CN116127284A - Method, device and equipment for detecting and repairing measured signal wild value - Google Patents
Method, device and equipment for detecting and repairing measured signal wild value Download PDFInfo
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Abstract
A detection and repair method, device and equipment for measuring signal field value relates to the technical field of electromechanical system computer control, and the technical problem solved by the detection method is how to provide a method capable of accurately judging the measuring signal field value in an electromechanical servo system, comprising the following steps: collecting a current measurement signal and a historical measurement signal; acquiring limit parameters of the electromechanical servo system; and inputting the historical measurement signal and the current measurement signal into a outlier judging function based on a limit parameter, and judging whether the current measurement signal is outlier or not based on the limit parameter. The repairing method comprises the following steps: and if the current measurement signal is the outlier, outlier restoration is performed based on the current fitting value and the historical fitting value. The detection method detects the wild value based on the wild value judging function of the limiting parameter, and the repairing method repairs the wild value based on the fitting value by adopting the wild value result obtained by detection, so that the miss judgment rate and the misjudgment rate are effectively reduced, and a better repairing effect is achieved.
Description
Technical Field
The invention relates to the technical field of computer control of electromechanical systems.
Background
In electromechanical servo systems, there are various measuring elements, also called encoders, which are used to detect the output signal of the current system and transmit it back to the industrial personal computer, so as to realize closed-loop control of the whole system. Taking a common flight simulation turntable as an example, the measuring element generally comprises a code wheel or a steel grating ruler. Which functions to measure the rotation angle and convert it into an output signal in the form of pulses or numbers, the measuring element can be further subdivided into absolute and incremental encoders. There are many reticles on the absolute encoder, and at each position of the encoder, a unique set of binary codes from zero-th power of 2 to n-1 th power of 2 is obtained by reading the pass and dark of each reticle. The incremental rotary encoder converts the time sequence and the phase relation of the angle code disc through two photosensitive receiving tubes to obtain the increase or decrease of the angle displacement of the angle code disc. However, in the process of detecting and transmitting back the measurement signal, the measurement signal in binary form often has a wild value caused by inversion of a certain several-bit level due to reasons of the sensor itself and various electromagnetic interference or poor contact phenomena in the transmission process because the measurement element, the amplifier, the signal processor and other links need to be sequentially passed through by cables. Some amplitude values of the wild values can even far exceed the amplitude values of normal signals, if the amplitude values are not processed, misoperation, rapid acceleration and deceleration and the like of a motor can be caused, the tracking of a system to command signals can be influenced, excessive impact can be generated, if the amplitude values are not processed, the normal service life of the whole mechanical system can be influenced, and even potential safety hazards can be caused. Therefore, the wild value in the servo motor system needs to be detected and repaired.
In the field value detection, the most common is a fixed threshold detection method, however, when the method is adopted, the detection effect is seriously affected by improper selection of the threshold. The method for processing the detected measured signal wild value is commonly as follows: first, directly maintaining the value of the previous moment; second, the signals are filtered using various filters. The restoration effect of directly maintaining the previous time value is often unsatisfactory, because the problem that the measured signal itself has an outlier is only solved, but the outlier existing in the differential signal of the measured signal is not effectively restored. The filter is added in the system, so that the dynamic characteristics of the system can be influenced to a certain extent, and the wild value can not be thoroughly repaired.
Therefore, how to provide a method for accurately judging the measured signal field value and repairing the field value in the electromechanical servo system is a technical problem to be solved in the field.
Disclosure of Invention
In order to solve the technical problem that the detection and repair of the outlier are easy to miss judgment and misjudge in the prior art, the invention provides a detection and repair method, a device and equipment for the outlier of a measurement signal, the detection method detects the outlier based on an outlier judgment function of a limiting parameter, and the repair method adopts an outlier result obtained by detection and repairs based on a fitting value, so that miss judgment rate and misjudge rate are effectively reduced, and a better repair effect is achieved.
A method for detecting a measured signal field value, applied to an electromechanical servo system, the method comprising:
s1, collecting a current measurement signal and a historical measurement signal;
s2, acquiring limit parameters of the electromechanical servo system;
s3, inputting the historical measurement signals and the current measurement signals into a outlier judging function based on a limiting parameter, and judging whether the current measurement signals are outliers or not based on the limiting parameter.
Further, step S3 includes:
s31, calculating the speed at the last sampling period;
s32, calculating a speed threshold based on the limit parameter and the speed at the last sampling period;
s33, based on the limit parameter and the speed threshold, judging the speed of the current measurement signal to judge whether the current measurement signal is a wild value, if so, executing the step S34 to further judge, otherwise, directly confirming the current measurement signal as the wild value;
and S34, based on the limit parameter and the speed threshold, carrying out position judgment on the current measurement signal to judge whether the current measurement signal is a wild value or not.
Further, in step S33, when the speed of the current measurement signal is determined, a margin of Δv is added to the speed determination condition, where Δv=2·a max Δt, Δt represents the time interval, a max Representing the maximum acceleration;
in step S34, when the position determination is performed on the current measurement signal, a margin of Δx is added to the position determination condition, where Δx=a max ·Δt 2 。
Further, for the judgment in step S3 that the value is not wild, the following judgment is further made:
s4, inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
s5, calculating the miss rate of the current measurement signal which is judged to be the non-wild value in the step S3;
s6, comparing the missed judgment rate with a preset missed judgment rate threshold, and if the missed judgment rate is larger than the preset missed judgment rate threshold, inputting the current measurement signal into a wild value judgment function based on a fitting value, and judging the wild value based on the current fitting value and a history fitting value.
Further, step S4 includes:
calculating a history fit value based on the history measurement signal;
calculating the error square sum of each history fitting value and the history measurement signal;
disassembling the error square sum into an error square sum matrix;
and calculating to obtain the current fitting value based on the optimal function condition.
Further, performing outlier judgment based on the current fitting value and the historical fitting value, wherein the judgment conditions are as follows:
wherein y_cal represents a displacement value of the current moment obtained by fitting, yreal [0] represents a measurement signal of the current moment, percentage represents a miss judgment rate, and k and b represent a first term coefficient and a constant term coefficient obtained by fitting;
and judging the wild value when the three conditions are met simultaneously.
A method of repairing a measured signal field value applied to an electromechanical servo system, the method comprising:
collecting a current measurement signal and a historical measurement signal;
inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
judging whether the current measurement signal is a wild value or not by adopting the detection method;
and if the current measurement signal is the wild value, performing wild value restoration based on the current fitting value and the history fitting value, otherwise, not performing restoration.
A prosthetic device for measuring a signal field value, comprising:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the preprocessing module is used for preprocessing the current measurement signal and the historical measurement signal;
the parameter acquisition module is used for acquiring limit parameters of the electromechanical servo system;
and the judging module is used for inputting the preprocessed historical measurement signals and the current measurement signals into a first outlier judging function and judging whether the current measurement signals are outliers or not based on the limiting parameters.
A detection apparatus for measuring a signal field value, comprising:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the fitting module is used for inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
the judging module is used for judging whether the current measurement signal is an outlier or not by adopting the detection method;
and the restoration module is used for restoring the wild value based on the current fitting value and the historical fitting value if the current measurement signal is the wild value, otherwise, not restoring.
An electronic device comprises a processor and a storage device, wherein a plurality of instructions are stored in the storage device, and the processor is used for reading the plurality of instructions in the storage device and executing the wild value detection method of the measurement signal or the wild value restoration method of the measurement signal.
The method, the device and the equipment for detecting and repairing the measured signal wild value provided by the invention at least comprise the following beneficial effects:
(1) The method for detecting the wild value provided by the invention uses the limit parameter of the motor as a main detection method, and simultaneously carries an auxiliary detection method based on a fitting value, which can be added freely, so that the wild value is judged by comprehensively considering a plurality of factors from a plurality of angles, the difference between two points before the repair of the measured signal detected by the method reaches approximately 150 at maximum, and the difference between the two points after the repair is not more than 0.0008 at maximum, so that the method has the excellent effects of low miss judgment rate and low error judgment rate when repairing all the wild values.
(2) When the outlier detection is carried out by adopting the outlier judging function based on the limiting parameter, a margin is supplemented in the speed judging and position judging processes, and by adopting the method, the limiting conditions of the position judging and the speed judging are relaxed, so that the obtained judging result is more accurate, and the outlier detection misjudging rate is reduced.
(3) The invention calculates the missed judgment rate of the signal which is preliminarily judged to be the non-wild value, compares the signal with the preset missed judgment rate threshold value, and further judges the wild value when the signal is higher than the preset threshold value, so that the situation that the wild value is erroneously judged to be the non-wild value can be avoided, and meanwhile, a threshold value judgment is set before the signal enters the further judgment, thereby saving calculation resources.
(4) According to the outlier restoration method provided by the invention, based on the fitting value obtained through the fitting function in the outlier detection process, the measured value at the current moment is extrapolated by using the information of the measured points at the first five moments, the fitting value is calculated and is simultaneously used in the detection and restoration process, so that the calculated amount is saved and a better restoration effect is achieved.
Drawings
FIG. 1 is a flowchart of an embodiment of a method for detecting and repairing a measured signal field value according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of a theoretical range of a current speed of a turntable in a method for detecting and repairing a measured signal field value provided by the present invention;
FIG. 3 is a schematic diagram of an embodiment of a limit acceleration range that can be achieved by a turntable in the method for detecting and repairing a measured signal field value provided by the present invention;
FIG. 4 is a schematic diagram of an embodiment of an error caused by fitting in the method for detecting and repairing a measured signal field value according to the present invention;
FIG. 5 is a flowchart of another embodiment of a method for detecting and repairing a measured signal field value according to the present invention;
FIG. 6 is a schematic diagram of an embodiment of original measurement data of a turntable in a method for detecting and repairing a measured signal field value according to the present invention;
FIG. 7 is an enlarged schematic diagram of an embodiment of original measurement data of a turntable in the method for detecting and repairing a measured signal field value according to the present invention;
FIG. 8 is a schematic diagram of a measurement signal before and after repair compared with an embodiment in the method for detecting and repairing a measured signal field value according to the present invention;
FIG. 9 is an enlarged schematic diagram of measuring signals before and after repairing in the method for detecting and repairing a measured signal field value according to the present invention;
fig. 10 is a schematic diagram of an embodiment of a differential result of measurement signals before and after repair in the method for detecting and repairing a measured signal field value provided by the present invention.
Reference numerals: 1-feasible region.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, in some embodiments, a method for detecting a measured signal field value is provided, and is applied to an electromechanical servo system, and the method includes:
s1, collecting a current measurement signal and a historical measurement signal;
s2, acquiring limit parameters of the electromechanical servo system;
s3, inputting the historical measurement signals and the current measurement signals into a outlier judging function based on a limiting parameter, and judging whether the current measurement signals are outliers or not based on the limiting parameter.
As a preferred embodiment, the electromechanical servo system is a turntable, and the limit parameter includes a maximum speed + -v of the turntable max Maximum acceleration + -a of turntable max Maximum limit of turntable + -x max 。
Specifically, in step S3, determining whether the current measurement signal is a outlier based on the limiting parameter includes:
s31, calculating the speed at the last sampling period;
s32, calculating a speed threshold based on the limit parameter and the speed at the last sampling period;
s33, based on the limit parameter and the speed threshold, judging the speed of the current measurement signal to judge whether the current measurement signal is a wild value, if so, executing the step S34 to further judge, otherwise, directly confirming the current measurement signal as the wild value;
and S34, based on the limit parameter and the speed threshold, carrying out position judgment on the current measurement signal to judge whether the current measurement signal is a wild value or not.
In one specific application scenario, the electromechanical servo system is a turntable. The outlier determination function based on the limiting parameter is denoted as OutCheck1, the judging function is used for judging the wild value according to the limit parameters of the turntable. Assuming that the maximum speeds of the turntable are + -v respectively max Maximum acceleration is + -a respectively max Maximum limit is + -x respectively max 。
Specifically, the judging function is composed of two layers of if sentences, the outer layers of if sentences are used for judging the speed, and mainly judging whether the current speed exceeds the theoretical limit speed, and for convenience of the following discussion, we assume that the speed at the last sampling period obtained at present is real:
wherein v is 0 Representing the velocity value at the last sampling period, yreal [1]]Representing the position value of the measured signal at the last sampling period, yreal 2]Representing the position value of the measured signal at the last sampling period, Δt represents the time interval.
The current speed of the turntable should not exceed the set limit parameter. But not so, nor should the current speed of the turntable exceed the speed limit that would be reached if the speed at the last sampling period was accelerated at maximum acceleration. Referring to fig. 2, the theoretical range of the current speed of the turntable, i.e., the available area 1, is the intersection of the two ranges.
In step S33, based on the limit parameter and the speed threshold, the speed of the current measurement signal is determined to determine whether the current measurement signal is a outlier, including the following determination conditions:
when at least one of the above three conditions is satisfied, a wild value is determined.
Wherein, yreal [0]]A position value representing a measurement signal at the current time, yreal [1]]Representing the position value, x, of the measured signal at the last sampling period max Representing the maximum limit value.
If the current measurement signal is determined to be a non-outlier in step S33, further outlier detection is continued by the method of step S34. In step S34, the position determination is performed mainly by determining whether the current position signal of the turntable is reachable through one sampling period, that is, whether the current position signal is within the position limit range that the turntable may reach.
Two simplest cases are discussed first, namely, the speed at the last sampling period does not exceed the maximum speed even if the speed is accelerated and decelerated for one sampling period with the maximum acceleration, and it is easy to know that the current signal is wild value when the following conditions are satisfied:
however, if the current speed reaches the maximum speed over no more than one cycle, the range of possible position limits at this time is reduced, as shown in fig. 3, because the turntable cannot always accelerate while maintaining the maximum acceleration for one sampling period.
Through analysis, the two conditions are comprehensively considered, and if the current measurement signal meets the following conditions, the current measurement signal can be confirmed to be an outlier. In step S34, based on the limit parameter and the speed threshold, the position of the current measurement signal is determined to determine whether the current measurement signal is a outlier, where the determination conditions include:
when at least one of the above two conditions is satisfied, a wild value is determined.
In fact, the last moment of time v we used 0 It may not be accurate because the value at the last sampling period is most likely also the outlier point, where the position value at the last sampling period is obtained by fitting or extrapolating. We consider the limit case as shown in figure 4. Wherein v is -1 For the speed at the last sampling period，v -1 +a max Δt is the speed at the actual sampling period, v -1 -a max Δt is the speed at the last sampling period of the fitting, v -1 +2a max Δt is the actual current speed, v -1 -2a max Δt is the current speed of the fit.
It can be seen that we use the maximum possible difference between the speed at the last sampling period and the speed at the very last sampling period Δv=2·a max Δt, whereas we use the difference between the actual current position and the position at the last sampling period, and the difference between the actual current time and the position at the last sampling period is maximally different by Δx=a max ·Δt 2 . The difference between the actual current position we use and the fitted current position is maximally likely to differ by deltax * ＝4·a max ·Δt 2 . For this reason, in the above-described determination logic, it is necessary to supplement the speed determination with a margin of Δv magnitude, and to supplement the position determination with a margin of Δx magnitude.
Therefore, as a preferred embodiment, in step S33, when the current measurement signal is subjected to speed determination, a margin of Δv is added to the speed determination condition, where Δv=2·a max Δt; in step S34, when the position determination is performed on the current measurement signal, a margin of Δx is added to the position determination condition, where Δx=a max ·Δt 2 。
Specifically, for the speed judgment condition of the outer if sentence, one Δv is added or subtracted to the right side of the inequality sign; for the position judgment condition of the inner layer if statement, a Δx is added or subtracted to the right of the inequality sign. The addition and subtraction numbers depend on the inequality numbers, and are subtracted if they are larger than the numbers, and added if they are smaller than the numbers. By the method, limiting conditions of position judgment and speed judgment are relaxed, the obtained judgment result is more accurate, and the false judgment rate of wild value detection is reduced.
Referring to fig. 5, as a preferred embodiment, for the determination of the non-wild value in step S3, the following determination is further made:
s4, inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
s5, calculating the miss rate of the current measurement signal which is judged to be the non-wild value in the step S3;
s6, comparing the missed judgment rate with a preset missed judgment rate threshold, and if the missed judgment rate is larger than the preset missed judgment rate threshold, inputting the current measurement signal into a wild value judgment function based on a fitting value, and judging the wild value based on the current fitting value and a history fitting value.
Specifically, step S4 includes:
s41, calculating a history fitting value based on the history measurement signal;
s42, calculating the error square sum of each history fitting value and the history measurement signal;
s43, disassembling the error square sum into an error square sum matrix;
s44, calculating to obtain a current fitting value based on the optimal function condition.
In step S41, the program uses the measured values at the first five times: y [ ] = { yral [5], yral [4], yral [3], yral [2], r_real [1] } and x [ ] = {1,2,3,4,5}, a polynomial fitting based on the least squares method was performed. Assume the fitting polynomial is:
in step S42, the sum of squares of the error between the history-fitted value obtained by fitting and the actual history measurement signal is calculated, and is expressed by the following formula:
wherein f (x) i ) For the i-th history fitting value obtained by fitting, y i The signal value is measured for the i-th true history.
In step S43, the square sum of errors is divided into a matrix form, and there are:
S＝(X v θ-Y r ) T (X v θ-Y r )
in step S43, at this time, for the optimum function, it should be satisfied that:
finally, the polynomial coefficients can be obtained as follows:
and storing the polynomial coefficient obtained by fitting in a result array, wherein k stores the first order term coefficient, and b stores the constant term coefficient. The fitting order in the program is set to 1, and the user can also change the fitting order as required, considering that the actual turntable is unlikely to generate too complex motion in a short time. The calculated current fitting value represents the theoretical current measured signal value, so if the difference between the actual current measured signal value and the theoretical current measured signal value is too large, it is indicated that the current measured point is likely to be a outlier point.
In step S5, the miss rate of the current measurement signal is calculated by the following formula:
wherein, percentage represents the miss rate of the current measurement signal, v 0 Representing the velocity value at the last sampling period, yreal [1]]Representing the position value of the measured signal at the last sampling period, yreal [0]]Position value, x, representing the measurement signal at the current time max Represents the maximum limit value, a max Representing the maximum acceleration value, v max Represents the maximum speed value and Δt represents the time interval.
As can be seen from step S5, in a specific application scenario, in OutCheck1, if the current measurement signal is determined as the outlier, it returns to 1, but when it is not determined as the outlier, the program returns not only 0 but also a miss rate percentage, which is a measure of the degree to which the measurement value at the current time approaches the theoretical limit value, and for a measurement value, it is obvious that the higher the miss rate is, the more likely it is for the outlier to be missed by us. For this reason, when performing the auxiliary judgment using other judgment logic, the effectiveness is limited to be greater than 50%, that is, the missed judgment rate threshold is set to be 50%, which is set from the viewpoint of reducing the false judgment rate. Because if the current difference is far from the limit value it is most likely to be the point where there is a mutation in the normal signal, not an outlier.
In step S6, a wild value is determined based on the current fitting value and the history fitting value, where the determining conditions are as follows:
wherein y_cal represents the displacement value of the current moment obtained by fitting, and yreal [0]]A represents the measurement signal at the current time, a max Representing maximum acceleration, percentage representing miss rate, and k and b representing a first term coefficient and a constant term coefficient obtained by fitting;
and judging the wild value when the three conditions are met simultaneously.
In some embodiments, when further outlier judgment is performed, two outlier judgment methods are further provided for auxiliary judgment, and the outlier of the signal measured by the electromechanical servo system sensor is judged and repaired by combining a plurality of methods. Taking a turntable as an example for explanation, four outlier judging methods are designed, namely, the outlier judging method based on the turntable limit parameters is firstly used for giving a judging result by analyzing the relation between the current speed of the turntable and the turntable limit parameters, and simultaneously giving a misjudgment rate so as to be conveniently used together with other methods. The other three outlier judging methods are respectively as follows: (1) The system dynamic error coefficient is used, and the difference value between the current error and the theoretical error of the system is analyzed; (2) A judging method for the difference between the current output of the system and the theoretical output calculated by the nominal model by using the nominal model of the system; (3) And fitting by using measured values at the previous moments of the system, and obtaining a difference value judgment method between the fitted value at the current moment and the real measured value of the system. The obtained result is subjected to logic operation through the combination of the selectable multiple judging methods, so that the method can make the best use of the various available information.
As a preferred embodiment, the method further comprises: comparing the missed judgment rate with a preset missed judgment rate threshold, if the missed judgment rate is larger than the preset missed judgment rate threshold, acquiring a measurement instruction signal, inputting the current measurement signal into a wild value judgment function based on a system nominal model and a wild value judgment function based on a system dynamic error, and carrying out logic operation on the judgment result and the result obtained in the step S6 to obtain a final wild value judgment result.
The outlier decision function based on the dynamic error of the system is OutCheck2, and the dynamic error coefficient of the known system and the acquisition of the measurement command signal are needed by using the method, and can be specifically determined by the steady state error when the measurement command signal is a step signal, a slope signal and an acceleration signal. Assuming the dynamic five-color tea coefficients of the known system are respectively c 0 ，c 1 ，c 2 According to classical control theory, the steady state error of the system under the action of any command signal is:
esscal＝c 0 ·x 0 +c 1 ·v 0 +c 2 ·a 0 ；
wherein x is 0 ，v 0 ，a 0 The present invention uses differential to replace the command signal, the first derivative signal of the command and the second derivative signal of the command at the current time of the system when the present invention is embodied. In the ess cal ]]The last ten theoretical error values are stored, and the maximum value is stored in the last five error values. And if the actual error value of the current moment is larger than twice the maximum value of the ten theoretical error values, the measured value of the current moment is considered to be an outlier. And judging the wild value when the following conditions are met:
wherein, ess is a theoretical steady state error value, ess is a theoretical steady state error maximum value, and ess represents an actual error value at the current moment.
The outlier judging function based on the system nominal model is OutCheck3, the nominal model of the known system is needed by using the method, and a difference equation is obtained after discretization, so that the functional relation between the current measuring signal and the past measuring and instruction signals is obtained, and the theoretical measuring signal can be obtained through calculation. The difference between the current and previous 9 actual measured signals and the theoretical calculated measured signal is saved in deltaout [ ], and maxdeltaout is the maximum value of the previous 9 differences. It is considered that if the difference between the measured value at the present time and the theoretical measured value is greater than twice the maximum value of the previous nine differences. And judging the wild value when the following conditions are met:
in some embodiments, there is also provided a method of repairing a measured signal field value, applied to an electromechanical servo system, the method comprising:
collecting a current measurement signal and a historical measurement signal;
inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
judging whether the current measurement signal is a wild value or not by adopting the detection method;
and if the current measurement signal is the wild value, performing wild value restoration based on the current fitting value and the history fitting value, otherwise, not performing restoration.
Specifically, according to the method for restoring the wild value of the measurement signal, the wild value is restored by adopting the fitting value obtained by the fitting function, so that a better restoring effect can be achieved.
As a preferred implementation manner, the repairing method uses information of measurement points of the first five moments to extrapolate to obtain a measurement value of the current moment, a first term coefficient and a constant term coefficient obtained by fitting the measurement values of the first five moments are k and b respectively, and if the current measurement value is a wild value, the following repairing value is used for repairing:
y corrected ＝6·k+b；
wherein y is corrected Representing the measured value at the current time obtained after repair.
In a specific application scenario, in order to verify the validity of the outlier detection method provided by this embodiment, the detection program is used to repair the actual measurement signal of the ET3130A turntable, and the turntable command signal is maintained in situ after power-up, as shown in fig. 6 and 7, which are actually measured turntable measurement signals, it can be seen that a number of outliers are loaded on the measurement signals due to interference, poor contact and other reasons, and the maximum value can reach about twice that of the original signal. The limit parameter of the turntable is v max ＝300°/s,a max ＝2000°/s,x max =360°. The sampling period is 0.5ms, the sampling point number is 90299, and the method disclosed by the invention is used for repairing the data.
In this example, the outlier detection is performed by using the method of determining the turntable limit parameter OutCheck1 and the method of determining the fitting value based on OutCheck4, and the outlier obtained by the detection is repaired. H is taken as the sampling period and its value is set to 0.0005. At each sampling time, the currently acquired measurement signal is input into the program, and the measurement signal is input into the computer function as a parameter y_cur. Since we have not used the instruction signal, the second parameter r_cur of computer can be ignored, automatically keeping the default value of 0. And receiving the data returned after repair, namely the return value of the computer function, storing the data and drawing the observation result.
As shown in fig. 8 and 9, the comparison results of the signals before and after the restoration show that the invention can obviously restore all obvious outliers, has no phenomena of omission and misjudgment, has no divergence, and has very excellent restoration effect. In order to more intuitively show the restoration effect, as shown in fig. 9, the difference value between the original signal and the restored signal, that is, the displacement difference between the two points, can be seen to be approximately 150 at the maximum, and the difference between the two points after restoration is not more than 0.0008 at the maximum, so that it can be said that all the wild values are restored, because the difference value with the magnitude below 0.001 is within the system limit capability, it is completely possible to be a normal measurement signal, and no restoration should be performed at this time. Fig. 8-10 show the performance of the method provided by the invention with low miss rate and low false rate from all directions.
In some embodiments, a prosthetic device for measuring a signal outlier is provided, comprising:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the preprocessing module is used for preprocessing the current measurement signal and the historical measurement signal;
the parameter acquisition module is used for acquiring limit parameters of the electromechanical servo system;
and the judging module is used for inputting the preprocessed historical measurement signals and the current measurement signals into a first outlier judging function and judging whether the current measurement signals are outliers or not based on the limiting parameters.
In some embodiments, a detection apparatus for measuring a signal field value is provided, including:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the fitting module is used for inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
the judging module is used for judging whether the current measurement signal is an outlier or not by adopting the detection method;
and the restoration module is used for restoring the wild value based on the current fitting value and the historical fitting value if the current measurement signal is the wild value, or else, not restoring.
In some embodiments, an electronic device is provided, including a processor and a storage device, where the storage device stores a plurality of instructions, and the processor is configured to read the plurality of instructions in the storage device and execute the above-mentioned outlier detection method of a measurement signal or the above-mentioned outlier restoration method of the measurement signal.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for detecting a measured signal field value, applied to an electromechanical servo system, the method comprising:
s1, collecting a current measurement signal and a historical measurement signal;
s2, acquiring limit parameters of the electromechanical servo system;
s3, inputting the historical measurement signals and the current measurement signals into a outlier judging function based on a limiting parameter, and judging whether the current measurement signals are outliers or not based on the limiting parameter.
2. The method according to claim 1, wherein step S3 comprises:
s31, calculating the speed at the last sampling period;
s32, calculating a speed threshold based on the limit parameter and the speed at the last sampling period;
s33, based on the limit parameter and the speed threshold, judging the speed of the current measurement signal to judge whether the current measurement signal is a wild value, if so, executing the step S34 to further judge, otherwise, directly confirming the current measurement signal as the wild value;
and S34, based on the limit parameter and the speed threshold, carrying out position judgment on the current measurement signal to judge whether the current measurement signal is a wild value or not.
3. The method according to claim 2, wherein in step S33, when the current measurement signal is speed-judged, a margin of Δv is added to the speed-judging condition, wherein Δv=2·a max Δt, Δt represents the time interval, a max Representing the maximum acceleration;
in step S34, when the position determination is performed on the current measurement signal, a margin of Δx is added to the position determination condition, where Δx=a max ·Δt 2 。
4. The method of claim 1, wherein for the determination of step S3 as non-outlier, further comprising the following determination:
s4, inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
s5, calculating the miss rate of the current measurement signal which is judged to be the non-wild value in the step S3;
s6, comparing the missed judgment rate with a preset missed judgment rate threshold, and if the missed judgment rate is larger than the preset missed judgment rate threshold, inputting the current measurement signal into a wild value judgment function based on a fitting value, and judging the wild value based on the current fitting value and a history fitting value.
5. The method according to claim 4, wherein step S4 comprises:
calculating a history fit value based on the history measurement signal;
calculating the error square sum of each history fitting value and the history measurement signal;
disassembling the error square sum into an error square sum matrix;
and calculating to obtain the current fitting value based on the optimal function condition.
6. The method of claim 5, wherein the outlier determination is based on the current fit value and the historical fit value, provided that:
abs(yreal[0]-y_cal)＞5.5·a max ·Δt 2
percent>50％；
y_cal＝6·k+b
wherein y_cal represents a displacement value of the current moment obtained by fitting, yreal [0] represents a measurement signal of the current moment, percentage represents a miss judgment rate, and k and b represent a first term coefficient and a constant term coefficient obtained by fitting;
and judging the wild value when the three conditions are met simultaneously.
7. A method for repairing a measured signal field value, applied to an electromechanical servo system, the method comprising:
collecting a current measurement signal and a historical measurement signal;
inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
determining whether the current measurement signal is a outlier using the detection method of any one of claims 1-6;
and if the current measurement signal is the wild value, performing wild value restoration based on the current fitting value and the history fitting value, otherwise, not performing restoration.
8. A prosthetic device for measuring signal field values, comprising:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the preprocessing module is used for preprocessing the current measurement signal and the historical measurement signal;
the parameter acquisition module is used for acquiring limit parameters of the electromechanical servo system;
and the judging module is used for inputting the preprocessed historical measurement signals and the current measurement signals into a first outlier judging function and judging whether the current measurement signals are outliers or not based on the limiting parameters.
9. A detection apparatus for measuring a signal field value, comprising:
the signal acquisition module is used for acquiring current measurement signals and historical measurement signals;
the fitting module is used for inputting the current measurement signal and the historical measurement signal into a fitting function to obtain a current fitting value and a historical fitting value;
a judging module for judging whether the current measurement signal is a wild value by adopting the detection method of any one of claims 1-6;
and the restoration module is used for restoring the wild value based on the current fitting value and the historical fitting value if the current measurement signal is the wild value, otherwise, not restoring.
10. An electronic device comprising a processor and a storage device, wherein a plurality of instructions are stored in the storage device, and the processor is configured to read the plurality of instructions in the storage device and execute the outlier detection method of the measurement signal according to any one of claims 1 to 6 or the outlier restoration method of the measurement signal according to claim 7.
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