CN117013991A - Method and system for filtering high-frequency jitter component of rotary sine and cosine signal - Google Patents
Method and system for filtering high-frequency jitter component of rotary sine and cosine signal Download PDFInfo
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- H—ELECTRICITY
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- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
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Abstract
The application relates to the technical field of rotary signal filtering, in particular to a method and a system for filtering high-frequency jitter components of rotary sine and cosine signals. The method comprises the following steps: acquiring sine and cosine signals, and maximum and minimum values thereof by using rotary soft decoding; respectively carrying out filtering treatment on the sine and cosine signals; unifying the amplitude of the sine and cosine signals to finish the correction of the sine and cosine signals. The application utilizes a decoupling rotor position algorithm and a sine and cosine signal correction filtering algorithm.
Description
Technical Field
The application belongs to the technical field of rotary signal filtering, and particularly relates to a method and a system for filtering high-frequency jitter components of a rotary sine and cosine signal.
Background
The filtering algorithm adopted in the prior art needs to be combined with phase-locked loop angle analysis, is relatively complex, has strong coupling and is easy to make mistakes.
The existing partial method mainly focuses on phase deviation compensation of signals, and a relatively complex method is sampled for signal amplitude correction, and the amplitude of sine and cosine output signals is not kept consistent, so that the subsequent decoding accuracy of the rotor position and the rotating speed is poor.
The existing partial method mainly focuses on eliminating high-frequency jitter components by using an amplitude comparison method, and correcting data with larger amplitude deviation, so that a rotation-transformation sine-cosine signal can be distorted, and the accuracy of soft decoding of the rotating speed and the rotor position is reduced; and there is no proposal in this patent to keep the amplitude of the sine and cosine output signals uniform.
Disclosure of Invention
In view of the above problems, the present application provides a method for filtering high-frequency jitter components of a rotation-varying sine-cosine signal, the method comprising:
acquiring sine and cosine signals, and maximum and minimum values thereof by using rotary soft decoding;
respectively carrying out filtering treatment on the sine and cosine signals;
unifying the amplitude of the sine and cosine signals to finish the correction of the sine and cosine signals.
Preferably, the acquiring the sine and cosine signals and the maximum value and the minimum value thereof by using the soft-turning decoding includes:
filtering and amplifying the pulse width modulation wave sent to the rotary transformer to form a rotary excitation signal;
the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal;
the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
Preferably, filtering the sinusoidal signal includes:
acquiring amplitude deviation of the sinusoidal signal by using the maximum value and the minimum value of the sinusoidal signal;
and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
Preferably, the filtering processing of the cosine signal includes:
obtaining the amplitude deviation of the cosine signal by using the maximum value and the minimum value of the cosine signal;
and correcting the cosine signal according to the amplitude deviation of the cosine signal, so as to realize the filtering of the cosine signal.
Preferably, unifying the amplitude of the sine and cosine signals includes:
removing the amplitude deviation of the maximum value of the sine and cosine signals to obtain an adjustment coefficient;
and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
The application also provides a system for filtering the high-frequency jitter component of the rotary sine and cosine signal, which comprises an acquisition module, a processing module and a unification module;
the acquisition module is used for acquiring sine and cosine signals and maximum and minimum values thereof by utilizing rotary soft decoding;
the processing module is used for respectively carrying out filtering processing on the sine and cosine signals;
the unifying module is used for unifying the amplitude of the sine and cosine signals and finishing correction of the sine and cosine signals.
Preferably, the obtaining module is configured to obtain the sine and cosine signal and the maximum value and the minimum value thereof by using rotary soft decoding, and includes:
the acquisition module is used for filtering and amplifying the pulse width modulation wave sent to the rotary transformer to form a rotary excitation signal;
the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal;
the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
Preferably, the processing module is configured to perform filtering processing on a sinusoidal signal, and includes:
the processing module is used for acquiring the amplitude deviation of the sinusoidal signal by utilizing the maximum value and the minimum value of the sinusoidal signal;
and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
Preferably, the processing module is configured to perform filtering processing on the cosine signal, and includes:
the processing module is used for obtaining the amplitude deviation of the cosine signal by utilizing the maximum value and the minimum value of the cosine signal;
and correcting the cosine signal according to the amplitude deviation of the cosine signal, so as to realize the filtering of the cosine signal.
Preferably, the unifying module is configured to unify the amplitude of the sine and cosine signals, and includes:
the unified module is used for removing the amplitude deviation of the maximum value of the sine and cosine signals and obtaining an adjustment coefficient;
and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
The application also proposes an electronic device comprising:
a processor and a memory;
the processor invokes the computer program stored in the memory to perform the method for filtering the high-frequency jitter component of the spin-variable sine-cosine signal as described in any one of the above.
The application also proposes a computer readable storage medium,
the computer readable storage medium has stored therein a computer program which, when executed by a processor, enables the processor to perform the method for filtering out high frequency jitter components of a rotation varying sine and cosine signal as described in any of the above.
The application has the following beneficial effects:
(1) The method uses a decoupling rotor position algorithm and a sine and cosine signal correction filtering algorithm;
(2) The application has stable filtering, and larger signal jitter or whole deviation can be filtered out;
(3) In the application, the existence of the coefficient calculation module enables the soft decoding result to be more accurate.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram showing a method for filtering high frequency jitter components of a rotary sine and cosine signal according to an embodiment of the present application;
FIG. 2 shows a sin signal filtering front-to-back graph in an embodiment of the present application;
FIG. 3 shows a graph of cos signal filtering front and back in an embodiment of the present application;
FIG. 4 is a system diagram for filtering high frequency jitter components of a spin-variable sine-cosine signal according to an embodiment of the present application;
fig. 5 shows a diagram of an electronic device in an embodiment of the application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware units or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only and not necessarily all steps are included. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or sub-modules is not necessarily limited to those steps or sub-modules that are expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or sub-modules that are not expressly listed.
As shown in fig. 1, the present application proposes a method for filtering high-frequency jitter components of a rotary sine and cosine signal, the method comprising the following steps:
s1, acquiring sine and cosine signals and maximum and minimum values of the sine and cosine signals by using rotary soft decoding;
the method for obtaining sine and cosine signals and maximum and minimum values thereof by using the rotation-modification soft decoding comprises the following steps: filtering and amplifying PWM (Pulse Width Modulation ) waves sent to the rotary transformer to form a rotary excitation signal; the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal; the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
The rotary transformer is a component capable of detecting the angle, the position and the speed of a rotor, has the characteristics of analog output, simple maintenance, reliable use, long service life, oil stain resistance, large temperature range, shock resistance, radiation resistance, isolation function and the like, can inhibit common mode interference of electric signals, and is widely applied to angle and position detection systems in the fields of servo control systems, robots, vehicles, electric power, aerospace, ships and the like.
S2, respectively carrying out filtering treatment on sine and cosine signals;
filtering the sinusoidal signal, including: acquiring amplitude deviation of the sinusoidal signal by using the maximum value and the minimum value of the sinusoidal signal; and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
The filtering processing of the cosine signal comprises the following steps: obtaining the amplitude deviation of the cosine signal by using the maximum value and the minimum value of the cosine signal; and correcting the cosine signal according to the amplitude deviation of the cosine signal, so as to realize the filtering of the cosine signal.
And S3, unifying the amplitude of the sine and cosine signals, and finishing correction of the sine and cosine signals.
Unifying the amplitude of the sine and cosine signals, comprising: removing the amplitude deviation of the maximum value of the sine and cosine signals to obtain an adjustment coefficient; and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
Specifically, the sine and cosine signals are filtered by correcting errors of the sine and cosine signals and maximum values (sinmax and cosmax) and minimum values (sinmin and cosmin) of the sine and cosine signals in a real-time rotation mode. Adding the maximum value sinmax and the minimum value sinmin of the sinusoidal signal to obtain an average value, wherein the average value is the deviation of the sinusoidal signal sin in the amplitude direction, taking a result after the difference between sin and the deviation, and obtaining a corrected sin, wherein the signal is used as an input signal for actual decoding, and the process is equivalent to filtering the sin signal, so that the deviation of the signal in the amplitude direction is corrected; for cosine signal cos, adding the maximum cosmax and the minimum cosmin of cos to obtain an average value, wherein the average value is the deviation of cos in the amplitude direction, and obtaining a result after the difference between cos and the deviation; in addition, the sin max with the amplitude direction deviation removed and the cosmax are required to be divided to obtain a coefficient, and the coefficient is multiplied by the cos with the deviation removed, so that the cos signal and the sin signal have the same amplitude, the decoding is more accurate, and the filtering of the sin signal and the cos signal is realized.
The method is applied to algorithm and is specifically expressed as follows:
sin(output)＝sin(input)-(sinmax+sinmin)/2；
cos(output)＝(cos(input)-(cosmax+cosmin)/2)*((sinmax-sinmin)/(cosm ax-cosmin))；
wherein:
(sinmax+sinmin)/2 and (cosmax+cosmin)/2 are deviation values of the sine signal and the cosine signal in the amplitude direction, respectively, and the sine output signal sin (output) =sine input signal sin (input) minus the deviation value (sinmax+sinmin)/2 to obtain a corrected sine output signal sin (output); subtracting the deviation value (cosmax+cosmin)/2 from the cosine output signal cos (output) =cosine input signal cos (input), and multiplying the deviation value by the coefficient (sinmax-sinmin)/(cosmax-cosmin);
for the coefficient (sinmax-sinmin)/(cosmax-cosmin), subtracting the deviation value (sinmax+sinmin)/2 from the sinusoidal signal maximum sinmax to obtain sinmax (modify) = (sinmax-sinmin)/2 with the deviation removed; subtracting the deviation value (cosmax+cosmin)/2 from the cosine signal maximum value cosmax to obtain cosmax (modify) = (cosmax-cosmin)/2 with the deviation removed; sinmax (modify) and cosmax (modify) to obtain the cosine signal correction coefficient (sinmax-sinmin)/(cosmax-cosmin).
As shown in fig. 2 and fig. 3, the data effect graph of the filtered output of the sin and cos signals is shown in fig. 5, where sininput and cosinut represent the input before filtering, sinoutput and cosinut represent the output after filtering, and as can be seen from the graph, the filtering effect is better, and the cosinut signal can also keep the same level as the sinoutput signal.
As shown in fig. 4, the present application proposes a system for filtering high-frequency jitter components of a rotation-varying sine and cosine signal, which includes an acquisition module 10, a processing module 20 and a unifying module 30.
The obtaining module 10 is configured to obtain a sine and cosine signal and a maximum value and a minimum value thereof by using rotary soft decoding, and includes: the acquisition module 10 is used for filtering and amplifying the PWM wave sent to the rotary transformer to form a rotary excitation signal; the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal; the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
The processing module 20 is configured to perform filtering processing on the sine and cosine signals, and includes: the processing module 20 is configured to obtain an amplitude deviation of the sinusoidal signal by using the maximum value and the minimum value of the sinusoidal signal; and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
The unifying module 30 is configured to unify the amplitude of the sine and cosine signals, and complete correction of the sine and cosine signals, and includes: the unified module 30 is configured to remove the amplitude deviation of the maximum value of the sine and cosine signals, and obtain an adjustment coefficient; and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
As shown in fig. 5, the present application further provides an electronic device, corresponding to the above-provided method for filtering high-frequency jitter components of a rotation-varying sine-cosine signal. Since the embodiments of the apparatus are similar to the method embodiments described above, the description is relatively simple, and reference should be made to the description of the method embodiments section described above, the apparatus described below being merely illustrative. The apparatus may include: a processor (processor) 1, a memory (memory) 2, and a communication bus (i.e., the above-mentioned device bus), and a search engine, wherein the processor 1 and the memory 2 complete communication with each other through the communication bus, and communicate with the outside through a communication interface. The processor 1 may call logic instructions in the memory 2 to perform a method for filtering out high frequency jitter components of the rotated sine and cosine signals.
Further, the logic instructions in the memory 2 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a Memory chip, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
On the other hand, the embodiment of the present application further provides a processor readable storage medium, where the processor readable storage medium stores a computer program 3, and the computer program 3 is implemented when executed by the processor 1 to perform the method for filtering the high-frequency jitter component of the rotation-varying sine-cosine signal provided by the above embodiments.
The processor-readable storage medium may be any available medium or data storage device that can be accessed by the processor 1 including, but not limited to, magnetic storage (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (e.g., CD, DVD, BD, HVD, etc.), semiconductor storage (e.g., ROM, EPROM, EEPROM, nonvolatile storage (NANDFLASH), solid State Disk (SSD)), and the like.
Those of ordinary skill in the art will appreciate that: although the application has been described in detail with reference to the foregoing embodiments, it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A method for filtering high frequency jitter components of a rotation-varying sine-cosine signal, the method comprising:
acquiring sine and cosine signals, and maximum and minimum values thereof by using rotary soft decoding;
respectively carrying out filtering treatment on the sine and cosine signals;
unifying the amplitude of the sine and cosine signals to finish the correction of the sine and cosine signals.
2. The method for filtering high frequency jitter component of a rotary transformer sine and cosine signal according to claim 1,
the method for obtaining sine and cosine signals and maximum and minimum values thereof by using the rotary soft decoding comprises the following steps:
filtering and amplifying the pulse width modulation wave sent to the rotary transformer to form a rotary excitation signal;
the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal;
the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
3. The method for filtering high frequency jitter component of a rotary transformer sine and cosine signal according to claim 1,
filtering the sinusoidal signal, including:
acquiring amplitude deviation of the sinusoidal signal by using the maximum value and the minimum value of the sinusoidal signal;
and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
4. The method for filtering high frequency jitter component of a rotary transformer sine and cosine signal according to claim 1,
the filtering processing of the cosine signal comprises the following steps:
obtaining the amplitude deviation of the cosine signal by using the maximum value and the minimum value of the cosine signal;
and correcting the cosine signal according to the amplitude deviation of the cosine signal, so as to realize the filtering of the cosine signal.
5. The method for filtering high frequency jitter component of a rotary transformer sine and cosine signal according to claim 1,
unifying the amplitude of the sine and cosine signals, comprising:
removing the amplitude deviation of the maximum value of the sine and cosine signals to obtain an adjustment coefficient;
and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
6. The system for filtering the high-frequency jitter component of the rotation-varying sine and cosine signal is characterized by comprising an acquisition module, a processing module and a unification module;
the acquisition module is used for acquiring sine and cosine signals and maximum and minimum values thereof by utilizing rotary soft decoding;
the processing module is used for respectively carrying out filtering processing on the sine and cosine signals;
the unifying module is used for unifying the amplitude of the sine and cosine signals and finishing correction of the sine and cosine signals.
7. The system for filtering high frequency jitter components of a rotary transformer sine and cosine signal of claim 6,
the acquisition module is used for acquiring sine and cosine signals, maximum values and minimum values thereof by using rotary soft decoding, and comprises the following steps:
the acquisition module is used for filtering and amplifying the pulse width modulation wave sent to the rotary transformer to form a rotary excitation signal;
the rotary transformer receives the rotary excitation signal and outputs a sine and cosine signal;
the maximum value and the minimum value of the sine and cosine signals are determined by using a differential analog-digital converter.
8. The system for filtering high frequency jitter components of a rotary transformer sine and cosine signal of claim 6,
the processing module is used for filtering the sinusoidal signals and comprises:
the processing module is used for acquiring the amplitude deviation of the sinusoidal signal by utilizing the maximum value and the minimum value of the sinusoidal signal;
and correcting the sinusoidal signal according to the amplitude deviation of the sinusoidal signal, so as to realize the filtering of the sinusoidal signal.
9. The system for filtering high frequency jitter components of a rotary transformer sine and cosine signal of claim 6,
the processing module is used for filtering the cosine signal and comprises the following steps:
the processing module is used for obtaining the amplitude deviation of the cosine signal by utilizing the maximum value and the minimum value of the cosine signal;
and correcting the cosine signal according to the amplitude deviation of the cosine signal, so as to realize the filtering of the cosine signal.
10. The system for filtering high frequency jitter components of a rotary transformer sine and cosine signal of claim 6,
the unifying module is used for unifying the amplitude of the sine and cosine signals, and comprises the following steps:
the unified module is used for removing the amplitude deviation of the maximum value of the sine and cosine signals and obtaining an adjustment coefficient;
and correcting the amplitude of the cosine signal by using the adjustment coefficient, and unifying the amplitude of the sine and cosine signal.
11. An electronic device, comprising:
a processor and a memory;
the processor invokes the computer program stored in the memory to perform the method for filtering out high frequency jitter components of a spin-changed sine-cosine signal according to any of claims 1 to 5.
12. A computer-readable storage medium comprising,
the computer readable storage medium has stored therein a computer program which, when executed by a processor, enables the processor to perform the method for filtering out high frequency jitter components of a rotation varying sine and cosine signal according to any of claims 1 to 5.
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