WO2021134315A1 - Motor nonlinear distortion compensation method and apparatus, and computer-readable storage medium - Google Patents

Abstract

A motor nonlinear distortion compensation method and apparatus, and a computer-readable storage medium. The motor nonlinear distortion compensation method comprises: exciting a motor system by means of a logarithm frequency sweeping signal x(n), and collecting an acceleration signal y(n) of the motor system by means of an accelerometer (S11); acquiring an inverse filtering signal q(n) by means of the logarithm frequency sweeping signal x(n) and the acceleration signal y(n) (S12); and eliminating the second to the p-th harmonic distortion of an m-order component in the inverse filtering signal q(n) so as to compensate for nonlinear distortion of the acceleration of a motor by means of compensation filters of different orders (S13). A motor system is used as a black box, and the nonlinear distortion of a nonlinear system model of a Volterra filter is numerically compensated for, such that nonlinear distortion compensation can be performed without knowing a physical model.

Description

Motor nonlinear distortion compensation method, device and computer readable storage medium Technical field

The present invention relates to the technical field of nonlinear distortion compensation, and more specifically, to a method and device for compensating nonlinear distortion of a motor, and a computer-readable storage medium.

Background technique

Linear resonant exciters (LRA, commonly known as motors) are becoming more and more popular in the fields of smart phones, smart watches, and tablet computers. When modeling a motor system, usually only its linear part is considered and its nonlinear distortion is ignored; but when the nonlinear distortion part of the motor is relatively large, its impact cannot be ignored, and certain methods must be used for modeling And compensation. The conventional method is to perform nonlinear modeling on the parameters of the motor, and then compensate according to the nonlinearity of the parameters. This method needs to accurately measure the nonlinearity of the parameters, otherwise the compensation effect will not be good.

Summary of the invention

The present invention provides a method and device for compensating nonlinear distortion of a motor and a computer-readable storage medium, which can solve the problem that the nonlinearity of a parameter needs to be accurately measured in the prior art and the compensation effect is not good.

In order to solve the above-mentioned problems, in the first aspect, the present invention provides a method for compensating nonlinear distortion of a motor, including:

The motor system is excited by the logarithmic sweep signal x(n), and the acceleration signal y(n) of the motor system is collected by the accelerometer, where n is a positive integer;

Obtain the inverse filtered signal q(n) through the logarithmic frequency sweep signal x(n) and the acceleration signal y(n);

Eliminate the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders, where 2≤m≤p.

Wherein, the motor system is excited by the logarithmic sweep signal x(n), and the acceleration signal y(n) of the motor system is collected by the accelerometer includes:

Establishing a nonlinear system model of the Volterra filter, using a logarithmic sweep signal x(n) as the input of the nonlinear system model, and using the vibration acceleration y(n) as the output of the nonlinear system model;

The kernel function of the nonlinear system model is identified to obtain y(n), where y(n) satisfies the following formula:

Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.

Wherein, obtaining the inverse filtered signal q(n) through the logarithmic sweep signal x(n) and the acceleration signal y(n) includes:

The inverse filtered signal q(n) satisfies:

q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.

Wherein, the elimination of the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders includes:

Eliminate the 2nd to pth harmonic distortion in the m-th order component, and get:

Among them, [] _m indicates that only m-order harmonic distortion is retained, and m is a natural number.

Wherein, the Volterra filter is a one-dimensional Volterra filter.

In order to solve the above problems, in the second aspect, a motor nonlinear distortion compensation device is provided, which includes an excitation and acquisition module, an inverse filtering module, and a harmonic filtering module:

The excitation and collection module is used to excite the motor system through the logarithmic sweep signal x(n), and collect the acceleration signal y(n) of the motor system through the accelerometer, where n is a positive integer;

The inverse filter module is configured to obtain the inverse filter signal q(n) through the logarithmic sweep signal x(n) and the acceleration signal y(n);

The harmonic elimination module is used to eliminate the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders , Where 2≤m≤p.

Among them, it also includes a model building module;

The model establishment module is used to establish the nonlinear system model of the Volterra filter, and the logarithmic sweep signal x(n) is used as the input of the nonlinear system model, and the vibration acceleration y(n) is used as the nonlinear system model. The output of the system model;

The excitation and acquisition module is also used to identify the kernel function of the nonlinear system model to obtain y(n), where y(n) satisfies the following formula:

Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.

Wherein, in the inverse filtering module:

The inverse filtered signal q(n) satisfies:

q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.

Wherein, in the harmonic elimination module:

Eliminate the 2nd to pth harmonic distortion in the m-th order component, and get:

Among them, [] _m indicates that only m-order harmonic distortion is retained, and m is a natural number.

In order to solve the above-mentioned problems, in a third aspect, a computer-readable storage medium is provided, and a plurality of instructions are stored in the storage medium, and the instructions are suitable for being loaded by a processor to execute a motor as described above. Non-linear distortion compensation method.

The beneficial effects of the present invention are:

By taking the motor system as a black box and numerically compensating for the nonlinear distortion of the Volterra filter's nonlinear system model, it is possible to perform nonlinear distortion compensation without knowing the physical model.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic flowchart of a method for compensating nonlinear distortion of a motor according to an embodiment of the present invention;

2 is a schematic flowchart of a method for compensating nonlinear distortion of a motor according to another embodiment of the present invention;

Figure 3 is a schematic diagram of the compensation effect of the linear compensation filter on the nonlinear distortion of the single-frequency signal;

4 is a schematic diagram of the compensation effect of the second-order compensation filter on the nonlinear distortion of the single-frequency signal provided by the embodiment of the present invention;

FIG. 5 is a schematic diagram of the compensation effect of a third-order compensation filter provided by an embodiment of the present invention on the nonlinear distortion of a single-frequency signal;

6 is a schematic diagram of the compensation effect of the fourth-order compensation filter on the nonlinear distortion of the single-frequency signal provided by the embodiment of the present invention;

FIG. 7 is a schematic diagram of the compensation effect of the fifth-order compensation filter on the nonlinear distortion of the single-frequency signal provided by the embodiment of the present invention;

FIG. 8 is a schematic diagram of the suppression effect of total harmonic distortion provided by an embodiment of the present invention;

9 is a block diagram of a motor nonlinear distortion compensation device provided by an embodiment of the present invention;

Fig. 10 is a schematic diagram of a terminal device provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, and “outer” are based on the orientation shown in the drawings The or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, "plurality" means two or more than two, unless otherwise specifically defined.

In the present invention, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described as "exemplary" in the present invention is not necessarily construed as being more preferable or advantageous than other embodiments. In order to enable any person skilled in the art to implement and use the present invention, the following description is given. In the following description, the details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can realize that the present invention can also be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the illustrated embodiments, but is consistent with the widest scope that conforms to the principles and features disclosed in the present invention.

The present invention provides a motor nonlinear distortion compensation method, device, and computer readable storage medium. The motor nonlinear distortion compensation method includes: excite the motor system through a logarithmic sweep signal x(n), and collect the data through an accelerometer. The acceleration signal y(n) of the motor system, where n is a positive integer; the inverse filter signal q(n) is obtained through the logarithmic sweep signal x(n) and the acceleration signal y(n); the inverse filter signal q is eliminated (n) The second to pth harmonic distortion of the m-th order component is used to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders, where 2≤m≤p. This method is implemented on the basis of the one-dimensional Volterra filter, and numerically compensates the nonlinear distortion of the nonlinear system model of the one-dimensional Volterra filter, and can perform nonlinear distortion compensation without knowing the physical model. . Detailed descriptions are given below.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for compensating nonlinear distortion of a motor according to an embodiment of the present invention. The motor nonlinear distortion compensation method of this embodiment includes steps S11-S13:

S11. Excite the motor system through the logarithmic sweep signal x(n), and collect the acceleration signal y(n) of the motor system through the accelerometer, where n is a positive integer.

S12. Obtain an inverse filtered signal q(n) through the logarithmic frequency sweep signal x(n) and the acceleration signal y(n).

S13. Eliminate the second to pth harmonic distortions of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders, where 2≤m≤ p.

Different from the prior art, this method uses the motor system as a black box and numerically compensates the nonlinear distortion of the nonlinear system model of the Volterra filter, which can perform nonlinear distortion without knowing the physical model. make up.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a method for compensating nonlinear distortion of a motor according to another embodiment of the present invention. The motor nonlinear distortion compensation method of this embodiment includes steps S21-S23:

S21. Establish a nonlinear system model of the Volterra filter, use the logarithmic sweep signal x(n) as the input of the nonlinear system model, and use the vibration acceleration y(n) as the output of the nonlinear system model.

In this embodiment, in order to accurately compensate for the non-linear distortion of the motor, a complicated structure and method must be used to model and estimate the inverse characteristics of the motor. Volterra filter is a common nonlinear filter, which can be widely used to simulate nonlinear time-invariant systems. It is a kind of generalization of Taylor series, and its expression was first proposed by Vito Volterra in 1887. Wherein, the Volterra filter is preferably a one-dimensional Volterra filter, and a nonlinear system model (ie, ODVF) of the one-dimensional Volterra filter is established.

S22. Identify the kernel function of the nonlinear system model to obtain y(n), where y(n) satisfies the following formula:

Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.

In this embodiment, further in order to simplify the calculation, the infinite term of the model is simplified to a finite term, and the harmonic distortion after the p-order is ignored, that is, only the first p-order harmonic distortion is considered, and the structure of the motor nonlinear distortion compensation device is obtained based on The nonlinear system model of Volterra filter to the motor's x(n) and y(n) nonlinear system model is as follows:

In this embodiment, the further simplified nonlinear system model shown in the above formula can also be used for compensation calculation.

S23. Obtain an inverse filter signal q(n) through the logarithmic sweep signal x(n) and the acceleration signal y(n), and the inverse filter signal q(n) satisfies:

q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.

In this embodiment, according to the non-linear system model and the inverse filter signal, the non-linear distortion of y(n) of the motor is compensated. By using the motor system as a black box, there is no need to determine the motor system model and parameters. The compensation of the distortion of the uncertain nonlinear system is solved, and the problem that the motor system model and parameters cannot be determined in the prior art when the motor system is an uncertain nonlinear system is solved.

S24. Eliminate the second to p-th harmonic distortion in the m-th order component to obtain:

Among them, [] _m indicates that only m-order harmonic distortion is retained, and m is a natural number.

In this embodiment, there is a value only when the total order of q in each component is m, and it is 0 in other cases.

For the first-order expression:

q ₁ = x

For the second-order expression:

For the third-order expression:

For the fourth-order expression:

For the 5th order expression:

In order to verify the actual effect of the motor nonlinear distortion compensation method, a system is identified by measuring the vibration acceleration of a motor based on the nonlinear system model of the Volterra filter. The parameters of the motor are shown in Table 1 below:

Table 1 Motor parameter table

Please refer to Figures 3-8 at the same time. Figure 3 is a schematic diagram of the compensation effect of the linear compensation filter of the prior art on the nonlinear distortion of the single-frequency signal. Compensation effect of linear distortion (2nd means second-order harmonic distortion, 3rd means third-order harmonic distortion, and so on), where comp2 means second-order compensator (ie q=q1+q2), and comp3 means third-order compensator (ie q=q1+q2+q3), and so on; also refer to FIG. 8, which is a schematic diagram of the suppression effect of total harmonic distortion provided by an embodiment of the present invention, and FIG. 8 shows the suppression of total harmonic distortion (THD) effect. From the simulation experiment, the method can effectively compensate the nonlinear distortion of motor acceleration, and the method is simple and feasible.

Different from the prior art, this method uses the motor system as a black box and numerically compensates the nonlinear distortion of the nonlinear system model of the Volterra filter, which can perform nonlinear distortion without knowing the physical model. make up.

Referring to FIG. 9, FIG. 9 is a block diagram of a motor nonlinear distortion compensation device provided by an embodiment of the present invention. The motor nonlinear distortion compensation device of this embodiment includes a model establishment module 31, an excitation and acquisition module 32, an inverse filter module 33, and Harmonic filter module 34:

The model establishment module 31 is used to establish a Volterra filter's nonlinear system model, taking the logarithmic sweep signal x(n) as the input of the nonlinear system model, and taking the vibration acceleration y(n) as the non-linear system model. The output of the linear system model.

The excitation and acquisition module 32 is used to excite the motor system through the logarithmic sweep signal x(n), and collect the acceleration signal y(n) of the motor system through the accelerometer, where n is a positive integer; the excitation and The acquisition module is also used to identify the kernel function of the nonlinear system model to obtain y(n), where y(n) satisfies the following formula:

Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.

The inverse filter module 33 is configured to obtain an inverse filter signal q(n) through the logarithmic sweep signal x(n) and an acceleration signal y(n); the inverse filter signal q(n) satisfies:

q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.

The harmonic elimination module 34 is used to eliminate the second to pth harmonic distortions of the m-th order component in the inverse filtered signal q(n) so as to perform compensation filters of different orders on the nonlinear distortion of the motor acceleration. Compensation, where 2≤m≤p. Among them, eliminate the second to p-th harmonic distortion in the m-th order component, and obtain:

Among them, [] _m indicates that only m-order harmonic distortion is retained, and m is a natural number.

Different from the prior art, this device uses the motor system as a black box and numerically compensates the nonlinear distortion of the nonlinear system model of the Volterra filter, which can perform nonlinear distortion without knowing the physical model. make up.

Fig. 10 is a schematic diagram of a terminal device provided by an embodiment of the present invention. As shown in FIG. 10, the terminal device 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and running on the processor 80, such as motor nonlinear distortion compensation program. When the processor 80 executes the computer program 82, the steps in the foregoing embodiments of the motor nonlinear distortion compensation method are implemented, for example, steps 11 to 14 shown in FIG. 1. Alternatively, when the processor 80 executes the computer program 82, the functions of the modules in the foregoing device embodiments are implemented, for example, the functions of the modules 31 to 34 shown in FIG. 9.

Exemplarily, the computer program 82 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 81 and executed by the processor 80 to complete this invention. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the terminal device 8. For example, the computer program 82 can be divided into the model building module 31, the excitation and acquisition module 32, the inverse filtering module 33, and the harmonic filtering module 34 shown in FIG. 9.

The terminal device 8 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. The terminal device 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that FIG. 8 is only an example of the terminal device 8 and does not constitute a limitation on the terminal device 8. It may include more or less components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 8 may also include input and output devices, network access devices, buses, and the like.

The so-called processor 80 can be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 81 may be an internal storage unit of the terminal device 8, such as a hard disk or memory of the terminal device 8. The memory 81 may also be an external storage device of the terminal device 8, such as a plug-in hard disk equipped on the terminal device 8, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD). Card, Flash Card, etc. Further, the memory 81 may also include both an internal storage unit of the terminal device 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the terminal device 8. The memory 81 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as needed. Module completion, that is, the internal structure of the terminal device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not described in detail or recorded in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed device/terminal device and method may be implemented in other ways. For example, the device/terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units. Or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-Only Memory, ROM) , Random Access Memory (RAM), electrical carrier signal, telecommunications signal, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, the computer-readable medium Does not include electrical carrier signals and telecommunication signals.

It should be understood that the size of the sequence number of each step in the foregoing embodiment does not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the patent scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (10)

1. A method for compensating nonlinear distortion of a motor, which is characterized in that it comprises:

   The motor system is excited by the logarithmic sweep signal x(n), and the acceleration signal y(n) of the motor system is collected by the accelerometer, where n is a positive integer;

   Obtain the inverse filtered signal q(n) through the logarithmic frequency sweep signal x(n) and the acceleration signal y(n);

   Eliminate the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders, where 2≤m≤p.
2. The method for compensating nonlinear distortion of a motor according to claim 1, wherein the excitation of the motor system by the logarithmic sweep signal x(n), and the collection of the acceleration signal y(n) of the motor system by the accelerometer comprises:

   Establishing a nonlinear system model of the Volterra filter, using a logarithmic sweep signal x(n) as the input of the nonlinear system model, and using the vibration acceleration y(n) as the output of the nonlinear system model;

   The kernel function of the nonlinear system model is identified to obtain y(n), where y(n) satisfies the following formula:

   

   Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.
3. The motor nonlinear distortion compensation method according to claim 2, wherein the obtaining the inverse filtered signal q(n) through the logarithmic sweep signal x(n) and the acceleration signal y(n) comprises:

   The inverse filtered signal q(n) satisfies:

   q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

   Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.
4. The motor nonlinear distortion compensation method according to claim 3, wherein the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) is eliminated to pass different orders of compensation The filter compensates for the nonlinear distortion of motor acceleration, including:

   Eliminate the 2nd to pth harmonic distortion in the m-th order component, and get:

   

   among them,

   

   Indicates that only m-th harmonic distortion is retained, and m is a natural number.
5. The motor nonlinear distortion compensation method according to claim 2, wherein the Volterra filter is a one-dimensional Volterra filter.
6. A motor nonlinear distortion compensation device, which is characterized in that it comprises an excitation and acquisition module, an inverse filtering module and a harmonic filtering module:

   The excitation and collection module is used to excite the motor system through the logarithmic sweep signal x(n), and collect the acceleration signal y(n) of the motor system through the accelerometer, where n is a positive integer;

   The inverse filter module is configured to obtain the inverse filter signal q(n) through the logarithmic sweep signal x(n) and the acceleration signal y(n);

   The harmonic elimination module is used to eliminate the second to pth harmonic distortion of the m-th order component in the inverse filtered signal q(n) to compensate the nonlinear distortion of the motor acceleration through compensation filters of different orders , Where 2≤m≤p.
7. The motor nonlinear distortion compensation device according to claim 6, characterized in that it further comprises a model building module;

   The model establishment module is used to establish the nonlinear system model of the Volterra filter, and the logarithmic sweep signal x(n) is used as the input of the nonlinear system model, and the vibration acceleration y(n) is used as the nonlinear system model. The output of the system model;

   The excitation and acquisition module is also used to identify the kernel function of the nonlinear system model to obtain y(n), where y(n) satisfies the following formula:

   

   Among them, h _p is the p-th order kernel function of the nonlinear system model, M _p is the filter length of the p-th order kernel function, i represents the point coordinates of the discrete domain kernel function, and i is the value range of 0～M _{The natural number of p} -1, n represents the sampling point of the kernel function, p is a positive integer, and x ^p (ni) represents the p power of the x sequence of the ni-th point coordinates.
8. The motor nonlinear distortion compensation device according to claim 7, wherein in the inverse filter module:

   The inverse filtered signal q(n) satisfies:

   q(n)=q ₁ (n)+q ₂ (n)+…+q _p (n)

   Among them, q ₁ (n) only includes first-order components, q ₂ (n) only includes second-order components,...q _p (n) includes only p-order components.
9. The motor nonlinear distortion compensation device according to claim 8, wherein in the harmonic elimination module:

   Eliminate the 2nd to pth harmonic distortion in the m-th order component, and get:

   

   among them,

   

   Indicates that only m-th order harmonic distortion is retained, and m is a natural number.
10. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium, and the instructions are adapted to be loaded by a processor to execute the motor nonlinearity described in any one of claims 1 to 5 Distortion compensation method.

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