JP4729553B2 - Signal processing method and signal processing apparatus - Google Patents
Signal processing method and signal processing apparatus Download PDFInfo
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本発明は、センサの出力信号からそのセンサに負荷された物理量に対応した直流成分を速やかに且つ精度よく得るための技術に関する。 The present invention relates to a technique for quickly and accurately obtaining a DC component corresponding to a physical quantity loaded on a sensor from an output signal of the sensor.
各種の物理量を検出するためのセンサには、その物理量の変化に対して過渡的な応答を示すものが多い。 Many sensors for detecting various physical quantities show a transient response to changes in the physical quantities.
例えば、ロードセル等のように物品の質量を検出するためのセンサは、物品の荷重を受けて変形し、その変形量に応じた電圧の信号を出力するが、センサに対する物品の荷重が急激に行なわれた場合、このセンサの系の固有振動モードが励起されてセンサに伝達されるため、その出力信号は非線形振動をする。 For example, a sensor for detecting the mass of an article, such as a load cell, is deformed by receiving the load of the article and outputs a voltage signal corresponding to the amount of deformation, but the load of the article on the sensor is abruptly performed. In this case, since the natural vibration mode of this sensor system is excited and transmitted to the sensor, the output signal exhibits non-linear vibration.
この出力信号の非線形振動は時間が経過するにしたがって減衰して、最終的には物品の質量Ｍに対応した一定の値（直流値）に収束するが、ライン等で物品の質量検査を連続的に行う場合、この振動が完全に収束するまで待っていたのでは効率的な検査がおこなえない。 This non-linear vibration of the output signal is attenuated as time passes, and finally converges to a constant value (DC value) corresponding to the mass M of the article. In this case, an efficient inspection cannot be performed by waiting until this vibration is completely converged.
そこで、一般的には低域通過フィルタにより雑音成分を除去することが行われているが、数１０Ｈｚ以下の雑音成分を除去するためのフィルタの時定数はかなり大きく、収束予想値を高速に得ることは困難であった。 Therefore, noise components are generally removed by a low-pass filter. However, the time constant of the filter for removing noise components of several tens of Hz or less is quite large, and an expected convergence value is obtained at high speed. It was difficult.
この問題を解決するための一つの技術として、本願出願人は、センサの出力信号に含まれる交流信号成分を抽出してその位相を反転させて原信号と加算することにより、センサの出力信号の雑音成分を除去する技術を開示している（特許文献１）。 As one technique for solving this problem, the applicant of the present application extracts an alternating current signal component included in the sensor output signal, inverts the phase thereof, and adds the original signal to the sensor signal. A technique for removing a noise component is disclosed (Patent Document 1).
しかし、上記特許文献１の技術を用いても、床振動等で生じる数１０Ｈｚ以下の雑音成分を精度よく且つ速やかに除去することが困難であった。
However, even if the technique of
特に、位相反転用として一般的に用いられるヒルベルト変換器の周波数特性は基本的にハイパス型であり、極低域までその周波数特性を延ばそうとすれば、そのタップ数が非常に大きくなり、その処理による大きな遅延が生じてしまう。 In particular, the frequency characteristics of a Hilbert transformer that is generally used for phase inversion is basically a high-pass type. If you try to extend the frequency characteristics to an extremely low frequency range, the number of taps will become very large, Cause a large delay.
本発明は、この点を改善し、センサの出力信号に含まれる低周波雑音成分を速やかに且つ精度よく除去して、センサに負荷された物理量に対応する直流成分を得ることができる信号処理方法および装置を提供することを目的としている。 The present invention improves this point, and can quickly and accurately remove low-frequency noise components contained in the output signal of the sensor to obtain a DC component corresponding to the physical quantity loaded on the sensor. And to provide an apparatus.
前記目的を達成するために、本発明の請求項１の信号処理方法は、
センサの出力信号に対するＡ／Ｄ変換処理で得られた時系列の信号を入力信号として受け、該入力信号に含まれる所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分が除去された第１処理信号（Ｙ（ｋ））から前記所定周波数以下の低域雑音成分を除去して、前記入力信号の直流成分を求める信号処理方法であって、
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の移相処理を行う段階（Ｓ５）と、
前記移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数以下の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記所定周波数以下の振幅を補正し、前記第１処理信号に含まれる低域雑音成分を１８０゜移相した雑音信号（ＮＬ１（ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記雑音信号とを加算して、前記第１処理信号から前記所定周波数以下の低域雑音成分を除去した信号（Ｚ（ｋ））を求める段階（Ｓ８）とを含み、
さらに、前記移相処理は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含むことを特徴とする。
In order to achieve the object, a signal processing method according to
A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a phase shift process of 180 degrees on the first processed signal (S5);
Obtaining a time response coefficient (α) that causes a low-frequency amplitude error equal to or lower than the predetermined frequency of the phase shift process based on the signal (Y (k) ′) obtained by the phase shift process (S6); ,
Based on the obtained time response coefficient, an amplitude of the phase-shifted signal that is equal to or lower than the predetermined frequency is corrected, and a low-frequency noise component included in the first processed signal is phase-shifted by a noise signal (N L1 (k)) is generated (S7);
By adding said noise signal and the first processed signal, seen including a first processed signal from the signal obtained by removing the predetermined frequency below the low frequency noise component (Z (k)) determining a (S8) ,
Furthermore, the phase shift process includes:
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
Generating a 180 ° phase-shifted signal to the processed signal to the inputs on the basis of the calculated instantaneous phase and instantaneous amplitude and (S101), characterized in including Mukoto.
また、本発明の請求項２の信号処理方法は、
センサの出力信号に対するＡ／Ｄ変換処理で得られた時系列の信号を入力信号として受け、該入力信号に含まれる所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分が除去された第１処理信号（Ｙ（ｋ））から前記所定周波数以下の低域雑音成分を除去して、前記入力信号の直流成分を求める信号処理方法であって、
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の第１の移相処理を行う段階（Ｓ５）と、
前記第１の移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該第１の移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（ＮＬ１（ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記第１の雑音信号とを加算して、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める段階（Ｓ８）と、
前記第２処理信号に対する１８０度の第２の移相処理を行う段階（Ｓ１１）と、
前記第２の移相処理で得られた信号（Ｚ（ｋ）′）に対して、該第２の移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲における周波数対振幅の誤差を補正して、前記第２処理信号の前記第２の周波数範囲に含まれる低域雑音成分を１８０度移相した第２の雑音信号（ＮＬ２（ｋ））を生成する段階（Ｓ１３）と、
前記第２処理信号と前記第２の雑音信号とを加算して、前記第２処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める段階（Ｓ１４）とを含み、
さらに、前記移相処理は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含むことを特徴とする。
The signal processing method according to
A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a first phase shift process of 180 degrees on the first processed signal (S5);
A first frequency range from the predetermined frequency of the first phase shift processing to a lower boundary frequency (Fb) based on the signal (Y (k) ′) obtained by the first phase shift processing. Obtaining a time response coefficient (α) that causes a low-frequency amplitude error (S6),
Based on the obtained time response coefficient, the amplitude of the first frequency range of the phase-shifted signal is corrected, and a low frequency noise component included in the first frequency range of the first processed signal is corrected. Generating a first noise signal (N L1 (k)) phase shifted by 180 ° (S7);
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. Step (S8);
Performing a second phase shift process of 180 degrees on the second processed signal (S11);
The frequency in the second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the second phase shift process with respect to the signal (Z (k) ′) obtained by the second phase shift process A step of generating a second noise signal (N L2 (k)) in which a low-frequency noise component included in the second frequency range of the second processed signal is phase-shifted by 180 degrees by correcting an error in the pair amplitude. (S13),
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the second processed signal. look including a step (S14),
Furthermore, the phase shift process includes:
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
Generating a 180 ° phase-shifted signal to the processed signal to the inputs on the basis of the calculated instantaneous phase and instantaneous amplitude and (S101), characterized in including Mukoto.
また、本発明の請求項３の信号処理方法は、
センサの出力信号に対するＡ／Ｄ変換処理で得られた時系列の信号を入力信号として受け、該入力信号に含まれる所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分が除去された第１処理信号（Ｙ（ｋ））から前記所定周波数以下の低域雑音成分を除去して、前記入力信号の直流成分を求める信号処理方法であって、
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の第１の移相処理を行う段階（Ｓ５）と、
前記第１の移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該第１の移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（Ｎ Ｌ１ （ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記第１の雑音信号とを加算して、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める段階（Ｓ８）と、
前記第２処理信号に対する１８０度の第２の移相処理を行う段階（Ｓ１１）と、
前記第２の移相処理で得られた信号（Ｚ（ｋ）′）に対して、該第２の移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲における周波数対振幅の誤差を補正して、前記第２処理信号の前記第２の周波数範囲に含まれる低域雑音成分を１８０度移相した第２の雑音信号（Ｎ Ｌ２ （ｋ））を生成する段階（Ｓ１３）と、
前記第２処理信号と前記第２の雑音信号とを加算して、前記第２処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める段階（Ｓ１４）とを含み、
前記第３処理信号を求める際には、該第３処理信号から抽出した雑音成分の振幅情報と周波数情報から生成した第２の雑音信号を用いて補正処理を行うことを特徴とする。
The signal processing method according to
A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a first phase shift process of 180 degrees on the first processed signal (S5);
A first frequency range from the predetermined frequency of the first phase shift processing to a lower boundary frequency (Fb) based on the signal (Y (k) ′) obtained by the first phase shift processing. Obtaining a time response coefficient (α) that causes a low-frequency amplitude error (S6),
Based on the obtained time response coefficient, the amplitude of the first frequency range of the phase-shifted signal is corrected, and a low frequency noise component included in the first frequency range of the first processed signal is corrected. Generating a first noise signal (N L1 (k)) phase shifted by 180 ° (S7);
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. Step (S8);
Performing a second phase shift process of 180 degrees on the second processed signal (S11);
The frequency in the second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the second phase shift process with respect to the signal (Z (k) ′) obtained by the second phase shift process A step of generating a second noise signal (N L2 (k)) in which a low-frequency noise component included in the second frequency range of the second processed signal is phase-shifted by 180 degrees by correcting an error in the pair amplitude. (S13),
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the second processed signal. Including step (S14),
When obtaining the third processed signal, correction processing is performed using a second noise signal generated from amplitude information and frequency information of a noise component extracted from the third processed signal .
また、本発明の請求項４の信号処理方法は、請求項３記載の信号処理方法において、
前記入力信号または前記第１処理信号に対するスペクトラム解析により少なくとも前記所定周波数以下の雑音成分を求める段階（Ｓ３）と、
前記スペクトラム解析により得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲のいずれにあるかを判定する段階（Ｓ４、Ｓ９、Ｓ１６）とを含み、
前記スペクトラム解析により得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲の両方にあるときには、前記第３処理信号を最終の処理結果とし、雑音成分が前記第１の周波数範囲にのみあるときには、前記第２処理信号を最終の処理結果とし、雑音成分が前記第２の周波数範囲にのみあるときには、前記第２処理信号の代わりに前記第１処理信号に対して前記第３処理信号を求める処理をおこない、その結果を最終処理結果として出力することを特徴とする。
The signal processing method according to
Obtaining a noise component of at least the predetermined frequency or less by spectrum analysis on the input signal or the first processing signal (S3);
Determining whether the noise component obtained by the spectrum analysis is in the first frequency range or the second frequency range (S4, S9, S16),
When the noise component obtained by the spectrum analysis is in both the first frequency range and the second frequency range, the third processing signal is set as a final processing result, and the noise component is in the first frequency range. The second processed signal is the final processed result, and when the noise component is only in the second frequency range, the third processed signal is replaced with the third processed signal instead of the second processed signal. A process for obtaining a processing signal is performed, and the result is output as a final processing result .
また、本発明の請求項５の信号処理方法は、請求項３または請求項４記載の信号処理方法において、
前記移相処理は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含んでいることを特徴とする。
The signal processing method according to
The phase shift process is
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
A step (S101) of generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude.
また、本発明の請求項６の信号処理装置は、
センサ（１１）の出力信号に対するＡ／Ｄ変換処理を行うＡ／Ｄ変換器（２１）と、
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う移相手段（３１）と、
前記移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数以下の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記所定周波数以下の振幅を補正し、前記第１処理信号に含まれる低域雑音成分を１８０゜移相した雑音信号（ＮＬ１（ｋ））を生成する補正手段（３３）と、
前記第１処理信号と前記雑音信号とを加算し、前記第１処理信号から前記所定周波数以下の低域雑音成分を除去した第２処理信号を求める加算手段（３５）とを備え、
さらに、前記移相手段は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする。
The signal processing device according to
An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the signal (Y (k) ′) obtained by the phase shift processing, time response coefficient calculation means for obtaining a time response coefficient (α) that causes a low-frequency amplitude error below the predetermined frequency of the phase shift processing. (32),
Based on the obtained time response coefficient, an amplitude of the phase-shifted signal that is equal to or lower than the predetermined frequency is corrected, and a low-frequency noise component included in the first processed signal is phase-shifted by a noise signal (N L1 (k)) generating correction means (33);
Adding means (35) for adding the first processed signal and the noise signal to obtain a second processed signal obtained by removing a low-frequency noise component of the predetermined frequency or less from the first processed signal ;
Further, the phase shift means includes
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
It is characterized by comprising means (107 to 109) for generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude .
また、本発明の請求項７の信号処理装置は、
センサ（１１）の出力信号に対するＡ／Ｄ変換処理を行うＡ／Ｄ変換器（２１）と、
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う第１の移相手段（３１）と、
前記第１の移相手段の出力信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記第１の移相手段の出力信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（ＮＬ１（ｋ））を生成する第１の補正手段（３３）と、
前記第１処理信号と前記第１の雑音信号とを加算し、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める第１の加算手段（３５）と、
前記第２処理信号に対して１８０度の移相処理を行う第２の移相手段（４１）と、
前記第２の移相手段の出力信号（Ｚ（ｋ）′）に対して、前記第１の移相手段によって移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲の周波数対振幅の誤差を補正して、前記第２処理信号に含まれる前記第２の周波数範囲の雑音成分を１８０度移相した第２の雑音信号（ＮＬ２（ｋ））を生成する第２の補正手段（４２）と、
前記第２処理信号と前記第２の雑音信号とを加算し、前記第１処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める第２の加算手段（４５）とを備え、
さらに、前記各移相手段は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする。
The signal processing device according to claim 7 of the present invention is
An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A first phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the output signal (Y (k) ′) of the first phase shift means, the low-frequency amplitude error in the first frequency range from the predetermined frequency of the phase shift processing to the lower boundary frequency (Fb) A time response coefficient calculating means (32) for obtaining a time response coefficient (α) that causes
Based on the obtained time response coefficient, the amplitude of the first frequency range of the output signal of the first phase shifting means is corrected, and the low frequency range included in the first frequency range of the first processed signal First correcting means (33) for generating a first noise signal (N L1 (k)) having a noise component shifted by 180 °;
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. 1 addition means (35);
A second phase shift means (41) for performing a phase shift process of 180 degrees on the second processed signal;
A second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the phase shifting process by the first phase shifting means with respect to the output signal (Z (k) ′) of the second phase shifting means. To generate a second noise signal (N L2 (k)) that is 180 degrees phase-shifted from the noise component of the second frequency range included in the second processed signal. Two correction means (42);
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the first processed signal. 2 addition means (45) ,
Furthermore, each said phase shift means is
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
It is characterized by comprising means (107 to 109) for generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude .
また、本発明の請求項８の信号処理装置は、
センサ（１１）の出力信号に対するＡ／Ｄ変換処理を行うＡ／Ｄ変換器（２１）と、
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う第１の移相手段（３１）と、
前記第１の移相手段の出力信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記第１の移相手段の出力信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（Ｎ Ｌ１ （ｋ））を生成する第１の補正手段（３３）と、
前記第１処理信号と前記第１の雑音信号とを加算し、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める第１の加算手段（３５）と、
前記第２処理信号に対して１８０度の移相処理を行う第２の移相手段（４１）と、
前記第２の移相手段の出力信号（Ｚ（ｋ）′）に対して、前記第１の移相手段によって移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲の周波数対振幅の誤差を補正して、前記第２処理信号に含まれる前記第２の周波数範囲の雑音成分を１８０度移相した第２の雑音信号（Ｎ Ｌ２ （ｋ））を生成する第２の補正手段（４２）と、
前記第２処理信号と前記第２の雑音信号とを加算し、前記第１処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める第２の加算手段（４５）とを備え、
前記第２の補正手段は、前記第３処理信号から抽出した雑音成分の振幅情報と周波数情報から生成した第２の雑音信号を用いて補正処理を行うことを特徴とする。
The signal processing device according to
An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A first phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the output signal (Y (k) ′) of the first phase shift means, the low-frequency amplitude error in the first frequency range from the predetermined frequency of the phase shift processing to the lower boundary frequency (Fb) A time response coefficient calculating means (32) for obtaining a time response coefficient (α) that causes
Based on the obtained time response coefficient, the amplitude of the first frequency range of the output signal of the first phase shifting means is corrected, and the low frequency range included in the first frequency range of the first processed signal First correcting means (33) for generating a first noise signal (N L1 (k)) having a noise component shifted by 180 ° ;
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. 1 addition means (35);
A second phase shift means (41) for performing a phase shift process of 180 degrees on the second processed signal;
A second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the phase shifting process by the first phase shifting means with respect to the output signal (Z (k) ′) of the second phase shifting means. To generate a second noise signal (N L2 (k)) that is 180 degrees phase-shifted from the noise component of the second frequency range included in the second processed signal . Two correction means (42);
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the first processed signal. 2 addition means (45),
The second correction means performs correction processing using a second noise signal generated from amplitude information and frequency information of a noise component extracted from the third processing signal .
また、本発明の請求項９の信号処理装置は、請求項８記載の信号処理装置において、
前記入力信号または前記第１処理信号に対するスペクトラム解析により少なくとも前記所定周波数以下の雑音成分を求めるスペクトラム解析手段（２６）と、
前記スペクトラム解析手段で得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲のいずれにあるかを判定する雑音分布判定手段（２７）と、
前記スペクトラム解析手段で得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲の両方にあるときには、前記第３処理信号を最終の処理結果として出力させ、雑音成分が前記第１の周波数範囲にのみあるときには、前記第２処理信号を最終の処理結果として出力させ、雑音成分が前記第２の周波数範囲にのみあるときには、前記第２処理信号の代わりに前記第１処理信号を前記第２の移相手段に入力させ、該第１処理信号に対して前記第２の加算手段で得られた第３処理信号を最終処理結果として出力させる信号切換手段（２８ａ〜２８ｃ）とを有していることを特徴とする。
The signal processing apparatus according to
Spectrum analysis means (26) for obtaining a noise component of at least the predetermined frequency or less by spectrum analysis on the input signal or the first processing signal;
Noise distribution determination means (27) for determining whether the noise component obtained by the spectrum analysis means is in the first frequency range or the second frequency range;
When the noise component obtained by the spectrum analysis means is in both the first frequency range and the second frequency range, the third processing signal is output as a final processing result, and the noise component is the first frequency range. The second processing signal is output as a final processing result when it is only in the frequency range, and when the noise component is only in the second frequency range, the first processing signal is used instead of the second processing signal. Signal switching means (28a to 28c) for inputting to the second phase shifting means and outputting the third processed signal obtained by the second adding means as a final processing result for the first processed signal. It is characterized by having.
また、本発明の請求項１０の信号処理装置は、請求項８または請求項９記載の信号処理装置において、
前記各移相手段は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする。
A signal processing device according to claim 10 of the present invention is the signal processing device according to
Each of the phase shifting means includes
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
It is characterized by comprising means (107 to 109) for generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude.
このように本発明では、センサの出力信号に対するＡ／Ｄ変換処理で得られた時系列の信号に対して高域雑音除去処理を行い、その高域雑音除去処理後の第１処理信号に対する１８０度の移相処理を行い、その移相処理によって生じる低域振幅誤差を移相処理の時間応答係数を基づいて補正して、入力信号に含まれていた交流の雑音成分を１８０度移相した雑音信号を生成してから入力信号と加算して、その雑音成分を相殺除去しているので、移相処理帯域を極端に低域まで下げることなく、低域雑音成分を除去することができ、速やかに且つ精度よく直流成分を検出することができる。 As described above, in the present invention, the high-frequency noise removal processing is performed on the time-series signal obtained by the A / D conversion processing on the output signal of the sensor, and the first processing signal 180 after the high-frequency noise removal processing is processed. The phase shift process is performed, the low-frequency amplitude error caused by the phase shift process is corrected based on the time response coefficient of the phase shift process, and the AC noise component included in the input signal is phase shifted 180 degrees. Since the noise component is added to the input signal after generating the noise signal, the noise component is canceled out, so the low-frequency noise component can be removed without lowering the phase shift processing band to an extremely low frequency. The DC component can be detected promptly and accurately.
また、移相処理の周波数特性の傾斜部以下の低域を、境界周波数を境にして２つの周波数範囲に分け、その高い方の第１の周波数範囲については時間応答係数により速やかに補正処理を行い、低い方の第２の周波数範囲については、周波数対振幅の特性に基づいて振幅補正しているから、床振動などの極めて低い雑音成分に対しても速やかに精度よくセンサへの負荷に対応した直流成分を検出することかできる。 In addition, the low frequency range below the slope of the frequency characteristic of the phase shift processing is divided into two frequency ranges with the boundary frequency as a boundary, and the higher first frequency range is corrected quickly by the time response coefficient. Since the amplitude of the lower second frequency range is corrected based on the frequency-to-amplitude characteristics, the sensor load can be handled quickly and accurately even for extremely low noise components such as floor vibrations. The detected direct current component can be detected.
また、入力信号あるいは第１処理信号のスペクトラム解析を行い、低域雑音がどの周波数範囲にあるかによって、雑音除去処理を選択的に行うものでは、実際に発生する雑音に応じて最短の処理時間でその雑音の除去が行える。 Also, in the case where the spectrum analysis of the input signal or the first processing signal is performed and the noise removal processing is selectively performed depending on which frequency range the low-frequency noise is in, the shortest processing time according to the actually generated noise Can remove the noise.
以下、図面に基づいて本発明の実施の形態を説明する。
先ず始めに、本発明の信号処理方法の一実施形態を図１のフローチャートに基づいて説明する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, an embodiment of the signal processing method of the present invention will be described based on the flowchart of FIG.
図１に示しているように、この実施形態の信号処理方法は、質量、圧力等の物理量Ｍを受けたセンサの出力信号ｘ（ｔ）を、その周波数成分の上限の２倍より十分高い周波数でオーバサンプリングして、量子化雑音が極めて少ないデジタルの原信号Ｘ（ｋ）に変換する（Ｓ１）。 As shown in FIG. 1, in the signal processing method of this embodiment, the output signal x (t) of a sensor that has received a physical quantity M such as mass or pressure has a frequency sufficiently higher than twice the upper limit of its frequency component. Oversampling is performed to convert the digital original signal X (k) with very little quantization noise (S1).
そして、この原信号Ｘ（ｋ）に含まれる所定周波数Ｆａ（例えば数１０Ｈｚ）以上の高域雑音成分を除去する（Ｓ２）。この所定周波数Ｆａは、後述する各移相手段の周波数振幅特性の平坦部と低域側の傾斜部の境界近傍に設定されているものとする（図３参照）。 Then, a high frequency noise component having a frequency equal to or higher than a predetermined frequency Fa (for example, several tens of Hz) included in the original signal X (k) is removed (S2). This predetermined frequency Fa is assumed to be set in the vicinity of the boundary between the flat portion of the frequency amplitude characteristic of each phase shift means to be described later and the inclined portion on the low frequency side (see FIG. 3).
高域雑音成分の除去処理については後述するが、例えば前記した特許文献１の処理が使用可能であり、この処理により、例えば、図２の（ａ）のような信号ｘ（ｔ）に対して、図２の（ｂ）のように低域の雑音成分のみが重畳した信号Ｙ（ｋ）を出力する。
Although the high-frequency noise component removal process will be described later, for example, the process of
高域雑音除去処理で所定周波数Ｆａ以上の雑音成分が短時間に除去された第１処理信号Ｙ（ｋ）は、低域雑音除去処理を受けるが、その低域雑音成分の存在を先に調べておくことで、以後の処理に無駄がなくなる。 The first processed signal Y (k) from which the noise component of the predetermined frequency Fa or higher is removed in a short time by the high-frequency noise removal processing is subjected to the low-frequency noise removal processing, but the existence of the low-frequency noise component is examined first. By doing so, there is no waste in subsequent processing.
即ち、スペクトラム解析処理（Ｓ３）を行い、周波数Ｆａ以下の所定レベル以上の雑音があるか否かを判定する（Ｓ４、Ｓ９、Ｓ１６）。 That is, spectrum analysis processing (S3) is performed, and it is determined whether or not there is noise of a predetermined level or higher below the frequency Fa (S4, S9, S16).
ここで、図３に示すように、移相処理の振幅周波数特性の周波数Ｆａから雑音除去処理の下限周波数Ｆｃの間を、境界周波数Ｆｂ（例えば１０Ｈｚ）を境にして高い方を第１の周波数範囲、低い方を第２の周波数範囲に分け、雑音成分がどちらの周波数範囲にあるかを判定する。 Here, as shown in FIG. 3, between the frequency Fa of the amplitude frequency characteristic of the phase shift process and the lower limit frequency Fc of the noise removal process, the higher one with the boundary frequency Fb (for example, 10 Hz) as the boundary is the first frequency. The lower range is divided into the second frequency range, and it is determined which frequency range the noise component is in.
雑音成分が第１の周波数範囲にあるとき（Ｓ４）には、第１処理信号Ｙ（ｋ）に対する雑音除去処理が行われる。 When the noise component is in the first frequency range (S4), noise removal processing is performed on the first processing signal Y (k).
この低域雑音除去処理は、基本的に元の信号に含まれる交流の雑音成分を１８０゜移相して加算することで雑音成分を相殺するものである。 This low-frequency noise removal processing basically cancels the noise component by shifting the AC noise component included in the original signal by 180 ° and adding it.
即ち、第１処理信号Ｙ（ｋ）に対して１８０度の移相処理を行う（Ｓ５）。
この１８０度の移相処理は、単純には広帯域にわたり９０度の移相処理が可能なヒルベルト変換器を２段接続して実現できる。
That is, a phase shift process of 180 degrees is performed on the first processing signal Y (k) (S5).
This 180 degree phase shift process can be realized simply by connecting two stages of Hilbert transformers capable of 90 degree phase shift over a wide band.
また、後述するように入力信号からヒルベルト変換器を用いてＩＱ直交信号を生成し、そのＩ成分とＱ成分から、雑音成分の瞬時周波数、瞬時位相、瞬時振幅を求め、これらの情報から各雑音成分について１８０゜移相した信号を合成して出力する構成としてもよい。 As will be described later, an IQ quadrature signal is generated from the input signal using a Hilbert transformer, and the instantaneous frequency, instantaneous phase, and instantaneous amplitude of the noise component are obtained from the I component and Q component, and each noise is obtained from these information. It may be configured to synthesize and output signals that are 180 ° phase shifted for the components.
ただし、前記したようにヒルベルト変換器はハイパス型で、図３で示したように周波数Ｆａより傾斜部で周波数とともに利得が低下し、図２の（ｃ）のように、移相処理した後の信号Ｙ（ｋ）′の低域成分の振幅が減衰してしまう。この利得が低下する周波数は、ヒルベルト変換処理のタップ数を多くすることでより低い方へずらすことができるが、そのために大きな遅延時間が生じてしまう。 However, as described above, the Hilbert transformer is a high-pass type, and as shown in FIG. 3, the gain decreases with the frequency at the slope portion from the frequency Fa, and after the phase shift processing as shown in FIG. The amplitude of the low frequency component of the signal Y (k) ′ is attenuated. The frequency at which the gain decreases can be shifted to a lower level by increasing the number of taps in the Hilbert transform process, but this causes a large delay time.
そこで、この実施形態では、移相処理によって生じる低域振幅誤差を移相処理の時間応答係数αを求めて補正処理し、第１処理信号Ｙ（ｋ）に含まれていた第１の周波数範囲の雑音成分を１８０度移相した第１の雑音信号ＮＬ１（ｋ）を生成し、加算処理してその雑音成分を除去している。 Therefore, in this embodiment, the low frequency amplitude error caused by the phase shift process is corrected by obtaining the time response coefficient α of the phase shift process, and the first frequency range included in the first processed signal Y (k) is corrected. The first noise signal N L1 (k) is generated by shifting the noise component by 180 degrees and added to remove the noise component.
つまり、図２の（ｃ）のように第１処理信号Ｙ（ｋ）に対して１８０゜の移相処理して得られた信号Ｙ（ｋ）′と、元の信号Ｙ（ｋ）とから時間応答係数αを求めて（Ｓ６）、その時間応答係数に応じた補正処理を行い（Ｓ７）、図２の（ｄ）のように第１処理信号Ｙ（ｋ）に含まれる第１の周波数範囲の雑音成分を１８０゜移相した第１の雑音信号ＮＬ１（ｋ）を求め、第１処理信号Ｙ（ｋ）と加算する（Ｓ８）ことで、図２の（ｅ）のようなに第１の周波数範囲の雑音が除去された第２処理信号Ｚ（ｋ）を得ている。 That is, from the signal Y (k) ′ obtained by performing the phase shift process of 180 ° with respect to the first processed signal Y (k) as shown in FIG. 2C, and the original signal Y (k). The time response coefficient α is obtained (S6), correction processing corresponding to the time response coefficient is performed (S7), and the first frequency included in the first processing signal Y (k) as shown in FIG. 2 (d). A first noise signal N L1 (k) obtained by shifting the noise component of the range by 180 ° is obtained and added to the first processed signal Y (k) (S8), as shown in FIG. A second processed signal Z (k) from which noise in the first frequency range is removed is obtained.
なお、時間応答係数αの算出は、例えば時刻ｍＴ、（ｍ＋１）Ｔの入力値をそれぞれＫ１、Ｋ２、そのときの直流値をＤｃで一定、ヒルベルト変換の出力値をそれぞれｈ［ｍＴ］、ｈ［（ｍ＋１）Ｔ］とすると、次の連立方程式が成り立つ。 The time response coefficient α is calculated by, for example, setting the input values at time mT and (m + 1) T to K1 and K2, respectively, the DC value at that time is constant at Dc, and the output value of the Hilbert transform to h [mT] and h, respectively. Assuming [(m + 1) T], the following simultaneous equations hold.
Ｄｃ＋ｈ（ｍＴ）＝Ｋ１
Ｄｃ＋ｈ［（ｍ＋１）Ｔ］＝Ｋ２
Dc + h (mT) = K1
Dc + h [(m + 1) T] = K2
また、元の信号をそれぞれｇ［ｍＴ］、ｇ［（ｍ＋１）Ｔ］とすれば、
α・ｇ［ｍＴ］＝ｈ［ｍＴ］
α・ｇ［（ｍ＋１）Ｔ］＝ｈ［（ｍ＋１）Ｔ］
となる。
If the original signals are g [mT] and g [(m + 1) T], respectively,
α · g [mT] = h [mT]
α · g [(m + 1) T] = h [(m + 1) T]
It becomes.
これらの式を解くことで、直流分Ｄｃと時間応答係数αが得られるので、この時間応答係数α分の補正処理（逆数１／αを乗じる）を行うことで、前記したように第１の周波数範囲の低域雑音が除去された第２処理信号Ｚ（ｋ）を得ることができる。 By solving these equations, the DC component Dc and the time response coefficient α can be obtained. Therefore, by performing the correction process (multiplying the reciprocal 1 / α) for this time response coefficient α, the first part is obtained as described above. The second processed signal Z (k) from which the low frequency noise in the frequency range has been removed can be obtained.
この第２処理信号Ｚ（ｋ）に第２の周波数範囲の雑音がなければ、第２処理信号Ｚ（ｋ）が最終の処理結果として出力されることになる（Ｓ９、Ｓ１０）が、数Ｈｚの低い周波数の床振動があるような場合、図２の（ｅ）のように第２処理信号Ｚ（ｋ）にその雑音成分が重畳している。 If there is no noise in the second frequency range in the second processing signal Z (k), the second processing signal Z (k) is output as the final processing result (S9, S10), which is several Hz. When there is a floor vibration of a low frequency, the noise component is superimposed on the second processed signal Z (k) as shown in FIG.
そこで、次に第２の周波数範囲の雑音に対する除去処理を行う。
即ち、第２処理信号Ｚ（ｋ）に対して１８０゜の移相処理を行い（Ｓ１１）、図２の（ｆ）のような信号Ｚ（ｋ）′を求める。
Therefore, next, removal processing for noise in the second frequency range is performed.
That is, a 180 ° phase shift process is performed on the second processed signal Z (k) (S11) to obtain a signal Z (k) ′ as shown in FIG.
そして、前記同様にその移相処理による低域振幅誤差を補正する。
この低域振幅誤差の補正処理としては、移相処理部の周波数特性が既知で固定であることから、その周波数特性を補償する固定周波数特性（ＬＰＦ）のフィルタ処理（畳み込み演算処理）を行うことで実現できる。
Then, similarly to the above, the low-frequency amplitude error due to the phase shift processing is corrected.
As this low-frequency amplitude error correction processing, since the frequency characteristic of the phase shift processing unit is known and fixed, a fixed frequency characteristic (LPF) filter process (convolution calculation process) for compensating the frequency characteristic is performed. Can be realized.
また、センサ１１の出力に含まれる低域雑音成分は、センサ１１に定常的に加わっている振動成分が主体である場合が多いので、その信号成分についてだけ低域振幅誤差を補正することで補正処理が容易となり、補正に必要な処理時間がより短くて済む。 Further, since the low-frequency noise component included in the output of the sensor 11 is mainly a vibration component that is constantly added to the sensor 11, correction is performed by correcting the low-frequency amplitude error only for the signal component. Processing becomes easier and processing time required for correction is shorter.
さらに、雑音が例えば床振動のように定常的なものが主体である場合、振幅最大の雑音成分だけを除去対象とし、その雑音を抽出して周波数情報と振幅情報を求めておき、その情報から雑音信号を生成して補正処理することも可能である。 Furthermore, when the noise is mainly stationary such as floor vibration, for example, only the noise component with the maximum amplitude is targeted for removal, and the noise is extracted to obtain frequency information and amplitude information. It is also possible to generate a noise signal and perform correction processing.
なお、図１の例では、第２処理信号Ｚ（ｋ）に対するスペクトラム解析を利用して、第２の周波数範囲に存在する雑音成分に対して前記移相処理で生じる低域振幅誤差を補正するために必要な係数（この場合ＦＩＲ型フィルタの係数）を求め（Ｓ１２）、そのフィルタ係数による補正演算処理（畳み込み演算処理）を信号Ｚ（ｋ）′に対して行い（Ｓ１３）、図２の（ｇ）のように、振幅誤差が補正され、且つ元の信号の低域雑音成分に対して１８０度移相した第２の雑音信号ＮＬ２（ｋ）を生成している。 In the example of FIG. 1, the spectrum analysis for the second processed signal Z (k) is used to correct the low-frequency amplitude error caused by the phase shift processing for the noise component existing in the second frequency range. 2 is obtained (S12), and a correction calculation process (convolution calculation process) using the filter coefficient is performed on the signal Z (k) ′ (S13). As shown in (g), the second noise signal N L2 (k) is generated in which the amplitude error is corrected and phase-shifted by 180 degrees with respect to the low-frequency noise component of the original signal.
そして、第２処理信号Ｚ（ｋ）と第２の雑音信号ＮＬ２（ｋ）とを加算して、図２の（ｈ）のように第２の周波範囲の低域雑音成分が除去された第３処理信号Ｗ（ｋ）を求め（Ｓ１４）、これを最終の処理結果として出力する（Ｓ１５）。 Then, the second processed signal Z (k) and the second noise signal N L2 (k) are added, and the low frequency noise component in the second frequency range is removed as shown in FIG. 2 (h). The third processing signal W (k) is obtained (S14), and this is output as the final processing result (S15).
この最終の処理結果として出力された第３処理信号Ｗ（ｋ）から、センサの出力信号ｘ（ｔ）の直流成分Ｖｍ、即ち、センサに負荷された物理量を正確に予測できる。 From the third processing signal W (k) output as the final processing result, the DC component Vm of the sensor output signal x (t), that is, the physical quantity loaded on the sensor can be accurately predicted.
また、スペクトラム解析の結果、第１の周波数範囲と第２の周波数範囲のいずれにも有害な雑音がないと判定された場合（Ｓ１６）には、第１処理信号Ｙ（ｋ）を最終の処理結果として出力し（Ｓ１７）、第２の周波数範囲にのみ有害な雑音があると判定された場合には、前記第２処理信号Ｚ（ｋ）の代わりに第１処理信号Ｙ（ｋ）に対する１８０°の移相処理を行って（Ｓ１８）、その移相信号に対してＳ１２〜Ｓ１４の処理を行い、その処理で得られた信号Ｗ（ｋ）を最終の処理結果とすればよい。 When it is determined that there is no harmful noise in either the first frequency range or the second frequency range as a result of spectrum analysis (S16), the first processing signal Y (k) is subjected to final processing. As a result (S17), if it is determined that there is harmful noise only in the second frequency range, 180 for the first processing signal Y (k) instead of the second processing signal Z (k). The phase shift process is performed (S18), the processes of S12 to S14 are performed on the phase shift signal, and the signal W (k) obtained by the process is used as the final process result.
なお、ここでは、第２の周波数範囲に、精度に影響を与える低域雑音成分が複数ある場合を想定して、その複数の低域振幅誤差を補正するために必要なフィルタ係数を求めていたが、スペクトラム解析で得られた低域雑音成分のうちの第２の周波数範囲内でレベル最大の雑音成分だけに対して補正処理を行うことも可能であり、その場合には、対象となる雑音成分の振幅の減衰割合を係数として求め、その係数の逆数を移相処理後の信号に乗じる演算のみで補正処理が行え、最短の処理時間で済む。 Here, assuming that there are a plurality of low-frequency noise components that affect the accuracy in the second frequency range, the filter coefficients necessary for correcting the plurality of low-frequency amplitude errors have been obtained. However, it is also possible to perform correction processing only on the noise component having the maximum level within the second frequency range among the low-frequency noise components obtained by the spectrum analysis. The correction processing can be performed only by calculating the attenuation ratio of the amplitude of the component as a coefficient and multiplying the reciprocal of the coefficient by the signal after the phase shift processing, and the shortest processing time is required.
このように、実施形態の信号処理方法では、センサ１の出力信号に対するＡ／Ｄ変換処理で得られた時系列の信号に対して高域雑音除去処理を行い、その結果得られた第１処理信号に対して１８０度の移相処理を行い、その移相処理により生じる低域振幅誤差を移相処理の時間応答係数に基づいて補正して第１処理信号と加算することで、低域雑音成分を相殺除去しているので、低域成分に対する移相処理のために大きな遅延時間を発生させることなく、極めて低い周波数の雑音成分の除去を速やか行うことができ、センサに負荷された物理量を高速且つ高精度に検出できる。
As described above, in the signal processing method of the embodiment, the high-frequency noise removal processing is performed on the time-series signal obtained by the A / D conversion processing on the output signal of the
さらに低域を第１の周波数範囲と第２の周波数範囲に分け、その高い方の第１の周波数範囲については時間応答係数に基づいて補正した雑音信号を用いて雑音除去処理を行い、低い方の第２の周波数範囲については移相処理の周波数対振幅の特性に基づいて補正され雑音信号を用いて雑音除去処理を行い、第２の周波数範囲の低域雑音成分を相殺させ、センサの出力信号の直流成分を得ているので、より効率的に雑音を除去できる。 Further, the low frequency band is divided into a first frequency range and a second frequency range, and the higher first frequency range is subjected to noise removal processing using a noise signal corrected based on the time response coefficient, and the lower one is selected. The second frequency range of the second frequency range is corrected based on the frequency-to-amplitude characteristics of the phase shift processing, and noise removal processing is performed using the noise signal to cancel out the low-frequency noise component in the second frequency range, and the sensor output Since the DC component of the signal is obtained, noise can be removed more efficiently.
なお、高域雑音除去の処理は任意であり、簡単にはローパスフィルタのみで高域雑音成分を除去してもよく、また、前記した特許文献１の処理で極めて高速な雑音除去処理を行うこともできる。
Note that the high-frequency noise removal process is arbitrary, and a high-frequency noise component may be simply removed using only a low-pass filter. In addition, the extremely high-speed noise removal process may be performed using the process described in
図４は、上記実施形態の信号処理方法を用いた実施形態の信号処理装置２０の構成を示している。
FIG. 4 shows the configuration of the
この信号処理装置２０は、ロードセル等のセンサ１１の出力信号ｘ（ｔ）を、Ａ／Ｄ変換器２１により例えば数ｋＨｚでオーバサンプリングして、量子化雑音が少ないデジタルの原信号Ｘ（ｋ）を得て、高域雑音除去部２２に入力している。
The
高域雑音除去部２２は、移相手段２３、遅延手段２４および加算手段２５により構成されている。
The high-frequency noise removal unit 22 includes a
原信号Ｘ（ｋ）を受ける移相手段２３は、９０度の移相を行う２つのヒルベルト変換器２３ａ、２３ｂを直列に接続したものであり、そのタップ数は、周波数Ｆａ以上の周波数成分に対して平坦な周波数特性が得られる最小数に設定されている。 The phase shift means 23 that receives the original signal X (k) is a unit in which two Hilbert transformers 23a and 23b that perform a phase shift of 90 degrees are connected in series, and the number of taps is a frequency component equal to or higher than the frequency Fa. On the other hand, the minimum number is set so that a flat frequency characteristic can be obtained.
なお、上記のようにヒルベルト変換器を用いた移相手段２３の場合、原理的に直流分は除去されているので、原信号に重畳している交流成分に対して１８０度移相した雑音信号ＮＨ（ｋ）を生成できる。ただし、低域の雑音成分については元の成分に対して振幅が低下している。 In the case of the phase shift means 23 using the Hilbert converter as described above, since the DC component is removed in principle, the noise signal shifted by 180 degrees with respect to the AC component superimposed on the original signal. N H (k) can be generated. However, the amplitude of the low frequency noise component is lower than the original component.
また、遅延手段２４は、信号Ｘ（ｋ）に対し、移相手段２３の移相処理に必要な処理時間分の遅延を与え、加算器２５に出力する。
The delay unit 24 gives a delay corresponding to the processing time necessary for the phase shift processing of the
加算手段２５には、原信号Ｘ（ｋ）と、その原信号に含まれていた周波数Ｆａ以上の高域雑音成分を１８０度移相した雑音信号ＮＨ（ｋ）とが入力されることになり、その加算処理により高域雑音成分が相殺除去された第１処理信号Ｙ（ｋ）が前記図２の（ｂ）のように出力されることになる。 The addition means 25 is supplied with the original signal X (k) and the noise signal N H (k) obtained by shifting the high frequency noise component of the frequency Fa or higher included in the original signal by 180 degrees. Thus, the first processed signal Y (k) from which the high-frequency noise component has been canceled out by the addition process is output as shown in FIG.
このようにして得られた第１処理信号Ｙ（ｋ）は、スペクトラム解析手段２６、低域雑音除去部３０の移相手段３１および遅延手段３４に入力される。
The first processed signal Y (k) obtained in this way is input to the
スペクトラム解析手段２６は、第１処理信号Ｙ（ｋ）に対するスペクトラム解析を行い、周波数Ｆａ以下の雑音成分を求める。
The
雑音分布判定手段２７は、スペクトラム解析手段２６で得られた雑音成分が、第１の周波数範囲と第２の周波数範囲のいずれにあるかを判定する。この判定結果によって後述する信号切換用のスイッチ２８ａ〜２８ｃが切り替わる。
The noise distribution determining unit 27 determines whether the noise component obtained by the
第１処理信号Ｙ（ｋ）はスイッチ２８ａを介して低域雑音除去部３０の移相手段３１に入力される。移相手段３１は例えば、図示のように９０度の移相を行う２つのヒルベルト変換器３１ａ、３１ｂを直列に接続して構成でき、そのタップ数は、周波数Ｆａより低い周波数成分に対しては、前記図３で示したように周波数が低くなる程振幅が減衰する特性となり、図２の（ｃ）で示したように、その帯域の信号の振幅を下げてしまうが、その振幅低下は後続の補正手段３３によって補正される。
The first processed signal Y (k) is input to the phase shift means 31 of the low frequency noise removing unit 30 via the switch 28a. For example, the phase shift means 31 can be configured by connecting two
つまり、時間応答係数算出手段３２により出力信号Ｙ（ｋ）′と入力信号Ｙ（ｋ）とから時間応答係数αが算出されて補正手段３３に与えられ、信号Ｙ（ｋ）′の振幅が補正されて、図２の（ｄ）に示したように第１処理信号Ｙ（ｋ）の第１の周波数範囲に含まれる雑音成分を１８０゜移相した第１の雑音信号ＮＬ１（ｋ）が求められ、加算器３５に与えられる。この加算器３５には、第１処理信号Ｙ（ｋ）が、時間応答算出手段３２および補正手段３３の処理遅延分だけ遅延手段３４で遅延されて入力されており、その加算処理により、第１処理信号Ｙ（ｋ）からその第１の周波数範囲に含まれる雑音成分が除去されて、図２の（ｅ）に示した第２処理信号Ｚ（ｋ）が得られる。 That is, the time response coefficient α is calculated from the output signal Y (k) ′ and the input signal Y (k) by the time response coefficient calculation means 32 and is given to the correction means 33, and the amplitude of the signal Y (k) ′ is corrected. Then, as shown in FIG. 2D, the first noise signal N L1 (k) obtained by shifting the noise component included in the first frequency range of the first processed signal Y (k) by 180 ° is obtained. It is obtained and given to the adder 35. The adder 35 is inputted with the first processing signal Y (k) after being delayed by the delay means 34 by the processing delay of the time response calculation means 32 and the correction means 33. The noise component included in the first frequency range is removed from the processed signal Y (k), and the second processed signal Z (k) shown in (e) of FIG. 2 is obtained.
このようにして得られた第２処理信号Ｚ（ｋ）は、スイッチ２８ｂを介して移相手段４１および遅延手段４４に入力される。 The second processing signal Z (k) obtained in this way is input to the phase shift means 41 and the delay means 44 via the switch 28b.
移相手段４１は、例えば前記同様に２つのヒルベルト変換器４１ａ、４１ｂで構成され、入力する処理信号Ｚ（ｋ）（後述するようにＹ（ｋ）の場合もある）の交流成分に対して１８０°の移相処理を行うが、前記したように低周波域ではその周波数振幅特性の傾斜により振幅が低下しており、特に第２の周波数範囲では、振幅誤差が大きくなっており、補正処理が必要となる。 The phase shift means 41 is composed of, for example, two Hilbert transformers 41a and 41b as described above, and with respect to the AC component of the input processing signal Z (k) (may be Y (k) as will be described later). As described above, the phase shift process of 180 ° is performed. In the low frequency range, the amplitude is decreased due to the inclination of the frequency amplitude characteristic, and particularly in the second frequency range, the amplitude error is large, and the correction process is performed. Is required.
この補正には、ヒルベルト変換器を用いた移相手段４１の低域の周波数特性と逆の周波数特性を持つフィルタによってその低域全体の低域振幅誤差を補償する方法、実際に存在する低域雑音成分のうち、精度に影響を与える可能性のあるレベルが大きい雑音成分に対してのみ振幅誤差を補償する方法とがあるが、ここでは前者について説明する。 This correction includes a method of compensating for the low-frequency amplitude error of the entire low frequency band by a filter having a frequency characteristic opposite to the low frequency characteristic of the phase shift means 41 using the Hilbert transformer, Among the noise components, there is a method of compensating an amplitude error only for a noise component having a large level that may affect accuracy. Here, the former will be described.
即ち、補正手段４２は、図３の周波数特性と逆の周波数特性をもつＦＩＲ型の低域通過フィルタであり、上記した移相処理によって生じる第２の周波数範囲の低域振幅誤差を補正する。 That is, the correction means 42 is an FIR type low-pass filter having a frequency characteristic opposite to the frequency characteristic shown in FIG. 3, and corrects a low-frequency amplitude error in the second frequency range caused by the above-described phase shift processing.
補正係数算出手段４３は、前記スペクトラム解析手段２６等により得られた第２の周波数範囲の雑音成分の情報を受け、精度に影響する可能性のある所定レベル以上の低域雑音成分に対して移相手段４１により生じる低域振幅誤差を補正するためのフィルタ係数を求め、これを補正手段４２に設定する。このフィルタ係数は、例えばスペクトラム解析情報から補正に必要な振幅位相特性を求め、その特性に対して逆フーリエ変換（ＩＦＦＴ）を行ってインパルス応答を求め、そのインパルス応答を、要求する精度に対応した広さで切り出すことにより得ている。
The correction coefficient calculation means 43 receives the information of the noise component in the second frequency range obtained by the spectrum analysis means 26 and the like, and shifts the low frequency noise component of a predetermined level or more that may affect the accuracy. A filter coefficient for correcting the low-frequency amplitude error generated by the
また、前記したように最もレベルが高い雑音成分（単信号）だけに対して補正処理を行う場合には、図４で点線で示しているように出力信号Ｗ（ｋ）から得られた雑音成分の周波数情報と振幅情報に基づいて、その雑音信号に対して１８０゜移相した雑音信号を生成する雑音生成手段４６を用い、その生成された雑音信号と移相処理された信号とを補正手段１２で加算することで、雑音成分を除去することもでき、この場合最も短い処理時間で済む。なお、この場合、雑音成分の周波数情報と振幅情報は、出力Ｗ（ｋ）から定期的に抽出して更新する方法と、メモリに記憶している固定の情報を用いる方法のいずれであってもよい。 Further, as described above, when correction processing is performed only on the noise component (single signal) having the highest level, the noise component obtained from the output signal W (k) as shown by the dotted line in FIG. Based on the frequency information and amplitude information, the noise generating means 46 for generating a noise signal shifted by 180 ° with respect to the noise signal is used, and the generated noise signal and the phase-shifted signal are corrected. By adding at 12, the noise component can be removed. In this case, the shortest processing time is required. In this case, the frequency information and amplitude information of the noise component may be either a method of periodically extracting and updating from the output W (k) or a method of using fixed information stored in the memory. Good.
このようにして第２の周波数範囲の低域振幅誤差が補正されて、前記図２の（ｇ）に示したように、第２処理信号Ｚ（ｋ）の第２の周波数範囲の低域雑音成分を１８０度移相した第２の雑音信号ＮＬ２（ｋ）が得られる。 In this way, the low-frequency amplitude error in the second frequency range is corrected, and as shown in FIG. 2G, the low-frequency noise in the second frequency range of the second processed signal Z (k). A second noise signal N L2 (k) whose components are shifted by 180 degrees is obtained.
一方、遅延手段４４は、信号Ｚ（ｋ）に、移相手段４１および補正手段４２の処理時間分の遅延を与えて、加算手段４５に出力する。 On the other hand, the delay means 44 gives a delay corresponding to the processing time of the phase shift means 41 and the correction means 42 to the signal Z (k) and outputs it to the addition means 45.
したがって、加算手段４５には、第２処理信号Ｚ（ｋ）と、その信号Ｚ（ｋ）の第２の周波数範囲に含まれていた低域雑音成分を１８０度移相した第２の雑音信号ＮＬ２（ｋ）とが入力されることになり、前記図２の（ｈ）のようにその低域雑音成分が相殺除去された第３処理信号Ｗ（ｋ）が得られ、スイッチ２８ｃを介して最終の処理結果として出力されることになる。 Therefore, the adding means 45 receives the second processed signal Z (k) and the second noise signal obtained by shifting the low frequency noise component included in the second frequency range of the signal Z (k) by 180 degrees. N L2 (k) is input, and the third processed signal W (k) from which the low-frequency noise component is canceled out as shown in FIG. 2 (h) is obtained. Is output as the final processing result.
以上、第１の周波数範囲と第２の周波数範囲に雑音が存在する場合について説明したが、雑音分布判定手段２７によって第１の周波数範囲にのみ有害な雑音信号が存在すると判定された場合には、第１処理信号Ｙ（ｋ）を移相手段３１に入力させ、加算手段３５から出力される第２処理信号Ｚ（ｋ）をスイッチ２８ｃで最終の処理結果として出力すればよい。
The case where noise is present in the first frequency range and the second frequency range has been described above. However, when the noise distribution determination unit 27 determines that a harmful noise signal exists only in the first frequency range. The first processing signal Y (k) may be input to the phase shift means 31, and the second processing signal Z (k) output from the addition means 35 may be output as the final processing result by the
また、第２の周波数範囲にのみ有害な雑音信号が存在すると判定された場合には、第２処理信号Ｚ（ｋ）の代わりに第１処理信号Ｙ（ｋ）を、スイッチ２８ｂを介して移相手段４１に入力させ、加算手段４５から出力される第３処理信号Ｗ（ｋ）をスイッチ２８ｃで最終の処理結果として出力すればよい。
If it is determined that a harmful noise signal exists only in the second frequency range, the first processed signal Y (k) is transferred via the switch 28b instead of the second processed signal Z (k). The third processing signal W (k) input to the
このようにスペクトラム解析を行って実際に存在する低域雑音信号を求め、その低域雑音信号の分布に対して選択的に補正処理を行うようにすれば、補正のためのフィルタ構成が簡単に済み、遅延時間を短くすることができる。 By performing spectrum analysis in this way to obtain the low-frequency noise signal that actually exists and selectively correcting the low-frequency noise signal distribution, the filter configuration for correction can be simplified. The delay time can be shortened.
なお、上記実施形態では、１８０°の移相処理として２段のヒルベルト変換を行う場合について説明したが、図５のフローチャートに示すように、ヒルベルト変換を用いて入力する処理信号から直交信号Ｉ、Ｑを生成して、その瞬時位相、瞬時振幅を求め（Ｓ１００）、得られた瞬時位相にπ／４を加えた位相値に対応する振幅１の直交成分を求め、瞬時振幅をそれぞれに乗算して加算合成することで、入力する処理信号に対して最終的に１８０゜移相した信号を生成することができる。ただし、この場合もヒルベルト変換処理の低域振幅歪みの影響を受けるので前記した補正処理が必要となる。
In the above embodiment, the case where the two-stage Hilbert transform is performed as the 180 ° phase shift processing has been described. However, as shown in the flowchart of FIG. 5, the orthogonal signal I, Q is generated, and its instantaneous phase and instantaneous amplitude are obtained (S100), the quadrature component of
図６は、図５の処理を実現する移相手段１００で前記した各移相手段２３、３１、４１に適用可能な構成例を示している。 FIG. 6 shows a configuration example applicable to each of the phase shift means 23, 31, 41 described above with the phase shift means 100 realizing the processing of FIG. 5.
この移相手段１００は、Ｘ（ｋ）、Ｙ（ｋ）、Ｚ（ｋ）のいずれかの入力信号を、１段のヒルベルト変換器１０１で９０°移相して、ヒルベルト変換器１段分の遅延を遅延手段１０２で与えた信号Ｉと、入力信号を２段のヒルベルト変換器１０３、１０４で１８０゜移相した信号Ｑとで、直交ＩＱ信号を生成し、その直交信号Ｉ、Ｑを位相・周波数算出手段１０５および振幅算出手段１０６に与えて、雑音成分の瞬時周波数ｆ、瞬時位相φ、瞬時振幅Ａを求め、加算手段１０７で位相φにπ／４を加え、得られた位相φ′を瞬時位相とする振幅１の直交信号成分Ｉ′、Ｑ′を直交信号生成手段１０８により生成し、合成手段１０９において、振幅Ａを乗算して加算合成することで、入力信号に含まれる雑音成分を１８０゜移相した信号を合成して出力する。
This phase shift means 100 shifts an input signal of any one of X (k), Y (k), and Z (k) by 90 ° with one stage Hilbert transformer 101, and outputs one stage of Hilbert transformer. The signal I given by the delay means 102 and the signal Q obtained by shifting the input signal by 180 ° by the two-
次に、上記図６の移相処理を用いた場合の実施形態のシミュレーションを図７〜図９に示す。なお、図７〜図９の縦軸の単位はグラム、横軸の単位は秒であり、シミュレーション条件は、以下の通りである。 Next, simulations of the embodiment in the case where the phase shift process of FIG. 6 is used are shown in FIGS. 7 to 9, the unit of the vertical axis is grams, the unit of the horizontal axis is seconds, and the simulation conditions are as follows.
自由度バネマスダンパ系に０．３秒の台形波を入力（この振幅を１００パーセントとする）
固有振動数 約４５Ｈｚ（振幅２０パーセント）
第２の周波数範囲の低域雑音 ５Ｈｚ（振幅５パーセント）
第１の周波数範囲の低域雑音 ２１Ｈｚ、２３Ｈｚ（ともに振幅１パーセント）
高域雑音 ５１Ｈｚ、６１Ｈｚ、６３Ｈｚ、７１Ｈｚ（ともに振幅３パーセント）
サンプリング時間５ｍｓ
A trapezoidal wave of 0.3 seconds is input to the spring mass damper system with a degree of freedom (this amplitude is assumed to be 100%)
Natural frequency about 45Hz (20% amplitude)
Low frequency noise in the
Low frequency noise in the first frequency range 21 Hz, 23 Hz (both amplitudes are 1 percent)
High frequency noise 51Hz, 61Hz, 63Hz, 71Hz (both amplitudes are 3%)
Sampling time 5ms
図７の（ａ）は、センサの出力Ｘ（ｋ）とその信号に対して高域雑音除去処理を行った結果Ｙ（ｋ）を示し、図７の（ｂ）は、信号Ｙ（ｋ）と、比較のために線形時不変の直線位相のＦＩＲ型のＬＰＦを用いて高域を除去した結果（ＬＰＦと示す）とを拡大したものである。 7A shows the output X (k) of the sensor and the result Y (k) obtained by performing high-frequency noise removal processing on the signal, and FIG. 7B shows the signal Y (k). For comparison, a result obtained by removing a high frequency band using a linear phase invariant linear phase FIR type LPF (denoted as LPF) is enlarged.
ここで、高域雑音除去処理の下限周波数Ｆａを４０Ｈｚとし、それ以上で測定精度が１／５０００になる周波数平坦度を有するタップ数１００のヒルベルト変換処理を用いている。 Here, the lower limit frequency Fa of the high-frequency noise removal process is 40 Hz, and a Hilbert transform process with 100 taps having frequency flatness at which the measurement accuracy becomes 1/5000 or more is used.
図７から、低周波の５Ｈｚ、２１Ｈｚ、２３Ｈｚの雑音が残っていることが判る。また、ＬＰＦの特性には、実施形態の処理に比べて急峻に上に延びた応答が見られている。 From FIG. 7, it can be seen that low frequency noises of 5 Hz, 21 Hz, and 23 Hz remain. Further, in the characteristics of the LPF, a response that extends sharply as compared with the processing of the embodiment is seen.
図８は、第２処理信号Ｚ（ｋ）と、前記ＬＰＦ出力を拡大したものである。この図８から、第２処理信号Ｚ（ｋ）には、低周波の第１の周波数範囲の２１Ｈｚ、２３Ｈｚの雑音が除去されているが、５Ｈｚの雑音が残留していることが判る。 FIG. 8 is an enlarged view of the second processing signal Z (k) and the LPF output. From FIG. 8, it can be seen that noise of 21 Hz and 23 Hz in the first low frequency range is removed from the second processed signal Z (k), but noise of 5 Hz remains.
図９は、前記した補正係数を求めてフィルタで補正することで得られた第３処理信号Ｗ（ｋ）の拡大図である。５Ｈｚの雑音が除去され、上部がほぼ平坦な台形波が得られており、低周波雑音は十分除去されていることが判る。 FIG. 9 is an enlarged view of the third processed signal W (k) obtained by obtaining the correction coefficient and correcting it with a filter. It can be seen that 5 Hz noise is removed, and a trapezoidal wave having a substantially flat top is obtained, and low frequency noise is sufficiently removed.
１１……センサ、２０……信号処理装置、２１……Ａ／Ｄ変換器、２２……高域雑音除去部、２３……移相手段、２４……遅延手段、２５……加算手段、２６……スペクトラム解析手段、２７……雑音分布判定手段、３０……低域雑音除去部、３１……移相手段、３２……時間応答係数算出手段、３３……補正手段、３４……遅延手段、３５……加算手段、４１……移相手段、４２……補正手段、４３……補正係数算出手段、４４……遅延手段、４５……加算手段、４６……雑音信号生成手段、１００……移相手段、１０１、１０３、１０４……ヒルベルト変換器、１０２……遅延手段、１０５……位相・周波数算出手段、１０６……振幅算出手段、１０７……加算手段、１０８……直交信号生成手段、１０９……合成手段 DESCRIPTION OF SYMBOLS 11 ... Sensor, 20 ... Signal processing apparatus, 21 ... A / D converter, 22 ... High frequency noise removal part, 23 ... Phase shift means, 24 ... Delay means, 25 ... Adder means, 26 …… Spectrum analysis means 27 …… Noise distribution determination means 30 …… Low frequency noise removing unit 31 …… Phase shift means 32 ‘Time response coefficient calculation means’ 33 …… Correction means 34 ≦ Delay means 35... Addition means 41... Phase shift means 42... Correction means 43... Correction coefficient calculation means 44. ... Phase shift means 101, 103, 104 ... Hilbert transformer 102 ... Delay means 105 ... Phase / frequency calculation means 106 ... Amplitude calculation means 107 ... Addition means 108 ... Quadrature signal generation Means, 109 ... Synthesis means
Claims (10)
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の移相処理を行う段階（Ｓ５）と、
前記移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数以下の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記所定周波数以下の振幅を補正し、前記第１処理信号に含まれる低域雑音成分を１８０゜移相した雑音信号（ＮＬ１（ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記雑音信号とを加算して、前記第１処理信号から前記所定周波数以下の低域雑音成分を除去した信号（Ｚ（ｋ））を求める段階（Ｓ８）とを含み、
さらに、前記移相処理は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含んでいることを特徴とする信号処理方法。 A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a phase shift process of 180 degrees on the first processed signal (S5);
Obtaining a time response coefficient (α) that causes a low-frequency amplitude error equal to or lower than the predetermined frequency of the phase shift process based on the signal (Y (k) ′) obtained by the phase shift process (S6); ,
Based on the obtained time response coefficient, an amplitude of the phase-shifted signal that is equal to or lower than the predetermined frequency is corrected, and a low-frequency noise component included in the first processed signal is phase-shifted by a noise signal (N L1 (k)) is generated (S7);
By adding said noise signal and the first processed signal, seen including a first processed signal from the signal obtained by removing the predetermined frequency below the low frequency noise component (Z (k)) determining a (S8) ,
Furthermore, the phase shift process includes:
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
And a step (S101) of generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude .
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の第１の移相処理を行う段階（Ｓ５）と、
前記第１の移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該第１の移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（ＮＬ１（ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記第１の雑音信号とを加算して、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める段階（Ｓ８）と、
前記第２処理信号に対する１８０度の第２の移相処理を行う段階（Ｓ１１）と、
前記第２の移相処理で得られた信号（Ｚ（ｋ）′）に対して、該第２の移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲における周波数対振幅の誤差を補正して、前記第２処理信号の前記第２の周波数範囲に含まれる低域雑音成分を１８０度移相した第２の雑音信号（ＮＬ２（ｋ））を生成する段階（Ｓ１３）と、
前記第２処理信号と前記第２の雑音信号とを加算して、前記第２処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める段階（Ｓ１４）とを含み、
さらに、前記移相処理は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含むことを特徴とする信号処理方法。 A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a first phase shift process of 180 degrees on the first processed signal (S5);
A first frequency range from the predetermined frequency of the first phase shift processing to a lower boundary frequency (Fb) based on the signal (Y (k) ′) obtained by the first phase shift processing. Obtaining a time response coefficient (α) that causes a low-frequency amplitude error (S6),
Based on the obtained time response coefficient, the amplitude of the first frequency range of the phase-shifted signal is corrected, and a low frequency noise component included in the first frequency range of the first processed signal is corrected. Generating a first noise signal (N L1 (k)) phase shifted by 180 ° (S7);
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. Step (S8);
Performing a second phase shift process of 180 degrees on the second processed signal (S11);
The frequency in the second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the second phase shift process with respect to the signal (Z (k) ′) obtained by the second phase shift process A step of generating a second noise signal (N L2 (k)) in which a low-frequency noise component included in the second frequency range of the second processed signal is phase-shifted by 180 degrees by correcting an error in the pair amplitude. (S13),
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the second processed signal. look including a step (S14),
Furthermore, the phase shift process includes:
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
Calculated instantaneous phase and signal processing method generating a 180 ° phase-shifted signal to the processed signal to the input based on the instantaneous amplitude and (S101), characterized in including Mukoto.
前記低域雑音成分を除去する処理は、
前記第１処理信号に対する１８０度の第１の移相処理を行う段階（Ｓ５）と、
前記第１の移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該第１の移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める段階（Ｓ６）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（Ｎ Ｌ１ （ｋ））を生成する段階（Ｓ７）と、
前記第１処理信号と前記第１の雑音信号とを加算して、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める段階（Ｓ８）と、
前記第２処理信号に対する１８０度の第２の移相処理を行う段階（Ｓ１１）と、
前記第２の移相処理で得られた信号（Ｚ（ｋ）′）に対して、該第２の移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲における周波数対振幅の誤差を補正して、前記第２処理信号の前記第２の周波数範囲に含まれる低域雑音成分を１８０度移相した第２の雑音信号（Ｎ Ｌ２ （ｋ））を生成する段階（Ｓ１３）と、
前記第２処理信号と前記第２の雑音信号とを加算して、前記第２処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める段階（Ｓ１４）とを含み、
前記第３処理信号を求める際には、該第３処理信号から抽出した雑音成分の振幅情報と周波数情報から生成した第２の雑音信号を用いて補正処理を行うことを特徴とする信号処理方法。 A time-series signal obtained by A / D conversion processing for the output signal of the sensor is received as an input signal, a high-frequency noise component higher than a predetermined frequency (Fa) included in the input signal is removed, and the high-frequency noise component A signal processing method for removing a low-frequency noise component having a frequency equal to or lower than the predetermined frequency from the first processed signal (Y (k)) from which a DC component of the input signal is obtained,
The process of removing the low-frequency noise component is:
Performing a first phase shift process of 180 degrees on the first processed signal (S5);
A first frequency range from the predetermined frequency of the first phase shift processing to a lower boundary frequency (Fb) based on the signal (Y (k) ′) obtained by the first phase shift processing. Obtaining a time response coefficient (α) that causes a low-frequency amplitude error (S6),
Based on the obtained time response coefficient, the amplitude of the first frequency range of the phase-shifted signal is corrected, and a low frequency noise component included in the first frequency range of the first processed signal is corrected. Generating a first noise signal (N L1 (k)) phase shifted by 180 ° (S7);
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. Step (S8);
Performing a second phase shift process of 180 degrees on the second processed signal (S11);
The frequency in the second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the second phase shift process with respect to the signal (Z (k) ′) obtained by the second phase shift process A step of generating a second noise signal (N L2 (k)) in which a low-frequency noise component included in the second frequency range of the second processed signal is phase-shifted by 180 degrees by correcting an error in the pair amplitude. (S13),
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the second processed signal. Including step (S14),
The third when obtaining the processed signal, the third amplitude information and signal you and performing correction by using the second noise signal generated from the frequency information of the noise component extracted from the processed signal Processing method.
前記スペクトラム解析により得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲のいずれにあるかを判定する段階（Ｓ４、Ｓ９、Ｓ１６）とを含み、
前記スペクトラム解析により得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲の両方にあるときには、前記第３処理信号を最終の処理結果とし、雑音成分が前記第１の周波数範囲にのみあるときには、前記第２処理信号を最終の処理結果とし、雑音成分が前記第２の周波数範囲にのみあるときには、前記第２処理信号の代わりに前記第１処理信号に対して前記第３処理信号を求める処理をおこない、その結果を最終処理結果として出力することを特徴とする請求項３記載の信号処理方法。 Obtaining a noise component of at least the predetermined frequency or less by spectrum analysis on the input signal or the first processing signal (S3);
Determining whether the noise component obtained by the spectrum analysis is in the first frequency range or the second frequency range (S4, S9, S16),
When the noise component obtained by the spectrum analysis is in both the first frequency range and the second frequency range, the third processing signal is set as a final processing result, and the noise component is in the first frequency range. The second processed signal is the final processed result, and when the noise component is only in the second frequency range, the third processed signal is replaced with the third processed signal instead of the second processed signal. performs processing for obtaining the processed signal, 請 Motomeko 3 signal processing method according you and outputs the result as final processing result.
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する段階（Ｓ１００）と、
算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する段階（Ｓ１０１）とを含んでいることを特徴とする請求項３または請求項４記載の信号処理方法。 The phase shift process includes:
Generating an orthogonal signal having a phase difference of 90 ° from an input processing signal, and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal (S100);
5. The method according to claim 3 , further comprising a step (S101) of generating a signal shifted by 180 degrees with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude. Signal processing method.
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う移相手段（３１）と、
前記移相処理で得られた信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数以下の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記移相処理された信号の前記所定周波数以下の振幅を補正し、前記第１処理信号に含まれる低域雑音成分を１８０゜移相した雑音信号（ＮＬ１（ｋ））を生成する補正手段（３３）と、
前記第１処理信号と前記雑音信号とを加算し、前記第１処理信号から前記所定周波数以下の低域雑音成分を除去した第２処理信号を求める加算手段（３５）とを備え、
さらに、前記移相手段は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする信号処理装置。 An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the signal (Y (k) ′) obtained by the phase shift processing, time response coefficient calculation means for obtaining a time response coefficient (α) that causes a low-frequency amplitude error below the predetermined frequency of the phase shift processing. (32),
Based on the obtained time response coefficient, an amplitude of the phase-shifted signal that is equal to or lower than the predetermined frequency is corrected, and a low-frequency noise component included in the first processed signal is phase-shifted by a noise signal (N L1 (k)) generating correction means (33);
Adding means (35) for adding the first processed signal and the noise signal to obtain a second processed signal obtained by removing a low-frequency noise component of the predetermined frequency or less from the first processed signal ;
Further, the phase shift means includes
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
A signal processing apparatus comprising: means (107 to 109) for generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude .
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う第１の移相手段（３１）と、
前記第１の移相手段の出力信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記第１の移相手段の出力信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（ＮＬ１（ｋ））を生成する第１の補正手段（３３）と、
前記第１処理信号と前記第１の雑音信号とを加算し、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める第１の加算手段（３５）と、
前記第２処理信号に対して１８０度の移相処理を行う第２の移相手段（４１）と、
前記第２の移相手段の出力信号（Ｚ（ｋ）′）に対して、前記第１の移相手段によって移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲の周波数対振幅の誤差を補正して、前記第２処理信号に含まれる前記第２の周波数範囲の雑音成分を１８０度移相した第２の雑音信号（ＮＬ２（ｋ））を生成する第２の補正手段（４２）と、
前記第２処理信号と前記第２の雑音信号とを加算し、前記第１処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める第２の加算手段（４５）とを備え、
さらに、前記各移相手段は、
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする信号処理装置。 An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A first phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the output signal (Y (k) ′) of the first phase shift means, the low-frequency amplitude error in the first frequency range from the predetermined frequency of the phase shift processing to the lower boundary frequency (Fb) A time response coefficient calculating means (32) for obtaining a time response coefficient (α) that causes
Based on the obtained time response coefficient, the amplitude of the first frequency range of the output signal of the first phase shifting means is corrected, and the low frequency range included in the first frequency range of the first processed signal First correcting means (33) for generating a first noise signal (N L1 (k)) having a noise component shifted by 180 °;
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. 1 addition means (35);
A second phase shift means (41) for performing a phase shift process of 180 degrees on the second processed signal;
A second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the phase shifting process by the first phase shifting means with respect to the output signal (Z (k) ′) of the second phase shifting means. To generate a second noise signal (N L2 (k)) that is 180 degrees phase-shifted from the noise component of the second frequency range included in the second processed signal. Two correction means (42);
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the first processed signal. 2 addition means (45) ,
Furthermore, each said phase shift means is
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
A signal processing apparatus comprising: means (107 to 109) for generating a signal shifted by 180 ° with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude .
前記Ａ／Ｄ変換器の出力信号を受け、所定周波数（Ｆａ）より高い高域雑音成分を除去し、該高域雑音成分を除去して得られた第１処理信号（Ｙ（ｋ））を出力する高域雑音除去部（２２）と、
前記第１処理信号を受け、前記所定周波数以下の低域雑音成分を除去する低域雑音除去部（３０）とを有する信号処理装置であって、
前記低域雑音除去部が、
前記第１処理信号に対して１８０度の移相処理を行う第１の移相手段（３１）と、
前記第１の移相手段の出力信号（Ｙ（ｋ）′）に基づいて、該移相処理の前記所定周波数からそれより低い境界周波数（Ｆｂ）までの第１の周波数範囲の低域振幅誤差を生じさせる時間応答係数（α）を求める時間応答係数算出手段（３２）と、
前記求めた時間応答係数に基づいて、前記第１の移相手段の出力信号の前記第１の周波数範囲の振幅を補正し、前記第１処理信号の前記第１の周波数範囲に含まれる低域雑音成分を１８０゜移相した第１の雑音信号（Ｎ Ｌ１ （ｋ））を生成する第１の補正手段（３３）と、
前記第１処理信号と前記第１の雑音信号とを加算し、前記第１処理信号から前記第１の周波数範囲の低域雑音成分を除去した第２処理信号（Ｚ（ｋ））を求める第１の加算手段（３５）と、
前記第２処理信号に対して１８０度の移相処理を行う第２の移相手段（４１）と、
前記第２の移相手段の出力信号（Ｚ（ｋ）′）に対して、前記第１の移相手段によって移相処理によって生じる前記境界周波数から下限周波数（Ｆｃ）までの第２の周波数範囲の周波数対振幅の誤差を補正して、前記第２処理信号に含まれる前記第２の周波数範囲の雑音成分を１８０度移相した第２の雑音信号（Ｎ Ｌ２ （ｋ））を生成する第２の補正手段（４２）と、
前記第２処理信号と前記第２の雑音信号とを加算し、前記第１処理信号から前記第２の周波数範囲の低域雑音成分を除去した第３処理信号（Ｗ（ｋ））を求める第２の加算手段（４５）とを備え、
前記第２の補正手段は、前記第３処理信号から抽出した雑音成分の振幅情報と周波数情報から生成した第２の雑音信号を用いて補正処理を行うこと特徴とする信号処理装置。 An A / D converter (21) that performs A / D conversion processing on the output signal of the sensor (11);
The output signal of the A / D converter is received, a high frequency noise component higher than a predetermined frequency (Fa) is removed, and a first processing signal (Y (k)) obtained by removing the high frequency noise component is obtained. An output high-frequency noise removal unit (22);
A signal processing device having a low-frequency noise removing unit (30) that receives the first processing signal and removes a low-frequency noise component of the predetermined frequency or less;
The low-frequency noise removing unit is
A first phase shift means (31) for performing a phase shift process of 180 degrees on the first processed signal;
Based on the output signal (Y (k) ′) of the first phase shift means, the low-frequency amplitude error in the first frequency range from the predetermined frequency of the phase shift processing to the lower boundary frequency (Fb) A time response coefficient calculating means (32) for obtaining a time response coefficient (α) that causes
Based on the obtained time response coefficient, the amplitude of the first frequency range of the output signal of the first phase shifting means is corrected, and the low frequency range included in the first frequency range of the first processed signal First correcting means (33) for generating a first noise signal (N L1 (k)) having a noise component shifted by 180 ° ;
The first processed signal and the first noise signal are added to obtain a second processed signal (Z (k)) obtained by removing the low frequency noise component in the first frequency range from the first processed signal. 1 addition means (35);
A second phase shift means (41) for performing a phase shift process of 180 degrees on the second processed signal;
A second frequency range from the boundary frequency to the lower limit frequency (Fc) generated by the phase shifting process by the first phase shifting means with respect to the output signal (Z (k) ′) of the second phase shifting means. To generate a second noise signal (N L2 (k)) that is 180 degrees phase-shifted from the noise component of the second frequency range included in the second processed signal . Two correction means (42);
The second processed signal and the second noise signal are added to obtain a third processed signal (W (k)) obtained by removing a low frequency noise component in the second frequency range from the first processed signal. 2 addition means (45),
It said second correction means, the third with the second noise signal generated from the amplitude information and frequency information of the noise component extracted from the processed signal correction signal processing device shall be the this and features to perform.
前記スペクトラム解析手段で得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲のいずれにあるかを判定する雑音分布判定手段（２７）と、
前記スペクトラム解析手段で得られた雑音成分が、前記第１の周波数範囲と第２の周波数範囲の両方にあるときには、前記第３処理信号を最終の処理結果として出力させ、雑音成分が前記第１の周波数範囲にのみあるときには、前記第２処理信号を最終の処理結果として出力させ、雑音成分が前記第２の周波数範囲にのみあるときには、前記第２処理信号の代わりに前記第１処理信号を前記第２の移相手段に入力させ、該第１処理信号に対して前記第２の加算手段で得られた第３処理信号を最終処理結果として出力させる信号切換手段（２８ａ〜２８ｃ）とを有していることを特徴とする請求項８記載の信号処理装置。 Spectrum analysis means (26) for obtaining a noise component of at least the predetermined frequency or less by spectrum analysis on the input signal or the first processing signal;
Noise distribution determination means (27) for determining whether the noise component obtained by the spectrum analysis means is in the first frequency range or the second frequency range;
When the noise component obtained by the spectrum analysis means is in both the first frequency range and the second frequency range, the third processing signal is output as a final processing result, and the noise component is the first frequency range. The second processing signal is output as a final processing result when it is only in the frequency range, and when the noise component is only in the second frequency range, the first processing signal is used instead of the second processing signal. Signal switching means (28a to 28c) for inputting to the second phase shifting means and outputting the third processed signal obtained by the second adding means as a final processing result for the first processed signal. it has a signal processing device to that請 Motomeko 8 wherein said.
入力する処理信号から位相が９０゜異なる直交信号を生成し、該直交信号から瞬時位相と瞬時振幅を算出する手段（１０１〜１０６）と、
前記算出された瞬時位相と瞬時振幅に基づいて前記入力する処理信号に対して１８０゜移相した信号を生成する手段（１０７〜１０９）によって構成されていることを特徴とする請求項８または請求項９記載の信号処理装置。 Each of the phase shifting means includes
Means (101 to 106) for generating an orthogonal signal having a phase difference of 90 ° from an input processing signal and calculating an instantaneous phase and an instantaneous amplitude from the orthogonal signal;
9. The apparatus according to claim 8 , further comprising means (107 to 109) for generating a signal shifted by 180 degrees with respect to the input processing signal based on the calculated instantaneous phase and instantaneous amplitude. Item 10. The signal processing device according to Item 9 .
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