CN111459199A - Motor nonlinear distortion compensation method, device and computer readable storage medium - Google Patents
Motor nonlinear distortion compensation method, device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a motor nonlinear distortion compensation method, a device and a computer readable storage medium, wherein the motor nonlinear distortion compensation method comprises the following steps: exciting a motor system through a logarithmic sweep frequency signal x (n), and acquiring an acceleration signal y (n) of the motor system through an accelerometer; obtaining an inverse filtering signal q (n) through the logarithmic sweep frequency signal x (n) and the acceleration signal y (n); eliminating the 2nd order to p th order harmonic distortion of the m order component in the inverse filtering signal q (n) to compensate the nonlinear distortion of the motor acceleration through the compensation filters with different orders. By using the motor system as a black box and numerically compensating for the nonlinear distortion of the nonlinear system model of the Volterra filter, the nonlinear distortion compensation can be performed without knowing the physical model.
Description
Technical Field
The present invention relates to the field of nonlinear distortion compensation technology, and more particularly, to a method and an apparatus for nonlinear distortion compensation of a motor, and a computer-readable storage medium.
Background
The application of a linear resonant exciter (L RA, commonly called a motor) in the fields of smart phones, smart watches, tablet computers and the like is increasingly popular, when motor system modeling is carried out, only the linear part of the motor is generally considered, but the nonlinear distortion is ignored, when the nonlinear distortion part of the motor is larger, the influence caused by the motor is not negligible, and a certain method is required to be adopted for modeling and compensation.
Disclosure of Invention
The invention provides a motor nonlinear distortion compensation method, a device and a computer readable storage medium, which can solve the problems that the nonlinear of parameters needs to be accurately measured and the compensation effect is not good in the prior art.
To solve the above problem, in a first aspect, the present invention provides a motor nonlinear distortion compensation method, including:
exciting a motor system through a logarithmic sweep frequency signal x (n), and acquiring an acceleration signal y (n) of the motor system through an accelerometer, wherein n is a positive integer;
obtaining an inverse filtering signal q (n) through the logarithmic sweep frequency signal x (n) and the acceleration signal y (n);
eliminating the 2nd order to p th order harmonic distortion of the m order component in the inverse filtering signal q (n) to compensate the nonlinear distortion of the motor acceleration through the compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p.
Wherein, the exciting the motor system by the logarithmic frequency sweep signal x (n), and the acquiring the acceleration signal y (n) of the motor system by the accelerometer comprises:
establishing a nonlinear system model of a Volterra filter, taking a logarithmic sweep frequency signal x (n) as an input of the nonlinear system model, and taking a vibration acceleration y (n) as an output of the nonlinear system model;
identifying a kernel function of the nonlinear system model to obtain y (n), wherein y (n) satisfies the following formula:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel, i denotesThe point coordinate of the discrete domain kernel function, i is a value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
Wherein, the obtaining of the inverse filtering signal q (n) by the logarithmic sweep frequency signal x (n) and the acceleration signal y (n) comprises:
the inverse filtered signal q (n) satisfies:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
Wherein the eliminating of the 2nd to p th harmonic distortion of the m-th order component in the inverse filtered signal q (n) to compensate the nonlinear distortion of the motor acceleration by the compensation filters of different orders comprises:
eliminating the 2nd harmonic distortion to the p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
Wherein the Volterra filter is a one-dimensional Volterra filter.
In order to solve the above problem, in a second aspect, a nonlinear distortion compensation apparatus for a motor is provided, which includes an excitation and acquisition module, an inverse filtering module, and a harmonic filtering module:
the excitation and acquisition module is used for exciting the motor system through a logarithmic sweep frequency signal x (n) and acquiring an acceleration signal y (n) of the motor system through an accelerometer, wherein n is a positive integer;
the inverse filtering module is used for acquiring an inverse filtering signal q (n) through the logarithmic frequency sweeping signal x (n) and the acceleration signal y (n);
the harmonic elimination module is used for eliminating 2 nd-p th harmonic distortion of m-order components in the inverse filtering signal q (n) so as to compensate nonlinear distortion of motor acceleration through compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p.
The system also comprises a model building module;
the model establishing module is used for establishing a nonlinear system model of a Volterra filter, taking a logarithmic sweep frequency signal x (n) as the input of the nonlinear system model, and taking a vibration acceleration y (n) as the output of the nonlinear system model;
the excitation and acquisition module is further configured to identify a kernel function of the nonlinear system model to obtain y (n), where y (n) satisfies the following equation:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel function, i represents the point coordinate of the discrete domain kernel function, i is the value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
Wherein, in the inverse filtering module:
the inverse filtered signal q (n) satisfies:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
Wherein, in the harmonic cancellation module:
eliminating the 2nd harmonic distortion to the p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
To solve the above problem, in a third aspect, a computer-readable storage medium is provided, wherein a plurality of instructions are stored in the storage medium, and the instructions are suitable for being loaded by a processor to execute a motor nonlinear distortion compensation method as described in any one of the above.
The invention has the beneficial effects that:
by using the motor system as a black box and numerically compensating for the nonlinear distortion of the nonlinear system model of the Volterra filter, the nonlinear distortion compensation can be performed without knowing the physical model.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for compensating nonlinear distortion of a motor according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for compensating nonlinear distortion of a motor according to another embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the effect of a linear compensation filter on the compensation of the non-linear distortion of a single frequency signal;
fig. 4 is a schematic diagram illustrating a compensation effect of a second-order compensation filter on a non-linear distortion of a single frequency signal according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a compensation effect of a third-order compensation filter provided in an embodiment of the present invention on a nonlinear distortion of a single frequency signal;
fig. 6 is a schematic diagram illustrating a compensation effect of a fourth-order compensation filter on non-linear distortion of a single frequency signal according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a compensation effect of a fifth-order compensation filter on non-linear distortion of a single frequency signal according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the suppression effect of total harmonic distortion according to an embodiment of the present invention;
fig. 9 is a block diagram of a nonlinear distortion compensation apparatus for a motor according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present disclosure, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The invention provides a motor nonlinear distortion compensation method, a device and a computer readable storage medium, wherein the motor nonlinear distortion compensation method comprises the following steps: exciting a motor system through a logarithmic sweep frequency signal x (n), and acquiring an acceleration signal y (n) of the motor system through an accelerometer, wherein n is a positive integer; obtaining an inverse filtering signal q (n) through the logarithmic sweep frequency signal x (n) and the acceleration signal y (n); eliminating the 2nd order to p th order harmonic distortion of the m order component in the inverse filtering signal q (n) to compensate the nonlinear distortion of the motor acceleration through the compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p. The method is realized on the basis of one-dimensional Volterra filtering, and compensates the nonlinear distortion of the nonlinear system model of the one-dimensional Volterra filter in numerical terms, so that the nonlinear distortion compensation can be performed on the premise of not knowing a physical model.
The following are detailed below.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for compensating nonlinear distortion of a motor according to an embodiment of the present invention. The motor nonlinear distortion compensation method of this embodiment includes steps S11-S13:
s11, exciting the motor system through the logarithmic sweep frequency signal x (n), and acquiring the acceleration signal y (n) of the motor system through the accelerometer, wherein n is a positive integer.
S12, obtaining an inverse filtering signal q (n) through the logarithmic sweep signal x (n) and the acceleration signal y (n).
S13, eliminating the 2nd order to the p th order harmonic distortion of the m order component in the inverse filtering signal q (n) to compensate the nonlinear distortion of the motor acceleration through compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p.
Different from the prior art, the nonlinear distortion compensation method can compensate the nonlinear distortion of the nonlinear system model of the Volterra filter in a numerical mode by taking the motor system as a black box, and can compensate the nonlinear distortion without knowing the physical model.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for compensating nonlinear distortion of a motor according to another embodiment of the present invention. The motor nonlinear distortion compensation method of this embodiment includes steps S21-S23:
s21, establishing a nonlinear system model of the Volterra filter, taking a logarithmic sweep signal x (n) as an input of the nonlinear system model, and taking a vibration acceleration y (n) as an output of the nonlinear system model.
In this embodiment, in order to accurately compensate for the nonlinear distortion of the motor, it is necessary to employ a complicated structure and method for modeling and parameter estimation of the inverse characteristic of the motor. The Volterra filter is a common nonlinear filter and can be widely used for simulating a nonlinear time-invariant system. It is a generalization of taylor series, whose expression was first proposed in 1887 by Vito Volterra. The Volterra filter is preferably a one-dimensional Volterra filter, and a non-linear system model (namely ODVF) of the one-dimensional Volterra filter is established.
S22, identifying a kernel function of the nonlinear system model to obtain y (n), wherein y (n) satisfies the following formula:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel function, i represents the point coordinate of the discrete domain kernel function, i is the value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
In this embodiment, to further simplify the calculation, the infinite term of the model is simplified into a finite term, and the harmonic distortion after the p-th order is ignored, that is, only the harmonic distortion of the previous p-th order is considered, so as to obtain the nonlinear system models of x (n) and y (n) of the motor based on the nonlinear system model of the Volterra filter constructed by the nonlinear distortion compensation apparatus for the motor, as follows:
in this embodiment, the compensation calculation may also be performed by using a further simplified nonlinear system model shown in the above formula.
S23, obtaining an inverse filtering signal q (n) through the logarithmic sweep frequency signal x (n) and the acceleration signal y (n), wherein the inverse filtering signal q (n) satisfies the following conditions:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
In this embodiment, the nonlinear distortion of y (n) of the motor is compensated according to the nonlinear system model and the inverse filter signal, and the motor system is used as a black box, so that the distortion compensation of an uncertain nonlinear system is realized without determining the model and parameters of the motor system, and the problem that the nonlinear distortion compensation cannot be performed due to the fact that the model and parameters of the motor system cannot be determined when the motor system is an uncertain nonlinear system in the prior art is solved.
S24, eliminating the 2nd to p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
In this embodiment, the value is only given when the total order of q in each component is m, and the remaining case is 0.
For a 1 st order expression:
q1＝x
for a 2nd order expression:
for a 3rd order expression:
for a 4 th order expression:
for a 5 th order expression:
in order to verify the actual effect of the nonlinear distortion compensation method for the motor, vibration acceleration is actually measured on the motor, and system identification is carried out on the basis of a nonlinear system model of the Volterra filter, wherein the parameters of the motor are shown in the following table 1:
TABLE 1 parameter table of motor
Referring to fig. 3-8, fig. 3 is a schematic diagram illustrating the compensation effect of a linear compensation filter on the nonlinear distortion of a single-frequency signal in the prior art, fig. 4-7 show the compensation effect of compensation filters of different orders on the nonlinear distortion of a single-frequency signal (2nd represents second-order harmonic distortion, 3rd represents third-order harmonic distortion, and so on), where comp2 represents a second-order compensator (i.e., q1+ q2), comp3 represents a third-order compensator (i.e., q1+ q2+ q3), and so on; referring to fig. 8, fig. 8 is a schematic diagram of the suppression effect of total harmonic distortion provided by the embodiment of the present invention, and fig. 8 shows the suppression effect of Total Harmonic Distortion (THD). From simulation experiments, the method can effectively compensate the nonlinear distortion of the motor acceleration, and is simple and feasible.
Different from the prior art, the nonlinear distortion compensation method can compensate the nonlinear distortion of the nonlinear system model of the Volterra filter in a numerical mode by taking the motor system as a black box, and can compensate the nonlinear distortion without knowing the physical model.
Referring to fig. 9, fig. 9 is a block diagram of a motor nonlinear distortion compensation apparatus according to an embodiment of the present invention, where the motor nonlinear distortion compensation apparatus according to the embodiment includes a model building module 31, an excitation and acquisition module 32, an inverse filtering module 33, and a harmonic filtering module 34:
the model establishing module 31 is configured to establish a nonlinear system model of a Volterra filter, where a logarithmic sweep signal x (n) is used as an input of the nonlinear system model, and a vibration acceleration y (n) is used as an output of the nonlinear system model.
The excitation and acquisition module 32 is configured to excite the motor system through a logarithmic sweep signal x (n), and acquire an acceleration signal y (n) of the motor system through an accelerometer, where n is a positive integer; the excitation and acquisition module is further configured to identify a kernel function of the nonlinear system model to obtain y (n), where y (n) satisfies the following equation:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel function, i represents the point coordinate of the discrete domain kernel function, i is the value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
The inverse filtering module 33 is configured to obtain an inverse filtering signal q (n) through the logarithmic frequency sweep signal x (n) and the acceleration signal y (n); the inverse filtered signal q (n) satisfies:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
The harmonic elimination module 34 is used for eliminating 2 nd-p th harmonic distortion of m-order components in the inverse filtering signal q (n) so as to compensate nonlinear distortion of motor acceleration through compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p. Wherein, eliminating the 2nd to p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
Different from the prior art, the device can compensate the nonlinear distortion of the nonlinear system model of the Volterra filter in numerical value by taking the motor system as a black box, and can compensate the nonlinear distortion without knowing the physical model.
Fig. 10 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 10, the terminal device 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82, such as a motor non-linear distortion compensation program, stored in the memory 81 and operable on the processor 80. The processor 80, when executing the computer program 82, implements the steps in the various embodiments of the motor nonlinear distortion compensation method described above, such as the steps 11 to 14 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules in the device embodiments, such as the functions of the modules 31 to 34 shown in fig. 9.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the terminal device 8. For example, the computer program 82 may be divided into the model building module 31, the excitation and acquisition module 32, the inverse filtering module 33 and the harmonic filtering module 34 shown in fig. 9.
The terminal device 8 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a terminal device 8 and does not constitute a limitation of terminal device 8 and may include more or less components than those shown, or combine certain components, or different components, for example, terminal device 8 may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 81 may be an internal storage unit of the terminal device 8, such as a hard disk or a memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the terminal device 8. The memory 81 is used for storing the computer programs and other programs and data required by the terminal device 8. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is merely used as an example, and in practical applications, the foregoing function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the terminal device is divided into different functional units or modules to perform all or part of the above-described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for compensating for nonlinear distortion in a motor, comprising:
exciting a motor system through a logarithmic sweep frequency signal x (n), and acquiring an acceleration signal y (n) of the motor system through an accelerometer, wherein n is a positive integer;
obtaining an inverse filtering signal q (n) through the logarithmic sweep frequency signal x (n) and the acceleration signal y (n);
eliminating the 2nd order to p th order harmonic distortion of the m order component in the inverse filtering signal q (n) to compensate the nonlinear distortion of the motor acceleration through the compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p.
2. The method for compensating nonlinear distortion of a motor according to claim 1, wherein the exciting the motor system by a logarithmic sweep signal x (n), and the acquiring an acceleration signal y (n) of the motor system by an accelerometer comprises:
establishing a nonlinear system model of a Volterra filter, taking a logarithmic sweep frequency signal x (n) as an input of the nonlinear system model, and taking a vibration acceleration y (n) as an output of the nonlinear system model;
identifying a kernel function of the nonlinear system model to obtain y (n), wherein y (n) satisfies the following formula:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel function, i represents the point coordinate of the discrete domain kernel function, i is the value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
3. The method for compensating nonlinear distortion of a motor according to claim 2, wherein the obtaining an inverse filtered signal q (n) from the logarithmic sweep signal x (n) and the acceleration signal y (n) comprises:
the inverse filtered signal q (n) satisfies:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
4. The motor nonlinear distortion compensation method of claim 3, wherein the removing of the 2nd to p th harmonic distortion of the m-th order component in the inverse filtered signal q (n) to compensate for the nonlinear distortion of the motor acceleration by the compensation filters of different orders comprises:
eliminating the 2nd harmonic distortion to the p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
5. The method of claim 2, wherein the Volterra filter is a one-dimensional Volterra filter.
6. The utility model provides a motor nonlinear distortion compensation arrangement which characterized in that, includes excitation and collection module, inverse filter module and harmonic filtering module:
the excitation and acquisition module is used for exciting the motor system through a logarithmic sweep frequency signal x (n) and acquiring an acceleration signal y (n) of the motor system through an accelerometer, wherein n is a positive integer;
the inverse filtering module is used for acquiring an inverse filtering signal q (n) through the logarithmic frequency sweeping signal x (n) and the acceleration signal y (n);
the harmonic elimination module is used for eliminating 2 nd-p th harmonic distortion of m-order components in the inverse filtering signal q (n) so as to compensate nonlinear distortion of motor acceleration through compensation filters with different orders, wherein m is more than or equal to 2 and less than or equal to p.
7. The apparatus of claim 6, further comprising a modeling module;
the model establishing module is used for establishing a nonlinear system model of a Volterra filter, taking a logarithmic sweep frequency signal x (n) as the input of the nonlinear system model, and taking a vibration acceleration y (n) as the output of the nonlinear system model;
the excitation and acquisition module is further configured to identify a kernel function of the nonlinear system model to obtain y (n), where y (n) satisfies the following equation:
wherein h ispIs the p-th order kernel function of the nonlinear system model, MpIs the filter length of the p-th order kernel function, i represents the point coordinate of the discrete domain kernel function, i is the value range of 0-Mp-1, n represents the sampling point of the kernel function, p is a positive integer, xp(n-i) represents the x-th power of the x-sequence of the n-i point coordinates.
8. The apparatus of claim 7, wherein the inverse filter module comprises:
the inverse filtered signal q (n) satisfies:
q(n)＝q1(n)+q2(n)+…+qp(n)
wherein q is1(n) includes only 1 st order components, q2(n) includes only 2nd order components, … qp(n) includes only p-order components.
9. The apparatus of claim 8, wherein the harmonic cancellation module is configured to:
eliminating the 2nd harmonic distortion to the p th harmonic distortion in the m-order component to obtain:
wherein, the [ alpha ], [ beta ]]mIt means that only m order harmonic distortion is retained, m being a natural number.
10. A computer readable storage medium having stored thereon instructions adapted to be loaded by a processor to perform a method of compensating for nonlinear distortion in a motor according to any of claims 1 to 5.
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