CN1696707A - 确定输入信号导数的方法 - Google Patents
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Abstract
通过利用混淆导数而周期性的复位法向确定导数的滤波版本来确定含噪声输入信号的导数。利用比法向确定导数更低的更新或采样速率来计算所述混淆导数,并且在混淆导数每次更新时将法向确定的导数的滤波版本复位为一个复位值。所述复位值基于混淆导数和滤波器输出值的加权和。所述周期性复位的滤波器输出紧跟着输入信号的理想导数,基本上消除了由传统滤波所引入的相位延迟。
Description
技术领域
本发明涉及确定含噪声的输入信号的导数(即相对于时间的变化率)而不会因为滤波引入相位延迟。
背景技术
在控制应用中,确定一个测量输入信号的导数通常是必要的。在机动车辆变速器控制中,例如,控制器基于轴速度传感器的输出而产生一个数字速度信号,接着通过计算该速度信号的导数而确定轴的加速度。在这个应用中,由于所测量信号中存在假噪声的原因会导致传统导数计算存在问题,因为噪声的导数典型的要比信号的导数大得多。通常的方法是对输入信号或者其导数进行低通滤波以去除或严格减弱与噪声相关的分量。然而,滤波引入了相位延迟,如果所述导数是用于控制的目的,那么这种相位延迟是特别不受欢迎的。因此,需要一种方法来有效地确定含噪声输入信号的导数,而不会引起任何显著的相位延迟。
发明内容
本发明致力于一种确定含噪声输入信号导数的改进方法,其中,混淆导数(aliased derivative)用于周期性复位正常确定导数的滤波版本。所述混淆导数是利用比正常确定导数更低的更新或采样速率而计算的,并且在混淆导数的每次更新时将正常确定导数的滤波版本复位为基于混淆的复位值。优选的是,根据混淆导数和滤波器输出的加权和来确定所述复位值。所述周期性复位滤波器输出紧跟着一个理想的输入信号导数,基本上消除了由传统滤波而引入的相位延迟。
附图说明
图1是根据本发明的用于确定数字输入信号导数的方法的框图;
图2示意性的示出了含噪声正弦波形、波形的理想导数、波形的实际导数和实际导数的滤波版本,所有波形均为时间的函数;以及
图3示意性的示出了当输入为图2中的含噪声正弦波形时,图2的理想导数以及由图1的框图所产生的输出波形。
具体实施方式
虽然本发明的方法可应用于任何类型的数字或模拟输入信号,但此处公开在一个包括速度变换器和如变速器输入或输出轴这样的旋转轴的应用的环境中。在一个典型的实施方案中,速度变换器设置在接近于固定在轴上的齿轮外围的地方,并且随着齿轮上每个齿的通过产生电脉冲。所述脉冲提供给产生数字信号的电路,所述数字信号具有与脉冲前沿和/或后沿相应的逻辑电平转换,并且在所述数字信号的特定转换处(如,0到1或1到0)采样自由运行计数器的值。区分连续的计数器采样以形成与轴的旋转速度成反比例的一系列时间间隔。在动态系统中,这一系列时间间隔定义了一个数字输入信号,将其在数值上进行微分以确定轴的加速度。在模拟实施方案中,周期性采样输入信号的幅值并通过模-数转换器将输入信号的幅值转换成相应的数字值以形成一系列数字值。
参考图1,本发明的方法被显示成框图,其中将含噪声输入信号(IN)施加到线10,并且在线12产生表示IN导数的输出信号(OUT)。各块的功能可以由各种方式来实现,其中最普遍的就是利用编程的微处理器来执行下面的数学运算。
输入IN包括一系列代表输入信号幅值的数字值,所述输入信号幅值是根据输入信号频率而采样的以防止混淆。例如,如果输入信号具有最大频率f,采样速率至少是(2*f)。块14在线16上产生IN的法向导数(normal derivative)(ND),并且块18在线20上产生IN的混淆导数(AD)。所述法向导数ND是基于传统导数运算的,以下式为例:
ND(k)=[IN(k)-IN(k-1)]/Δt (1)
其中k是采样编号,IN(k)和IN(k-1)是输入IN的当前和前一次采样,而Δt是连续采样之间的时间间隔。除了连续采样之间的时间间隔是Δt的整数倍(R)之外,以大致同样的方式来计算所述混淆导数AD。利用与等式(1)相同的符号,由下式给出所述混淆导数AD:
AD(R*k)=[IN(R*k)-IN(R*(k-1))]/(R*Δt) (2)
例如,如果R=5,则基于输入IN的每个第五次采样而计算混淆导数AD,并且所述混淆导数AD的更新速度是法向导数ND更新速度的五分之一。在混淆导数AD的每次这样更新时,块18在线22上产生触发信号(TRIGGER)。
块24指定了传统的一阶或二阶低通滤波,其可根据命令而被复位为提供的复位值。法向导数ND施加到块24的输入端(INP),并且作为线12上的输出OUT而产生ND的滤波版本。在线22上由块18所产生的TRIGGER信号施加到滤波块24的复位端(RST),并且线26上的复位值(RESET_VALUE)施加到滤波块24的复位值(RV)端。线26上的RESET_VALUE信号是线12上滤波器输出OUT和线20上混淆导数AD的加权和。块28对OUT施加校准部分增益G(例如,其值可以是0.5),而块30对AD施加增益G的补偿(即1-G),并且由块32将结果相加以在线26上形成RESET_VALUE信号。因而,输出信号OUT是一个ND的滤波版本,其基于OUT和AD的加权和而周期性地复位为RESET_VALUE。
如图1的框图所描述的,本发明的方法结合了从法向导数ND和混淆导数AD中搜集的信息。所述法向导数ND包含正确的相位信息,而混淆导数AD对重叠在输入IN上的随机噪声在统计学上不敏感。结合混淆导数AD和滤波的法向导数以形成的滤波器复位值(RESET_VALUE)产生了滤波器输出(OUT),其保持了法向导数ND的相位属性以及混淆导数AD的噪声不敏感性。
通过图2-3中的图形而示出了相对于传统的滤波方法本发明的优点,举例说来,其中输入信号IN是含噪声正弦波形,由图2中的轨迹36所示。输入信号IN是光滑改变的,且由相对高频、低幅、波动来表示所述噪声,轨迹38表示轨迹36的理想导数;即,不考虑噪声而基于IN的光滑改变分量的值的导数。然而,计算轨迹36的实际导数产生例如由图2中参考标记40所指示的非常嘈杂的信号。如果将所述嘈杂的实际导数低通滤波以去除或严格减弱可归因于噪声的含量,则结果将是如图2中轨迹42所示的信号。虽然充分减弱轨迹42的噪声含量,但相对于轨迹38(理想导数)仍具有显著的相位延迟,如图2中可以容易看到的那样。在计算导数之前对输入信号IN进行低通滤波时也会产生类似的结果。相反,图3的轨迹44代表了当输入(IN)是图2中轨速36所代表的含噪声波形时由图1的块24所产生的输出信号(OUT)。轨迹44具有与图2的滤波实际导数轨迹42相似的残余波动,但是将OUT周期性复位到RESET_VALUE(在图2-3的例子中其大约每秒发生两次)使得轨迹44基本上与理想导数(即轨迹38)的相位一致。
总而言之,本发明提供了一种有效确定含噪声输入信号的导数而不会引起任何显著相位延迟的方法。实质上,混淆导数用于周期性复位法向确定导数的滤波版本,同时在混淆导数的每次更新时将滤波器输出复位为混淆导数和滤波器输出的加权和。所述周期性复位滤波器输出紧跟着输入信号的理想导数,基本上消除了由传统滤波所引起的相位延迟。
虽然参照所示的实施例描述本发明的方法,但应当承认的是,对于所属领城技术人员来说可做出除此处所提及方法之外的大量改进和变化。例如,增益G可以与此处提及的不同等等。因此,这意味着本发明不限于所披露的实施例,而是其具有下述权利要求文字所允许的全部范围。
Claims (4)
1.一种确定含噪声输入信号导数的方法,包括以下步骤:
周期性采样输入信号以形成一系列输入信号值;
基于相对于由时间间隔Δt所分开的连续输入信号值之间的时间的改变速率而确定输入信号的法向导数,并且以Δt的间隔更新所述法向导数;
基于相对于由时间间隔Δt的整数倍R所分开的连续输入信号值之间的时间的改变速率而确定输入信号的混淆导数,并且以(R*Δt)的间隔更新所述混淆导数;
低通滤波所述法向导数以形成导数输出;以及
周期性将所述导数输出复位为一个部分基于所述混淆导数的复位值。
2.权利要求1的方法,包括步骤:
在所述混淆导数的每次更新时将所述导数输出复位为所述复位值。
3.权利要求1的方法,包括步骤:
确定所述混淆导数和所述导数输出的加权和以形成所述复位值。
4.权利要求1的方法,包括步骤:
在所述混淆导数的每次更新时:
确定所述混淆导数和所述导数输出的加权和;以及
将所述导数输出复位为所述加权和。
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US10/846,018 US7587442B2 (en) | 2004-05-14 | 2004-05-14 | Method of determining the derivative of an input signal |
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CN107743574A (zh) * | 2015-06-18 | 2018-02-27 | 罗伯特·博世有限公司 | 用于处理信号的方法和装置 |
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CN107743574A (zh) * | 2015-06-18 | 2018-02-27 | 罗伯特·博世有限公司 | 用于处理信号的方法和装置 |
CN107743574B (zh) * | 2015-06-18 | 2021-02-26 | 罗伯特·博世有限公司 | 用于处理信号的方法和装置 |
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US7587442B2 (en) | 2009-09-08 |
DE102005021252A1 (de) | 2005-12-15 |
US20050256919A1 (en) | 2005-11-17 |
CN100416277C (zh) | 2008-09-03 |
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