CN111965379A - Speed signal filtering system and filtering method based on potentiometer type sensor - Google Patents
Speed signal filtering system and filtering method based on potentiometer type sensor Download PDFInfo
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- CN111965379A CN111965379A CN202010838610.4A CN202010838610A CN111965379A CN 111965379 A CN111965379 A CN 111965379A CN 202010838610 A CN202010838610 A CN 202010838610A CN 111965379 A CN111965379 A CN 111965379A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
- G01P3/465—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage by using dynamo-electro tachometers or electric generator
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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
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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
- H03H17/0202—Two or more dimensional filters; Filters for complex signals
- H03H2017/0207—Median filters
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Abstract
The invention provides a speed signal filtering system and a filtering method based on a potentiometer sensor, wherein the filtering system comprises an AD sampling circuit, a median filter, a mean value filter and a low-pass filter which are sequentially connected in series; the filtering method comprises the steps of obtaining a speed signal by a T speed measurement method, filtering an abnormal value with large fluctuation in the speed signal through a median filter, smoothing the speed signal through an average filter, and filtering a high-frequency component in the speed signal through a low-pass filter. By adopting the technical scheme of the invention, the original speed signal is directly obtained by the T speed measurement method, the speed measurement method is simple and rapid, and the abnormal value with large fluctuation in the speed signal is filtered by the median filter, the average filter is used for filtering and smoothing the speed signal, and the low-pass filter is used for filtering the high-frequency component in the speed signal, so that the finally obtained speed signal has higher reliability, anti-interference performance and higher feasibility and can be used as the feedback speed signal of the steering engine.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a speed signal filtering system and a speed signal filtering method based on a potentiometer type sensor.
Background
The potentiometer type sensor is a low-cost and high-reliability position sensor capable of converting position signals into voltage signals, and is suitable for being applied to the field of civil industrial products with strict requirements on cost, such as robot servo steering engines. However, in the robot servo steering engine, not only an accurate position but also a rotational speed thereof need to be controlled. Generally, due to the principle nature of potentiometers, they typically have a limited range of rotation angles with reliable accuracy, typically within 300 °. When the angle is rotated from hundreds of degrees to several degrees, the situation that the resolving angle is not correct can occur because the voltage signal cannot be suddenly changed, and the calculated speed can have large fluctuation and is difficult to be directly utilized.
Based on this, this patent aims to propose a filtering method of the speed signal. And resolving a position signal according to a potentiometer by adopting a T speed measurement method to obtain an original speed signal.
Disclosure of Invention
In order to solve the technical problem, the invention provides a speed signal filtering system based on a potentiometer type sensor.
The invention is realized by the following technical scheme.
The invention provides a speed signal filtering system based on a potentiometer type sensor, which comprises an AD sampling circuit, a median filter, an average filter and a low-pass filter, wherein the AD sampling circuit, the median filter, the mean filter and the low-pass filter are sequentially connected in series;
an AD sampling circuit: the AD sampling circuit comprises a potentiometer sensor and is used for collecting a potentiometer sensor signal so as to obtain a real-time position signal and obtain a speed signal by adopting a T speed measurement method;
a median filter: the median filter is used for filtering abnormal values with large fluctuation in the speed signals from the AD sampling circuit;
an average value filter: the mean filter is used for carrying out filtering smoothing processing on the speed signal from the median filter;
a low-pass filter: the low-pass filter is used for filtering out high-frequency components in the speed signal from the mean value filter.
The AD sampling circuit comprises a 12-bit main control chip.
The low-pass filter is a first-order low-pass filter with a cut-off frequency of 100 Hz.
In addition, the invention also provides a filtering method using the speed signal filtering system based on the potentiometer type sensor, which comprises the following steps:
acquiring a potentiometer type sensor signal through an AD sampling circuit so as to acquire a real-time position signal, acquiring a speed signal by adopting a T speed measurement method, filtering an abnormal value with large fluctuation in the speed signal by a median filter, filtering and smoothing the speed signal by an average filter, and filtering a high-frequency component in the speed signal by a low-pass filter in sequence, and then finishing.
The speed signal acquisition by the T speed measurement method comprises the following steps:
and acquiring a voltage signal output by a potentiometer sensor through a 12-bit main control chip arranged in the AD sampling circuit, controlling the range of the output voltage signal to be 0V-5V, reading a digital signal to be 0-4095, and reading a corresponding angle to be 0-359 degrees, wherein when the read angle signal changes to 10 degrees, reading a corresponding time count value Tcnt, and then, a speed signal is V which is 10 degrees/Tcnt.
The filtering of the abnormal value with large fluctuation in the velocity signal by the median filter means:
step 1: setting the filtering window number k of a median filter, wherein k is a positive integer, and then storing the acquired speed signal into a speed array with k members;
step 2: reading the current latest speed signal, and updating all the speed signals in the speed array in sequence;
and step 3: backing up all data in the speed array;
and 4, step 4: and sorting all the data in the speed array by adopting a bubbling algorithm and outputting intermediate values of all the data.
The number k of filter windows is 19.
The filtering and smoothing processing of the mean filter means that:
continuously acquiring n speed signals, wherein n is a natural number, and storing the n speed signals as a speed array X [ n ]]Through formula
The arithmetic mean is obtained by calculation.
The number n of the speed signals is 20.
The invention has the beneficial effects that: by adopting the technical scheme of the invention, the original speed signal is directly obtained by the T speed measurement method, the speed measurement method is simple and rapid, and the abnormal value with large fluctuation in the speed signal is filtered by the median filter, the average filter is used for filtering and smoothing the speed signal, and the low-pass filter is used for filtering the high-frequency component in the speed signal, so that the finally obtained speed signal has higher reliability, anti-interference performance and higher feasibility and can be used as the feedback speed signal of the steering engine.
Drawings
FIG. 1 is a process flow diagram of the invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in FIG. 1, the invention provides a speed signal filtering system based on a potentiometer type sensor, which comprises an AD sampling circuit, a median filter, an average filter and a low-pass filter which are sequentially connected in series;
an AD sampling circuit: the AD sampling circuit comprises a potentiometer sensor and is used for collecting a potentiometer sensor signal so as to obtain a real-time position signal and obtain a speed signal by adopting a T speed measurement method; in addition, the AD sampling circuit preferably includes a 12-bit main control chip.
A median filter: the median filter is used for filtering abnormal values with large fluctuation in the speed signals from the AD sampling circuit;
an average value filter: the mean filter is used for carrying out filtering smoothing processing on the speed signal from the median filter;
a low-pass filter: the low pass filter is used to filter out the high frequency components in the velocity signal from the averaging filter. The low-pass filter is a first-order low-pass filter with a cut-off frequency of 100 Hz.
In addition, the invention also provides a filtering method using the speed signal filtering system based on the potentiometer type sensor, which comprises the following steps:
acquiring a potentiometer type sensor signal through an AD sampling circuit so as to acquire a real-time position signal, acquiring a speed signal by adopting a T speed measurement method, filtering an abnormal value with large fluctuation in the speed signal by a median filter, filtering and smoothing the speed signal by an average filter, and filtering a high-frequency component in the speed signal by a low-pass filter in sequence, and then finishing.
Further, acquiring the speed signal by using a T-speed measurement method means:
the output voltage signal of the potentiometer sensor is collected through a 12-bit main control chip arranged in an AD sampling circuit, the output voltage signal range is controlled to be 0V-5V, the read digital signal is 0-4095, the corresponding angle is 0-359 degrees, when the read angle signal changes to 10 degrees, the corresponding time count value Tcnt is read, and the speed signal is V which is 10 degrees/Tcnt.
In addition, the filtering of the abnormal value with large fluctuation in the velocity signal by the median filter means:
step 1: setting the filtering window number k of a median filter, wherein k is a positive integer, and then storing the acquired speed signal into a speed array with k members; preferably, the number of filter windows k is 19.
Step 2: reading the current latest speed signal, and updating all the speed signals in the speed array in sequence;
and step 3: backing up all data in the speed array;
and 4, step 4: and sorting all the data in the speed array by adopting a bubbling algorithm and outputting intermediate values of all the data.
For example, when the number of set median filter windows is set to 19, then the speed memory array is X [19], with 19 members, all signals in the window are updated X [18-i ] ═ X [17-i ], and the current latest speed signal X [0] ═ V is read. And backing up all data in the buffer, wherein Xcopy [ i ] ═ X [ i ]. And then carrying out bubble sorting algorithm on the backed-up data, and finally outputting the intermediate value Xcopy of the data in the backup area [10 ].
The mean filter performs filter smoothing processing by:
continuously acquiring n speed signals, wherein n is a natural number, and storing the n speed signals as a speed array X [ n ]]Through formula
The arithmetic mean is obtained by calculation. Preferably, the number n of speed signals is 20.
By adopting the technical scheme of the invention, the original speed signal is directly obtained by the T speed measurement method, the speed measurement method is simple and rapid, and the abnormal value with large fluctuation in the speed signal is filtered by the median filter, the average filter is used for filtering and smoothing the speed signal, and the low-pass filter is used for filtering the high-frequency component in the speed signal, so that the finally obtained speed signal has higher reliability, anti-interference performance and higher feasibility and can be used as the feedback speed signal of the steering engine.
Claims (9)
1. A potentiometer-type sensor based speed signal filtering system, characterized by: the device comprises an AD sampling circuit, a median filter, an average filter and a low-pass filter which are sequentially connected in series;
an AD sampling circuit: the AD sampling circuit comprises a potentiometer sensor and is used for collecting a potentiometer sensor signal so as to obtain a real-time position signal and obtain a speed signal by adopting a T speed measurement method;
a median filter: the median filter is used for filtering abnormal values with large fluctuation in the speed signals from the AD sampling circuit;
an average value filter: the mean filter is used for carrying out filtering smoothing processing on the speed signal from the median filter;
a low-pass filter: the low-pass filter is used for filtering out high-frequency components in the speed signal from the mean value filter.
2. A potentiometric sensor-based speed signal filtering system as defined in claim 1 wherein: the AD sampling circuit comprises a 12-bit main control chip.
3. A potentiometric sensor-based speed signal filtering system as defined in claim 1 wherein: the low-pass filter is a first-order low-pass filter with a cut-off frequency of 100 Hz.
4. A filtering method using a potentiometric sensor based speed signal filtering system as defined in any one of claims 1 to 3 wherein: the method comprises the following steps:
acquiring a potentiometer type sensor signal through an AD sampling circuit so as to acquire a real-time position signal, acquiring a speed signal by adopting a T speed measurement method, filtering an abnormal value with large fluctuation in the speed signal by a median filter, filtering and smoothing the speed signal by an average filter, and filtering a high-frequency component in the speed signal by a low-pass filter in sequence, and then finishing.
5. The potentiometer sensor-based speed signal filtering method according to claim 4, wherein: the speed signal acquisition by the T speed measurement method comprises the following steps:
and acquiring a voltage signal output by a potentiometer sensor through a 12-bit main control chip arranged in the AD sampling circuit, controlling the range of the output voltage signal to be 0V-5V, reading a digital signal to be 0-4095, and reading a corresponding angle to be 0-359 degrees, wherein when the read angle signal changes to 10 degrees, reading a corresponding time count value Tcnt, and then, a speed signal is V which is 10 degrees/Tcnt.
6. The potentiometer sensor-based speed signal filtering method according to claim 4, wherein: the filtering of the abnormal value with large fluctuation in the velocity signal by the median filter means:
step 1: setting the filtering window number k of a median filter, wherein k is a positive integer, and then storing the acquired speed signal into a speed array with k members;
step 2: reading the current latest speed signal, and updating all the speed signals in the speed array in sequence;
and step 3: backing up all data in the speed array;
and 4, step 4: and sorting all the data in the speed array by adopting a bubbling algorithm and outputting intermediate values of all the data.
7. The potentiometer sensor-based speed signal filtering method according to claim 6, wherein: the number k of filter windows is 19.
8. The potentiometer sensor-based speed signal filtering method according to claim 4, wherein: the filtering and smoothing processing of the mean filter means that:
continuously acquiring n speed signals, wherein n is a natural number, and storing the n speed signals as a speed array X [ n ]]Through formula
The arithmetic mean is obtained by calculation.
9. The potentiometer sensor-based speed signal filtering method according to claim 8, wherein: the number n of the speed signals is 20.
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| US20140067124A1 (en) * | 2012-08-28 | 2014-03-06 | Matthew Murray Williamson | Monitoring robot sensor consistency |
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