invention
Fig. 1 is the flow diagram of signal frequency acquisition methods embodiment of the present invention；
Fig. 2 is the schematic diagram that extreme value stores in signal frequency acquisition methods embodiment of the present invention；
Fig. 3 is the schematic diagram of sliding window in signal frequency acquisition methods embodiment of the present invention；
Fig. 4 is the schematic diagram of signal frequency acquisition device embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, being the flow diagram of signal frequency acquisition methods embodiment of the present invention, the signal frequency acquisition side
Method can be applied to any required occasion for carrying out signal frequency analysis, such as resonant frequency point obtains, is dry in electric machine control system
Disturb signal frequency sampling etc..Signal frequency acquisition methods in the present embodiment can ARM (Advanced RISC Machine, into
Rank reduced instruction set machine) it holds in chip or DSP (Digital Signal Processing, digital signal processor) chip
Row, and the following steps are included:
Step S1: data corresponding to sampled signal are successively stored according to the sampling time to the first data storage cell.
Above-mentioned sampled signal both can be digital signal, be also possible to analog signal.
First data storage cell can be the buffer storage in ARM chip or dsp chip.Specifically, sampled signal
Corresponding data can be with queue (such as circle queue) or the number of other record storage sequences in the first data storage cell
It is stored according to structure type.
Above-mentioned sampled signal is the speed signal of speed ring sampling from the motor controller, fast from the motor controller
The speed deviation signal for spending ring sampling, from the vibration signal etc. of motor oscillating sensor sample.
Step S2: using a data as step-length, N number of number of Coutinuous store is successively extracted from the first data storage cell
According to, and when being extreme value (A, C, D point as shown in Figure 2) in N number of data in the data of predeterminated position in N number of data, it will
Data in predeterminated position are stored to the second data storage cell；Data in N number of data in predeterminated position are not N number of
When extreme value (B, E point as shown in Figure 2) in data, then the data are not stored to the second data storage cell.Above-mentioned N be greater than
3 integer.Above-mentioned second data storage cell can be the buffer storage in ARM chip or dsp chip, and the second data are deposited
Storage unit equally can be used queue form (data structure of other record storage sequences can also be used certainly) and carry out data storage.
In practical applications, above-mentioned second data storage cell specifically can be located at same object with the first data storage cell
Reason storage equipment, the two can also be located at different physical storage devices certainly.And for simplify operation, above-mentioned N number of data it is pre-
If position is the middle position of N number of data, and if N is even number, the data in middle position are the N/2 in N number of data
The N/2+1 data in a data or N number of data；If N is odd number, the data in middle position are in N number of data
(N+1)/2 data.
The value of above-mentioned N depends on the maximum frequency of the signal to be analyzed, and particularly, the half of signal period should be greater than acquiring
The time of N number of data, i.e. N < [Fs × 2/f], wherein Fs is the sample frequency of sampled signal in step S1, and f is preset maximum
Frequency (i.e. the preset maximum frequency range can be arranged according to application, can be discreet value), [] indicate round numbers fortune
It calculates.In this way, can get the frequency of more accurate sampled signal.
Above-mentioned extreme value is specifically as follows maximum, i.e., number of the data in predeterminated position than other positions in N number of data
According to all greatly, correspondingly, the data of storage to the second data storage cell are the wave crest of sampled signal.Above-mentioned extreme value may be pole
Small value, i.e., the data in N number of data in predeterminated position are all smaller than the data of other positions, are stored at this time to the second data and stored
The data of unit are the trough of sampled signal.Above-mentioned extreme value can also include maximum and minimum simultaneously, i.e., be in N number of data
The data of predeterminated position are all bigger than the data of other positions or all small, in this way, can deposit simultaneously the wave crest of sampled signal and trough
It stores up to the second data storage cell.
To simplify operation, buffer circle is can be used in above-mentioned first data storage cell, and the step can pass through a cunning
Dynamic window realizes that creating one includes N number of sliding window (such as queue can be used) for storing byte.In conjunction with Fig. 3, sliding window 21 is first
First the data d1~dN stored in the first data storage cell 10 is successively stored respectively in its N number of storage byte, is then sentenced
Whether the sliding window 21 that breaks in the storage byte of predeterminated position is extreme value, and when the storage byte of predeterminated position is extreme value, will
Data in the storage byte of the predeterminated position are stored into the second data storage cell.
Then, so that sliding window 21 is slided backward a step-length (such as sliding a lattice in Fig. 2 to the right), and the first data are deposited
Data d2~the d (N+1) stored in storage unit 10 is successively stored respectively in N number of storage byte of the sliding window 21, is then sentenced
Whether the sliding window 21 that breaks in the storage byte of predeterminated position is extreme value, and when the storage byte of predeterminated position is extreme value, will
Data in the storage byte of the predeterminated position are stored into the second data storage cell.
Then, sliding window 21 is made to slide backward a step-length again (in the last one storage byte sliding of sliding window 21
To after the last one data dx of the first data storage cell 10, the sliding of sliding window 21 next time will make the first data storage cell
10 first data d1 is connected to after data dx), and corresponding data extraction is carried out, until sliding window 21 has traversed loop buffer
Area slides into initial position.
Step S3: sampled signal is obtained according to the time interval of at least two extreme value data in the second data storage cell
Frequency.
To simplify the calculation, which can be according to the time of two extreme value data of storage adjacent in the second data storage cell
Interval obtains the frequency of sampled signal.Such as when the adjacent storage in the second data storage cell two extreme values be all very big
When being worth or being all minimum, the frequency of signal is 1/ Δ T1, wherein Δ T1It is two of adjacent storage in the second data storage cell
The time interval of extreme value data；When two extreme values of storage adjacent in the second data storage cell are respectively maximum and minimum
When, the frequency of signal is 1/ (2 × Δ T2), wherein Δ T2For two extreme value data of adjacent storage in the second data storage cell
Time interval.
The time interval of two extreme value data can specifically be calculated according to the sampling period of sampled signal and be obtained.Specifically, on
It states in step S2, using a data as step-length, the N number of of Coutinuous store is successively extracted from first data storage cell
When data, if the data in N number of data in predeterminated position are not the extreme values in N number of data, preset data storage can be arrived
In second data storage cell；So in step s3, it can be stored according to the sampling period of sampled signal and the second data single
The number of preset data in member between two extreme value data (i.e. non-default data) calculates the time for obtaining two extreme value data
Interval.For example, when preset data is zero, if there is K zero, two between two non-zeros in the second storage unit
The time interval of extreme value data is (K+1) × T, and T is the sampling period of sampled signal.
It, in step sl, can also be will be corresponding to sampled signal for the calculating of the frequency convenient for the signal in step S3
When data are successively stored according to the sampling time to the first data storage cell, while storing the sampling time corresponding to sampled signal
(i.e. timestamp)；Also, when in step s 2 by wave crest or the storage of trough data to the second data storage cell, while storing number
According to the corresponding sampling time (when the non-extreme value of data in N number of data in predeterminated position, without storing preset data to second
Data storage cell), thus in step s3 can sampled signal corresponding to two data directly by adjacent storage sampling
The time difference of time is as time interval, and the frequency for carrying out sampled signal calculates.
For the precision of the frequency of the signal of raising acquisition, the second data storage cell can be calculated separately in above-mentioned steps S3
In adjacent storage two extreme value data time interval；And sampled signal is obtained according to the average value of multiple time interval
Frequency.By this way, influence of the interference signal to final calculation result can be reduced.
Above-mentioned signal frequency acquisition methods can be directed to the frequency abstraction of the signal in a certain amplitude range, at this time step S2
Sliding window when the storage byte of predeterminated position is that extreme value and the extreme value exceed preset range, preset data is replaced into the pole
Second data storage cell is arrived in value storage.By this way, it can exclude the interference signal.
In addition, if multiple slidings can be passed through in above-mentioned steps S2 with the signal of multiple and different amplitudes in sampled signal
The wave crest of corresponding amplitude, trough data are stored to the second different data and are deposited to carry out corresponding wave crest, trough identification by window
Storage unit.At this point, a corresponding amplitude range can be arranged for each sliding window, i.e., when the data of the predeterminated position of sliding window are super
When the amplitude range being arranged out, the wave crest data (if step S1 while storing sampling time of signal) are abandoned or by present count
According to replacement extreme value storage to second data storage cell (if sampling time of the not stored signal of step S1).
As shown in figure 4, being the present invention also provides a kind of signal frequency acquisition device, which can be integrated into motor control
Device, and including memory 41 and processor 42, the computer journey that can be run on processor 42 is stored in above-mentioned memory 41
The step of sequence, processor 42 realizes method as described above when executing the computer program.
The present invention also provides a kind of computer readable storage medium, computer program is stored on the storage medium, and should
When computer program is executed by processor, the step of realizing method as described above.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (13)
1. a kind of signal frequency acquisition methods characterized by comprising
Data corresponding to sampled signal are successively stored according to the sampling time to the first data storage cell；
Using a data as step-length, successively from first data storage cell extract Coutinuous store N number of data, and
When data in N number of data in predeterminated position are the extreme values in N number of data, by the number in predeterminated position
According to storage to the second data storage cell, the N is the integer greater than 3；
The frequency of the sampled signal is determined according to the time interval of at least two extreme value data in second data storage cell
Rate.
2. signal frequency acquisition methods according to claim 1, which is characterized in that the N < [Fs × 2/f], wherein Fs is
The sample frequency of signal, f are preset maximum frequency, and [] indicates round numbers operation.
3. signal frequency acquisition methods according to claim 1, which is characterized in that the predeterminated position is N number of data
Middle position, in which:
If the N is even number, the data in the middle position are N/2 data or N number of number in N number of data
The N/2+1 data in；
If the N is odd number, the data in the middle position are (N+1)/2 data in N number of data.
4. signal frequency acquisition methods according to claim 1, which is characterized in that first data storage cell is ring
Shape buffer area, it is described using a data as step-length, the N number of of Coutinuous store is successively extracted from first data storage cell
Data, and when being the extreme value in N number of data in the data of predeterminated position in N number of data, it will be described in pre-
If the data of position are stored to the second data storage cell
Sliding window is created, the sliding window includes N number of storage byte；
By sliding step of a data buffer circle is traversed, will successively be stored in first data storage cell
N number of data extract N number of storage byte of the sliding window, the sliding window when the storage byte of predeterminated position is extreme value,
By the data storage of the storage byte of the predeterminated position to second data storage cell.
5. signal frequency acquisition methods according to claim 1, which is characterized in that using a data as step-length, according to
When the secondary N number of data for extracting Coutinuous store from first data storage cell, if being in predeterminated position in N number of data
Data be extreme value in N number of data and the extreme value beyond preset range when, abandon the extreme value or by preset data
Instead of extreme value storage to second data storage cell.
6. signal frequency acquisition methods according to claim 1, which is characterized in that described to be stored according to second data
The time interval of at least two extreme value data determines the frequency of the sampled signal in unit, comprising:
The sampling letter is obtained according to the time interval of two extreme value data of adjacent storage in second data storage cell
Number frequency.
7. signal frequency acquisition methods according to claim 6, it is characterised in that:
If two extreme value data of the adjacent storage are all maximum or are all minimum, the frequency of the signal is 1/ Δ
T1, wherein Δ T1For the time interval of two extreme value data of adjacent storage in second data storage cell；
If two extreme value data of the adjacent storage are respectively maximum and minimum, the frequency of the signal be 1/ (2 ×
ΔT2), wherein Δ T2For the time interval of two extreme value data of adjacent storage in second data storage cell.
8. signal frequency acquisition methods according to claim 1, which is characterized in that by data corresponding to sampled signal
When successively stored according to the sampling time to the first data storage cell, while when storing sampling corresponding to the sampled signal
Between, the time interval according at least two extreme value data in second data storage cell determines the sampled signal
Frequency, comprising:
The frequency of the sampled signal is determined according to extreme value data each in the second data storage cell corresponding sampling time
Rate.
9. signal frequency acquisition methods according to claim 1, which is characterized in that using a data as step-length, according to
When the secondary N number of data for extracting Coutinuous store from first data storage cell, further includes:
When data in N number of data in predeterminated position are not the extreme values in N number of data, preset data is stored
Into second data storage cell；
The time interval of at least two extreme values data is determined according to following manner:
According to of the preset data between the sampling period of the sampled signal and at least two extreme values data
Number, determines the time interval of at least two extreme values data.
10. signal frequency acquisition methods according to claim 6, which is characterized in that described to be deposited according to second data
The time interval of at least two extreme value data obtains the frequency of the sampled signal and includes: in storage unit
Calculate separately the time interval of two extreme value data of adjacent storage in second data storage cell；
The frequency of the sampled signal is determined according to the average value of multiple time intervals.
11. signal frequency acquisition methods according to claim 1, which is characterized in that the sampled signal is following signals
One of: the speed signal of speed ring sampling from the motor controller, the velocity deviation of speed ring sampling is believed from the motor controller
Number, from the vibration signal of motor oscillating sensor sample.
12. a kind of signal frequency acquisition device, which is characterized in that including memory and processor, be stored in the memory
The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program
Now such as the step of any one of claims 1 to 11 the method.
13. a kind of computer readable storage medium, computer program is stored on the storage medium, which is characterized in that described
When computer program is executed by processor, realize such as the step of any one of claims 1 to 11 the method.
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| CN111076807A (en) * | 2019-12-18 | 2020-04-28 | 瑞声科技(新加坡)有限公司 | Method, device and equipment for processing vibration signal and readable medium |
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