JPS5960377A - Filter - Google Patents

Abstract

PURPOSE:To obtain a less-overshoot filter with a good rising characteristic by controlling to hold the internal state quantity of an alpha-B tracker constant when the difference between the output of the alpha-B tracker and the output of a limiter is greater than the limited value of the limiter. CONSTITUTION:The alpha-B tracker 11 is supplied with an input signal Uk containing, for example, azimuth information on a target and outputs azimuth data Xk on the target to the limiter 12. The limiter 12 outputs azimuth data Yk on the target and also supplies a control signal CS when turning on, i.e. when ¦Xk-Yk-1¦>DELTA, so that the quantity of internal state of the alpha-beta tracker 11 is held constant. In this case, (k) is order in terms of time and DELTA is the limit value of the limiter. The output Xk of the tracker 11 rises fast without any overshoot as shown by (b), so excellent transient response charateristics are obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a filter using an α-β tracker.

[Techniques of the invention and one point between them] The α-β tracker, which is generally used as a tracking filter, is one of the linear filters. mullion 1#+I6. A signal containing 1 is supplied, and when extracting fill lli data, the υth one is #1. This α-β tracker -(
The Q type is represented by the following formulas (1) to (3).

Xk=α・uk+('t-α)Pk・・・・・・・・・
... (1) vk=vk-t+(Uk-pk)
・・・・・・・・・・・・ (2) Pk-1,+=
Xk+βVk ・・・・・・・・・・・・
...... (3) However, Uk is for eyes I'S (
1"l (indicates the input signal including information, and is a signal sampled at a predetermined circle IIJ.
V k + P k (・In each α-β tracker, it is an internal state group representing a river, and vk is the
The state quantity Pk corresponding to the gulp speed HB- is a state quantity indicating the expected lateral position of the target. These Vk and Pk are input signals whose values are updated every time an input signal is supplied inside the α-β tracker. The subscripts in Uk, Xk, Vk, and Pk are α-
This indicates the point in time when the signal was supplied to the β tracker, and is a subscript representing time. Further, α and β are constant θ of 1 or less. When the position of the item f changes, the input signal Uk of the α-β tracker changes from Uk-1 to Kf in a stepwise manner. Therefore, the 114 transient response characteristic d1 of this α-β tracker can be generally discussed in terms of the response to step input (step response), and in order to improve the overhumidity response characteristic, it is necessary to is necessary. However, since the α-β tracker described above is a linear filter, it has the disadvantage that if the rise is reduced, the overshoot becomes large, and conversely, if the overshoot is suppressed, the rise becomes closer.

Therefore, conventionally, as shown in FIG. 1, a limiter circuit 2 is used for the output XkK of the α-β tracker 1 to
There was also a case where overshoot was avoided by performing 80b operation of the 41f51 type.

If Ixk Yk-+l≦Δ, then Yk=Xk...(4)
If l

In other words, if the difference between the (kt)th limiter output Yk-1 and the α-β tracker output Xk is smaller than the limiter limit value, The output xk is output after the shunting.

Also, the difference between the (k-1):j;th limiter output Yk-1 and the α-β tracker output Xk is the limiter a;
II l (If it is a dog rather than direct, the limiter limit value is added or subtracted by 1n to the limiter output Yk-1 of the (ks) J, +::th limiter as the k-qth limiter output Yk. (Direct is output.

In addition, the limiter 1 and 1 (μI direct ΔQ゛↓JV for unit time).

The displacement ρJl ; for i:g +1iiJ is taken as the maximum value of 4, here 1)゛(for the maximum displacement).

In the 7-level structure shown in Fig. 1, the characteristics of the α-β trunker itself have not changed at all, so it is possible to suppress overshoot when the rise speed is increased in the transient response characteristics of the α-β tracker. It's fine. Therefore, in order to suppress this overshoot (〆ζ must be slowed down), 'QS 1 +'
Even if a limiter is provided as shown in <1, the drawbacks of the α-β tracker cannot be basically eliminated.

[Purpose of the invention]

The present invention was made to eliminate the above-mentioned drawbacks of the conventional filters, and its purpose is to provide a filter with less overshoot and good rise characteristics.

[Requires ++i' of the invention] The filter of this invention transmits the α-β tracker force output to a limiter, and in this limiter, the output of the α-β tracker
Difference between k and limiter output Yk-+ (xk-Yk-+)
is limit: α− from the limiter when it is larger than the limit value of nota
A control signal is transmitted to the β tracker to control the internal purity of the α-β tracker to be maintained at a constant it.

[ΣThe real noise of the jump] Hereinafter, 1.1 regarding the real MIN of the filter of this invention.
Fli- is written on the surface with l-<. ;+,'%2 Figure is one of its fruits Trim 1st column 4. FIG. In FIG. 2, 11 is an α-β tracker and a 12-digit limiter. These (χ-β trackers 11 and limiters 12) are conventionally known, and their operations are shown in equations (1) to (5) above. Note that the filter output is α-β Tracker output Xk is used.

For example, the target direction 11 tube □: J
It is assumed that an input signal Uk containing a ligature is supplied. This α−β−
``From the tracker 11, the direction P of the eye 4Q] data Xk is output and also supplied to the limiter 11.The limiter 721t;
When the 9111 operation of the limiter 12 is turned on, the control signal cS is output to the α-β tracker II.
supply to.

Now, like this, 14.! In a well-made filter,
When the limiter 12 is turned on, that is, l
yk-Yk-x I > α from the limiter 12 to the platform of Δ
When the control signal CS is supplied to the -β tracker 1, the internal state F;') Vk of the α-β tracker 11 is maintained at a constant level Kj. That is, the control (A number C8) performs the control shown in the following equation (6).

If IXk-Yk-tl>Δ, Irf Vk =Vk-1
-+61 Therefore, one'hp of α-β tracker 11
If the difference between the output Xk of the eye and the (k-1) (J7th output Yk-+ of the limiter 12) is larger than the limit value of the limiter 12, the internal state corresponding to the speed 1u@ of the target, c. vomit
kf: taken equal to vk-+, which makes the limiter 1
While 2 is operating, the internal state is maintained at a constant rate.

This means that, conventionally, the limiter 12 updates the Vk updated by sampling the input signal inside the α-β tracker.
If 1''A is created in II, the previous value is used for that 1 inch without updating.

FIG. 3 is a diagram showing the step response of the α-β tracker, which is the 171st case of α=−1β−η and Δ=0.74.

This NT 3 +sp tcr, - and the output Yk of the PL limiter I2, b171): α-β in Figure 2
The exit direction Xk of the tracker 11, the exit direction Xk of the α-β trunker I of the ische 1 peeling, and the exit direction Xk of the ische 1 peel are shown, respectively.

From this 1-(λ31゛・\1, it can be seen that the overshoot observed in C is not observed in b, although it is scary. Also, in C, the output Xk is However, b converges with 15 angles than t, giving a fast response! 1'r cases. Therefore, in the filter of this invention, α-
Since the β tracker has a fast rise characteristic without overshoot, it can provide good IJIX transfer response characteristics.

Depending on the purpose, it is also possible to use the output Yl of the t limiter 12 as a filter output.

〔Effect of the invention〕

As mentioned above, according to the filter of this invention, α−
The output of the β tracker is transmitted to the limiter, and in the limiter, the α-β tracker's tB force Xk and the limiter output Yk
-1, when the difference (Xk-Yk-t) is greater than the limit value of the limiter, a control signal is transmitted from the limiter to the α-β tracker to determine the internal state of the α-β tracker vk.
Since the control is performed with a constant shuffling, a filter with good rise characteristics without overshoot (jl
can be achieved.

Therefore, by using a filter with a )76 response characteristic, the startup of the entire system can be made faster, and it is also possible to shorten the processing time of the N(li).

4.+tij in the drawing λ11stj Fig. 1 is a block diagram showing the configuration of a filter using a conventional α-β tracker 1ΣLEu2 Fig. 1 is a block diagram showing the configuration of an embodiment of the filter of the present invention , Figure 3 shows the 6. α-β Tran force in Figures 1 and 2. 1 nu 1 indicates gender.

11... α-β tracker, 12... Limiter.

Commissioner of the Patent Office Kazuo Wakasugi 1. Display of incidents Patent Application No. 171887-1987 2. Name of the invention File :3. Nagisa makes amends Relationship to the case: Patent applicant (307) Tokyo Shibaura Ichiki Co., Ltd. 4. Agent.

6. Target specification of MD City, Drawing 7, Contents of amendment (1) In the 2nd line of the specification, [reception (target of g signal)] is corrected to [-target of received signal].

(2) "Difference (Xk - Yk"'+
) is corrected to "difference IXk-yk-,l".

(3) F-
Correct as I XkYk-+ l J.

(4) ``Correct the difference (Xk-Yb-t)J to [difference lXkYk-sIJ'' in the third line of the 9th auto.

(5) In the drawings, Figure 3 has been corrected as shown in the attached sheet.

Claims (1)

[Claims] No. 15 is supplied with a predetermined circle 11J1, and an α-β tracker that performs a predetermined calculation using this signal and an internally set performance 1"L value and outputs a signal, and an output borrowed X of this α-β tracker.
k (k represents a temporal order) is supplied, and when the difference IXk-Yk-I+ from its own output signal Yk-r is greater than a predetermined limit value, a control/control signal is sent to the α-β tracker. Send the calculated value set inside the above by a constant 1 inch 1
A filter comprising a limiter that performs control to hold the filter.