CN109245743A - A kind of low-pass filtering method and apparatus - Google Patents
A kind of low-pass filtering method and apparatus Download PDFInfo
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- CN109245743A CN109245743A CN201810968527.1A CN201810968527A CN109245743A CN 109245743 A CN109245743 A CN 109245743A CN 201810968527 A CN201810968527 A CN 201810968527A CN 109245743 A CN109245743 A CN 109245743A
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0219—Compensation of undesirable effects, e.g. quantisation noise, overflow
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0223—Computation saving measures; Accelerating measures
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0223—Computation saving measures; Accelerating measures
- H03H17/0238—Measures concerning the arithmetic used
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0223—Computation saving measures; Accelerating measures
- H03H2017/0245—Measures to reduce power consumption
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Abstract
The invention discloses a kind of low-pass filtering method and apparatus, including signal to be processed is obtained the first output signal multiplied by preset first constant -1.6；Continuous four one order inertia inverse operations are carried out to signal to be processed；Seek the sum of the first output signal, the second output signal, third output signal, the 4th output signal and the 5th output signal；The operation of quadravalence inertia is carried out to the 6th output signal, and is subtracted input signal using the 7th output signal as subtraction；Using the output signal of subtraction as the 8th output signal, and continuous four one order inertia operations are carried out to the 8th output signal by preset one order inertia operational formula；The 9th output signal, the tenth output signal, the sum of the 11st output signal and the 12nd output signal are sought, and subtracts input signal using the 13rd output signal as subtraction；The output signal of subtraction is obtained into low-pass filtering output signal multiplied by preset second constant 2.08333.Drawings is in high process control loop stability nargin.
Description
Technical field
The present invention relates to automatic control technology field more particularly to a kind of low-pass filtering method and apparatus.
Background technique
Signal filtering method is the important component of control theory, in control theory research, to signal filtering method
Research be an important problem always.Filtering method is also the element of various processes control system, filtering side
The superiority and inferiority of method is also an important sexual factor of decision process control performance, such as the lag of filtered phase and time.In process
In control, digital filter device such as one order inertia filter, second-order inertia filter, because structure is simple, so filtering and denoising
Aspect is widely used, but digital filter device has filtered phase lag, will cause process control loop and stablizes
Nargin decline, so needing a kind of method that can improve process control loop stability margin.
Summary of the invention
The present invention provides a kind of low-pass filtering method and apparatus, can improve process control loop stability margin.
The present invention provides a kind of low-pass filtering methods, comprising:
Signal to be processed is obtained into the first output signal multiplied by preset first constant -1.6；
Pass through preset one order inertia inverse operation formula (1+0.48TLS) signal to be processed is carried out continuous four times one
Rank inertia inverse operation successively obtains the second output signal, third output signal, the 4th output signal and the 5th output signal,
Middle TLFor low-pass cut-off frequencies ωLInverse, indicate cut-off time constant filter, ωLUnit be rad/s, TLUnit be s；
Seek the first output signal, the second output signal, third output signal, the 4th output signal and the 5th output signal
Sum, obtain the 6th output signal；
Pass through preset quadravalence inertia operational formulaThe operation of quadravalence inertia is carried out to the 6th output signal,
The 7th output signal is obtained, and is subtracted input signal using the 7th output signal as subtraction；
Using the output signal of the subtraction as the 8th output signal, and pass through preset one order inertia operational formulaContinuous four one order inertia operations are carried out to the 8th output signal, successively obtain the 9th output signal, the tenth defeated
Signal, the 11st output signal and the 12nd output signal out；
The 9th output signal, the tenth output signal, the sum of the 11st output signal and the 12nd output signal are sought, is obtained
13rd output signal, and subtract input signal using the 13rd output signal as the subtraction；
The output signal of the subtraction is obtained into low-pass filtering output signal multiplied by preset second constant 2.08333.
The present invention provides a kind of low-pass filters, comprising: the first multiplier, four the first controllers, the first additions
Device, second controller, subtracter, four third controllers, the second multiplier and second adder；
The input terminal input of first multiplier has preset first constant -1.6, another input terminal is for inputting
Signal to be processed；
Four the first controller series connection, for carrying out continuous four one order inertias to the signal to be processed of input
Inverse operation, wherein the formula of one order inertia inverse operation is (1+0.48TLS), TLFor low-pass cut-off frequencies ωLInverse, indicate cut
Only time constant filter, ωLUnit be rad/s, TLUnit be s；
The input terminal of the first adder respectively with the output end of first multiplier, each first controller
Output end connection, for output signal and all first controllers to first multiplier output signal into
Row summation；
The input terminal of the second controller is connect with the output end of the first adder, for passing through preset quadravalence
Inertia operational formulaThe operation of quadravalence inertia is carried out to the output signal of the first adder；
The subtracter is connect by cut signal input terminal with the output end of the second controller, the subtracter it is defeated
There are four third controllers for outlet series connection, and the third controller is for passing through preset one order inertia operational formulaIt is right
The signal of input carries out one order inertia operation；
The input terminal of the second adder is connect with the output end of four third controllers respectively, for all
The output signal of the third controller is summed；
The cut signal input terminal of the subtracter is connect with the output end of the second adder；
The input terminal input of second multiplier has preset second constant 2.08333, another input terminal and institute
The output end connection of subtracter is stated, the output end of second multiplier is for exporting low-pass filtering output signal.
As can be seen from the above technical solutions, the invention has the following advantages that
Signal to be processed is obtained into the first output signal multiplied by preset first constant -1.6；It is inverse by preset one order inertia
Operational formula (1+0.48TLS) continuous four one order inertia inverse operations are carried out to the signal to be processed, it is defeated successively obtains second
Signal, third output signal, the 4th output signal and the 5th output signal out, wherein TLFor low-pass cut-off frequencies ωLInverse,
Indicate cut-off time constant filter, ωLUnit be rad/s, TLUnit be s；Seek the first output signal, the second output letter
Number, third output signal, the sum of the 4th output signal and the 5th output signal, obtain the 6th output signal；Pass through preset four
Rank inertia operational formulaThe operation of quadravalence inertia is carried out to the 6th output signal, obtains the 7th output signal, and will
7th output signal is subtracted input signal as subtraction；The output signal of the subtraction is defeated as the 8th
Signal out, and pass through preset one order inertia operational formulaIt is used that continuous four single orders are carried out to the 8th output signal
Property operation, successively obtains the 9th output signal, the tenth output signal, the 11st output signal and the 12nd output signal；It seeks
9th output signal, the tenth output signal, the sum of the 11st output signal and the 12nd output signal obtain the 13rd output letter
Number, and subtract input signal using the 13rd output signal as the subtraction；The output of the subtraction is believed
Number low-pass filtering output signal is obtained multiplied by preset second constant 2.08333；
The present invention has flat amplitude-frequency and phase-frequency characteristic, and it is abundant to can be improved stablizing for process control loop to a certain extent
Degree.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of one embodiment of low-pass filter provided by the invention；
Fig. 2 is to be filtered corresponding frequency characteristic schematic diagram using a kind of low-pass filtering method provided by the invention.
Specific embodiment
The embodiment of the invention provides a kind of low-pass filtering method and apparatus, with can improve process control loop stablize it is abundant
Degree.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
The present invention provides a kind of one embodiment of low-pass filtering method, comprising:
Signal to be processed is obtained into the first output signal multiplied by preset first constant -1.6；
Pass through preset one order inertia inverse operation formula (1+0.48TLS) continuous four single orders are carried out to signal to be processed to be used to
Property inverse operation, successively obtains the second output signal, third output signal, the 4th output signal and the 5th output signal, wherein TL
For low-pass cut-off frequencies ωLInverse, indicate cut-off time constant filter, ωLUnit be rad/s, TLUnit be s；
Seek the first output signal, the second output signal, third output signal, the 4th output signal and the 5th output signal
Sum, obtain the 6th output signal；
Pass through preset quadravalence inertia operational formulaThe operation of quadravalence inertia is carried out to the 6th output signal, is obtained
7th output signal, and subtracted input signal using the 7th output signal as subtraction；
Using the output signal of subtraction as the 8th output signal, and pass through preset one order inertia operational formulaContinuous four one order inertia operations are carried out to the 8th output signal, successively obtain the 9th output signal, the tenth output letter
Number, the 11st output signal and the 12nd output signal；
The 9th output signal, the tenth output signal, the sum of the 11st output signal and the 12nd output signal are sought, is obtained
13rd output signal, and subtract input signal using the 13rd output signal as subtraction；
The output signal of subtraction is obtained into low-pass filtering output signal multiplied by preset second constant 2.08333.
Referring to Fig. 1, a kind of structural schematic diagram of one embodiment of low-pass filter provided by the invention.
The present invention provides a kind of one embodiment of low-pass filter, comprising: the control of the first multiplier 2, four first
Device 1, first adder 3, second controller 4,5, four third controllers 6 of subtracter, the second multiplier 8 and second adder processed
7；
The input terminal input of first multiplier 2 has a preset first constant -1.6, another input terminal for input to
Handle signal；
Four the first controller 1 series connection, for carrying out continuous four one order inertia inverse operations to the signal to be processed of input,
Wherein the formula of one order inertia inverse operation is (1+0.48TLS), TLFor low-pass cut-off frequencies ωLInverse, indicate cut-off filtering when
Between constant, ωLUnit be rad/s, TLUnit be s；
The input terminal of first adder 3 output end with the output end of the first multiplier 2, each first controller 1 respectively
Connection, the output signal for output signal and all first controllers 1 to the first multiplier 2 are summed；
The input terminal of second controller 4 is connect with the output end of first adder 3, for being transported by preset quadravalence inertia
Calculate formulaThe operation of quadravalence inertia is carried out to the output signal of first adder 3；
Subtracter 5 is connect by cut signal input terminal with the output end of second controller 4, the output end series connection of subtracter 5
There are four third controller 6, third controller 6 is for passing through preset one order inertia operational formulaTo the signal of input
Carry out one order inertia operation；
The input terminal of second adder 7 is connect with the output end of four third controllers 6 respectively, for all third controls
The output signal of device 6 processed is summed；
The cut signal input terminal of subtracter 5 is connect with the output end of second adder 7；
The input terminal input of second multiplier 8 has preset second constant 2.08333, another input terminal and subtracter
5 output end connection, the output end of the second multiplier 8 is for exporting low-pass filtering output signal.
Illustrate referring to Fig. 2, being filtered corresponding frequency characteristic using a kind of low-pass filtering method provided by the invention
Figure.
In Fig. 2, ω is sinusoidal frequency, unit rad/s；Gain (ω) is gain-frequency characterisitic, unit dimensionless.
Phase (ω) is phase-frequency characteristic, unit °；The frequency bandwidth that Gain (ω) is defined in 3dB gain is equal to low-pass cut-off frequencies
ωL。
From figure 2 it can be seen that being less than in system frequency bandwidth (System frequency bandwidth, ω SFB)
When low-pass cut-off frequencies ω L, the embodiment of the present invention has flat amplitude-frequency and phase-frequency characteristic, can be improved process to a certain extent
The stability margin of control loop.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (2)
1. a kind of low-pass filtering method characterized by comprising
Signal to be processed is obtained into the first output signal multiplied by preset first constant -1.6；
Pass through preset one order inertia inverse operation formula (1+0.48TLS) continuous four single orders are carried out to the signal to be processed to be used to
Property inverse operation, successively obtains the second output signal, third output signal, the 4th output signal and the 5th output signal, wherein TL
For low-pass cut-off frequencies ωLInverse, indicate cut-off time constant filter, ωLUnit be rad/s, TLUnit be s；
Seek the first output signal, the second output signal, third output signal, the 4th output signal and the 5th output signal
With obtain the 6th output signal；
Pass through preset quadravalence inertia operational formulaThe operation of quadravalence inertia is carried out to the 6th output signal, obtains the
Seven output signals, and subtracted input signal using the 7th output signal as subtraction；
Using the output signal of the subtraction as the 8th output signal, and pass through preset one order inertia operational formulaContinuous four one order inertia operations are carried out to the 8th output signal, successively obtain the 9th output signal, the tenth defeated
Signal, the 11st output signal and the 12nd output signal out；
The 9th output signal, the tenth output signal, the sum of the 11st output signal and the 12nd output signal are sought, obtains the tenth
Three output signals, and subtract input signal using the 13rd output signal as the subtraction；
The output signal of the subtraction is obtained into low-pass filtering output signal multiplied by preset second constant 2.08333.
2. a kind of low-pass filter characterized by comprising the first multiplier, four the first controllers, first adder,
Second controller, subtracter, four third controllers, the second multiplier and second adder；
The input terminal input of first multiplier has preset first constant -1.6, another input terminal is for inputting wait locate
Manage signal；
Four the first controller series connection, for carrying out the inverse fortune of continuous four one order inertias to the signal to be processed of input
It calculates, wherein the formula of one order inertia inverse operation is (1+0.48TLS), TLFor low-pass cut-off frequencies ωLInverse, indicate cut-off filter
Wave time constant, ωLUnit be rad/s, TLUnit be s；
The input terminal of the first adder respectively with the output end of first multiplier, each first controller it is defeated
Outlet connection, the output signal for output signal and all first controllers to first multiplier are asked
With；
The input terminal of the second controller is connect with the output end of the first adder, for passing through preset quadravalence inertia
Operational formulaThe operation of quadravalence inertia is carried out to the output signal of the first adder；
The subtracter is connect by cut signal input terminal with the output end of the second controller, the output end of the subtracter
There are four third controllers for series connection, and the third controller is for passing through preset one order inertia operational formulaTo input
Signal carry out one order inertia operation；
The input terminal of the second adder is connect with the output end of four third controllers respectively, for all described
The output signal of third controller is summed；
The cut signal input terminal of the subtracter is connect with the output end of the second adder；
The input terminal input of second multiplier has preset second constant 2.08333, another input terminal subtracts with described
The output end of musical instruments used in a Buddhist or Taoist mass connects, and the output end of second multiplier is for exporting low-pass filtering output signal.
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