阅读说明：本技术 用于对电输入信号进行消抖的方法和消抖模块 (Method for debouncing an electrical input signal and debouncing module ) 是由 T·奥斯特温德 于 2020-04-10 设计创作，主要内容包括：本发明提出了一种用于对电输入信号(x<Sub>输入</Sub>)进行消抖的方法和消抖模块(10)。该方法包括：首先接收输入信号(x<Sub>输入</Sub>),并确认输入信号(x<Sub>输入</Sub>)的当前值。然后确认输入信号(x<Sub>输入</Sub>)的当前值是高于还是低于至少一个预定义极限值(x<Sub>G</Sub>)。产生具有限定的初始值的消抖状态变量(x<Sub>E</Sub>)。至少基于输入信号(x<Sub>输入</Sub>)的值是高于还是低于至少一个极限值(x<Sub>G</Sub>)来更改消抖状态变量(x<Sub>E</Sub>)的值,其中,消抖状态变量(x<Sub>E</Sub>)的值能够在最小值(W<Sub>最小</Sub>)与最大值(W<Sub>最大</Sub>)之间更改。基于消抖状态变量(x<Sub>E</Sub>)的值是对应于最小值(W<Sub>最小</Sub>)、最大值(W<Sub>最大</Sub>)还是最小值(W<Sub>最小</Sub>)与最大值(W<Sub>最大</Sub>)之间的值,生成输出信号(x<Sub>输出</Sub>)。(The invention proposes a method for aligning an electrical input signal (x) Input device ) A method and jitter cancellation module (10) for performing jitter cancellation. The method comprises the following steps: first receiving an input signal (x) Input device ) And confirms the input signal (x) Input device ) The current value of (a). Then confirms the input signal (x) Input device ) Is above or below at least one predefined limit value (x) G ). Generating an debounce state variable (x) having a defined initial value E ). Based at least on the input signal (x) Input device ) Is above or below at least one limit value (x) G ) To change the debounce state variable (x) E ) Wherein the debounce state variable (x) E ) Can be at a minimum value (W) Minimum size ) And maximum value (W) Maximum of ) To change between. Based on debounce state variable (x) E ) Is a value corresponding to the minimum value (W) Minimum size ) Maximum value (W) Maximum of ) Or is a minimum value (W) Minimum size ) And maximum value (W) Maximum of ) Value in between, generating an output signal (x) Output of )。)

1. For input of electrical signals (x)_{Input device}) A method of performing debouncing, the method having the steps of:

-receiving said input signal (x)_{Input device})；

-validating said input signal (x)_{Input device}) The current value of (a);

-validating said input signal (x)_{Input device}) Is above or below at least one predefined limit value (x)_G)；

-generating an debounce state variable (x) having a defined initial value_E)；

-based at least on the input signal (x)_{Input device}) Is above or below the at least one limit value (x)_G) To alter the debounce state variable (x)_E) Wherein the debounce state variable (x)_E) Can be at a minimum value (W)_{Minimum size}) And maximum value (W)_{Maximum of}) Change between; and

-based on the debounce state variable (x)_E) Is a value corresponding to said minimum value (W)_{Minimum size}) The maximum value (W)_{Maximum of}) Or the minimum value (W)_{Minimum size}) And the maximum value (W)_{Maximum of}) To generate an output signal (x)_{Output of})。

2. Method according to claim 1, characterized in that said output signal (x)_{Output of}) Is a binary signal.

3. Method according to any of the preceding claims, characterized in that if the debounce state variable (x)_E) Reaches the minimum value (W)_{Minimum size}) Or the maximum value (W)_{Maximum of}) Altering said output signal (x)_{Output of}) The value of (c).

4. Method according to one of the preceding claims, characterized in that as long as the debounce state variable (x) is present_E) Is at the minimum value (W)_{Minimum size}) And the maximum value (W)_{Maximum of}) In the output signal (x)_{Output of}) The current value of (c) remains unchanged.

5. Method according to one of the preceding claims, characterized in that if the input signal (x) is present_{Input device}) Is above the at least one limit value (x)_G；x_G1) Then the debounce state variable (x)_E) Increases with a predefined first gradient and/or if the input signal (x)_{Input device}) Is below the at least one limit value (x)_G；x_G2) Then the debounce state variable (x)_E) Is decreased with a predefined second gradient.

6. Method according to claim 5, characterized in that the first gradient and/or the second gradient are based on the input signal (x)_{Input device}) Is above or below the at least one limit value (x)_G；x_G1，x_G2) Is confirmed.

7. Method according to claim 6, characterized in that the input signal (x)_{Input device}) From the at least one limit value (x)_G；x_G1，x_G2) The further away, the larger the magnitude of the value of the first gradient and/or the second gradient.

8. Method according to any of claims 6 and 7, characterized in that the first gradient and/or the second gradient are/is ascertained on the basis of a characteristic curve, wherein the characteristic curve assigns a certain gradient to the input signal (x)_{Input device}) The value of (c).

9. Method according to one of the preceding claims, characterized in that at least one primary first gradient and at least one secondary first gradient are provided and that above the at least one limit value (x) is also provided_G；x_G1) At least one predetermined positive limit value (x)_P) Wherein if the input signal (x)_{Input device}) Is below the at least one positive limit value (x)_P) But above said at least one limit value (x)_G；x_G1) Then the debounce state variable (x)_E) Is increased with the main first gradient, and wherein if the ascertained current value of the input signal is above the at least one positive limit value (x)_P) Then the debounce state variable (x)_E) Increases with the second first gradient; and/or

Characterized in that at least one primary second gradient and at least one secondary second gradient are provided and that below the at least one limit value (x) is also provided_G；x_G2) At least one predetermined negative limit value (x)_N) Wherein if the input signal (x)_{Input device}) Is higher than the at least one negative limit value (x)_N) But below the at least one limit value (x)_G；x_G2) Then the debounce state variable (x)_E) Is decreased with the main second gradient, and wherein if the input signal (x) is negative_{Input device}) Is/are as followsThe confirmed current value is lower than the at least one negative limit value (x)_N) Then the debounce state variable (x)_E) Is decreased by the second gradient.

10. Method according to one of the preceding claims, characterized in that a first predefined limit value (x) is provided_G1) And a second predefined limit value (x)_G2) Wherein the current value of the input signal is within the two limit values (x)_G1，x_G2) In the jitter reduction state variable (x)_E) The value of (c) remains unchanged.

11. Method according to claim 10, characterized in that if the input signal (x) is present_{Input device}) Is higher than the two limit values (x)_G1，x_G2) The larger of them, the debounce state variable (x)_E) Increases with the first gradient and/or if the input signal (x)_E) Is below the two limit values (x)_G1，x_G2) The smaller of the two, the debounce state variable (x)_E) Is decreased by the second gradient.

12. An anti-jitter module (10), in particular a controller, having a receiver for receiving an input signal (x)_{Input device}) For outputting an output signal (x) of (2)_{Output of}) And a signal processing unit (16), wherein the signal processing unit (16) is configured to perform the method according to one of the preceding claims.

Technical Field

The present invention relates to a method for debouncing an electrical input signal and to an debouncing module.

Background

The electrical signal in general and the electrical signal from the sensor may specifically be described as comprising a superposition of an ideal interference-free signal and an additional interference.

The interference typically has a randomly distributed component, which is described as additive white gaussian noise, for example. Thus, the electrical signal has high frequency interference superimposed thereon. Thus, the interference may alter the electrical signal, thereby making it different from the ideal signal.

In many different cases it has to be established whether the undisturbed electrical signal is above or below a predefined limit value. This typically involves generating a binary output signal whose value depends on whether the non-interfering electrical signal is above or below a predefined limit value.

However, the above-mentioned disturbances, in particular in the immediate vicinity of the limit values, cause the electrical signal to vary at very high frequencies between a range above the limit value and a range below the limit value and thus cause a jitter to occur. Therefore, it is difficult to determine whether the non-interfering signal is above or below the limit value or exceeds the limit value. Accordingly, the value of the output signal generated within this limit will jump between two possible values at a high frequency (this phenomenon is also referred to as "switching").

Disclosure of Invention

It is therefore an object of the present invention to provide a method for debouncing an electrical input signal and an debouncing module that allow for debouncing even very noisy electrical signals with a short delay time.

According to the invention, this object is achieved by a method for debouncing an electrical input signal, having the steps of:

-receiving the input signal;

-confirming a current value of the input signal;

-confirming whether the current value of the input signal is above or below at least one predefined limit value;

-generating an debounce state variable having a defined initial value;

-changing the value of the debounce state variable at least based on whether the value of the input signal is above or below the at least one limit value, wherein the value of the debounce state variable is changeable between a minimum value and a maximum value; and

-generating an output signal based on whether the value of the debounce state variable corresponds to the minimum value, the maximum value or a value between the minimum value and the maximum value.

The method according to the invention is based on the basic idea of introducing an additional variable, i.e. an anti-jitter state variable, which is a measure for the likelihood that the actual value of the electrical input signal is above or below a limit value.

In contrast to the prior art, the timer is therefore not reset each time the electrical input signal exceeds the limit value, but the value of the debounce state variable is continuously adjusted.

Therefore, for the change in the value of the output signal, it is sufficient as long as the time during which the current value of the input signal is on one side of the limit value is sufficiently long as a whole within a certain period. Therefore, it is no longer necessary that the current value of the input signal is continuously on one side of the limit value for a certain period of time.

Thereby reducing the effect of short-term (i.e., high frequency) fluctuations and debounce the electrical signal with a shorter delay.

Preferably, the initial value of the debounce state variable is determined based on a current value of the input signal. More specifically, the initial value is set equal to the minimum value if the current value of the input signal is less than the limit value, and the initial value is set equal to the maximum value if the current value of the input signal is greater than the limit value. Alternatively, however, the initial value of the debounce state variable may also be specified as a minimum value or a maximum value, for example.

For example, the minimum value is equal to zero and the maximum value is equal to one. However, of course any other enclosure may be used.

In particular, the electrical input signal is a measurement signal from the sensor or a measurement signal from the sensor that has been further processed. For example, the electrical input signal is a signal from a torque sensor, from an angular position sensor, from a temperature sensor, from a voltage sensor, from a current sensor and/or from a force sensor. The suitable sensor from which the input signal originates may be part of a steering system of the motor vehicle.

According to one configuration of the invention, the output signal is a binary signal. The output signal thus has two possible values, corresponding to the interpretation of an "electrical input signal above the limit value" and an "electrical input signal below the limit value".

Preferably, the value of the output signal is altered if the value of the debounce state variable reaches the minimum value or the maximum value. In this case, the minimum value corresponds to an interpretation that the electrical input signal is below the limit value, which is why the output signal corresponding to this state is output next after the minimum value is reached. Similarly, a maximum value corresponds to an interpretation that the electrical input signal is above the limit value, which is why the output signal corresponding to this state is output next after the maximum value is reached.

Another aspect of the invention provides that the current value of the output signal remains unchanged as long as the value of the debounce state variable is between the minimum value and the maximum value. In other words, the output signal is only altered when the debounce state variable reaches one of its two extreme values (i.e., the minimum or maximum value). This reliably prevents the value of the output signal from changing, in particular jumping back and forth, at high frequencies.

According to a further configuration of the invention, the value of the debounce status variable is increased with a predefined first gradient if the ascertained current value of the input signal is above the at least one limit value and/or the value of the debounce status variable is decreased with a predefined second gradient if the ascertained current value of the input signal is below the at least one limit value. The first gradient and the second gradient may be equal to or different from each other.

At this point and in the following, the term "predefined gradient" means that the first gradient and/or the second gradient are at least defined (i.e. constant) or confirmed by the signal processing unit based on defined criteria.

Preferably, the first gradient and/or the second gradient are confirmed based on how much the current value of the input signal is above or below the at least one limit value. Thus, values of the input signal that are far from the limit value are given more weight and can therefore better indicate that the input signal is on a particular side of the limit value.

More preferably, the larger the magnitude of the value of the first gradient and/or the second gradient, the further the current value of the input signal is from the at least one limit value. Thus, if the current value of the input signal is further away from the limit value, the value of the debounce state variable changes faster, as a result of which the delay in debounce the input signal is further reduced.

According to a further configuration of the invention, the first gradient and/or the second gradient are ascertained on the basis of a characteristic curve, wherein the characteristic curve assigns a certain gradient to a value of the input signal. In other words, the gradient of the debounce state variable is thus a function of the distance of the current value of the input signal from the limit value, preferably a monotonically increasing function, in particular a strictly monotonically increasing function. In this case, the function may be continuous or discontinuous. For example, the characteristic curve may have a step-shaped abrupt change.

Another aspect of the invention provides that at least one primary first gradient and at least one secondary first gradient are provided and that also at least one predetermined positive limit value above the at least one limit value is provided, wherein the value of the debounce status variable is increased with the primary first gradient if the ascertained current value of the input signal is below the at least one positive limit value but above the at least one limit value, and wherein the value of the debounce status variable is increased with the secondary first gradient if the ascertained current value of the input signal is above the at least one positive limit value; and/or at least one primary second gradient and at least one secondary second gradient and also at least one predetermined negative limit value below the at least one limit value are provided, wherein the value of the debounce status variable is decreased with the primary second gradient if the ascertained current value of the input signal is above the at least one negative limit value but below the at least one limit value, and wherein the value of the debounce status variable is decreased with the secondary second gradient if the ascertained current value of the input signal is below the at least one negative limit value.

In other words, the at least one limit value, the positive limit value and the negative limit value define a plurality of zones, each zone corresponding to a predefined gradient of the debounce state variable. In particular, the gradient is constant within each zone, but is different between each zone.

A second predefined limit value may be provided, wherein the value of the debounce state variable remains unchanged as long as the current value of the input signal is between the two limit values. Thus, these two limit values, as they should, define a dead band in which the value of the debounce state variable does not change. In this way, dead zones can be implemented in a simple manner.

In particular, the value of the debounce state variable is increased with the first gradient if the identified current value of the input signal is above the larger of the two limit values and/or the value of the debounce state variable is decreased with the second gradient if the identified current value of the input signal is below the smaller of the two limit values. Thus, at least one limit value is replaced as it would have been by a dead zone, wherein the value of the debounce state variable is increased if the current value of the input signal is above the dead zone and is decreased if the current value of the input signal is below the dead zone.

According to the present invention, the object is also achieved by an anti-jitter module, in particular a controller, having a signal input for receiving an input signal, a signal output for outputting an output signal, and a signal processing unit, wherein the signal processing unit is configured to perform the method as described above. With regard to advantages and features, reference is made to the explanations above with regard to the method, which correspondingly also apply to the debounce module and vice versa.

Drawings

Further advantages and properties of the invention are obtained from the following description and the enclosed drawings, with reference to and in which:

fig. 1 schematically shows a block diagram of an anti-jitter module according to the present invention;

figure 2 shows a graph of an electrical input signal plotted against time;

fig. 3 shows (a) an enlarged detail of the electrical input signal from fig. 2, and (b) a graph of the resulting output signal without debounce-ering the input signal;

fig. 4 schematically shows a flow chart of a method for debouncing an electrical input signal according to the invention;

fig. 5 shows a graph of the debounced output signal according to the inventive method from fig. 4 plotted against time; and is

Fig. 6 shows a graph of an input signal plotted against time to demonstrate further aspects of the method according to the invention.

Detailed Description

Fig. 1 shows an anti-jitter module 10 having a receiver for receiving an electrical input signal x_{Input device}(t) a signal input 12 for outputting an electrical output signal x_{Output of}A signal output 14 of (t), and a signal processing unit 16.

The signal processing unit 16 is arranged in such a way as to be connected downstream of the signal input 12 and is connected in a signal-transmitting manner to the signal input 12. Further, the signal processing unit 16 is arranged in such a manner as to be connected upstream of the signal output terminal 14, and is connected to the signal output terminal 14 in a signal-transmitting manner.

In general, the signal processing unit 16 is designed to receive an electrical input signal x via the signal input 12_{Input device}To process an input signal x_{Input device}And based on the input signal x_{Input device}Generating an output signal x_{Output of}。

Fig. 2 shows the input signal x plotted against time t_{Input device}Exemplary depiction of (t). Input signal x_{Input device}Is composed of non-interfering signals x_{Input without interference}And interference superposition, so that the input signal x_{Input device}At least intermittently with a non-interfering signal x_{Input without interference}The value of (c) is different. The interference may be random, i.e. may have a gaussian distribution. However, the interference may also have a deterministic component.

In particular, the electrical input signal x_{Input device}(t) is the measurement signal from the sensor or the measurement signal from the sensor that has been further processed. For example, the electrical input signal x_{Input device}(t) is a signal from a torque sensor, from an angular position sensor, from a temperature sensor, from a voltage sensor, from a current sensor, and/or from a force sensor.

Input signal x_{Input device}The applicable sensor from which it is derived may be part of the steering system of a motor vehicle.

Thus, the debounce module 10 may be part of a controller of the motor vehicle or a suitable subsystem of the motor vehicle.

Further, the input signal x_{Input device}Is an analog signal or a digital signal, in particular a binary signal.

For many different applications the signal processing unit 16 needs to acknowledge the non-interfering signal x_{Input without interference}Is above or below a predefined limit value x_G. It should be noted that the input signal x in fig. 2_{Input device}At a limit value x_GExpressed in units, this is why the limit value x_GIs the reason for one.

Then, the signal x is output_{Output of}Is a binary signal which is generated by the signal processing unit 16 and has one or two possible different values depending on the non-interfering input signal x_{Input without interference}Has a value ofAbove or below the limit value x_G. Output signal x_{Output of}Are hereinafter represented by E and

and (4) showing.

If the input signal x_{Input device}(as shown in fig. 2) has high frequency noise with non-negligible amplitude, it is difficult to determine a non-interfering signal x_{Input without interference}Whether the value of (A) is above or below the limit value x_G。

This is again shown in detail in fig. 3(a) and 3 (b). Fig. 3(a) shows an enlarged view of a range surrounded by dots in fig. 2, and fig. 3(b) shows an output signal x_{Output of}Applicable result value of (c).

For non-interfering input signals x_{Input without interference}Obtaining a non-interfering output signal x_{Output without interference}The non-interfering output signal having a secondaryA single step transition to E.

On the other hand, for the actual input signal x_{Input device}Without further processing of the input signal x due to noise components_{Input device}Will obtain a very fluctuating output signal x_{Output r}。

For generating a stable output signal, the input signal x_{Input device}And is therefore processed by the debounce module 10, more precisely by the signal processing unit 16.

In general, the debounce module 10 is designed to couple the input signal x_{Input device}Jitter is eliminated, and the input signal x is transmitted_{Input device}As means for generating an output signal x_{Output of}The basis of (1). Thus, the output signal x_{Output of}Is an input signal x with and without jitter_{Input device}Corresponding values E andthe binary signal of (2).

More precisely, the dither elimination modelThe block 10 is designed to carry out the method for pairing an electrical input signal x described hereinafter with reference to fig. 4 to 6_{Input device}A method for eliminating shaking is provided.

First, an electrical input signal x is received via a signal input 12_{Input device}And forwards the electrical input signal to the signal processing unit 16 (step S1).

Then confirms the input signal x_{Input device}The current value (step S2). At this time and in the following, "current value" is understood to mean a measurable signal parameter, for example the input signal x_{Input device}Current amplitude or current power.

In step S2, input signal x is additionally input_{Input device}Current value and limit value x of_GA comparison is made. This involves validating the input signal x_{Input device}Is above or below the limit value x_G。

In addition, an debounce state variable x is generated having a predefined initial value_E(step S3). The predefined initial value is defined by a minimum value W_{Minimum size}And maximum value W_{Maximum of}Within a defined predefined range. In particular, W_{Minimum size}Is equal to zero and W_{Maximum of}Equal to 1. However, of course any other enclosure may be used.

Based on the input signal x_{Input device}Determines the debounce state variable x at the current value of_EIs started. More precisely if the input signal x_{Input device}Is less than the limit value x_GThen set the initial value equal to W_{Minimum size}And if a signal x is input_{Input device}Is greater than the limit value x_GThen set the initial value equal to W_{Maximum of}。

Alternatively, however, the debounce state variable x may also be used_EIs specified to be, for example, zero or one.

Based on the input signal x_{Input device}Change the debounce state variable x_EIs detected (step S4). More precisely if the input signal x_{Input device}Is higher than the limit value x_GThe debounce state variable x is increased by a predefined first gradient_EThe value of (c). Similarly, if input signal x_{Input device}Is below the limit value x_GDecreasing the debounce state variable x with a predefined second gradient_EThe value of (c).

Debounce state variable x_EAlways within a predefined range. Therefore, the debounce state variable cannot be smaller than the minimum value W_{Minimum size}Or greater than the maximum value W_{Maximum of}。

At this time and in the following, "predefined gradient" means that the first gradient and/or the second gradient have been defined, i.e. are constant, or are confirmed by the signal processing unit 16 based on defined criteria.

In fig. 5, the resulting debounce state variable x is plotted against time_E(t) of (d). In this case, the magnitude of the value of the first gradient and the magnitude of the value of the second gradient are equal and equal to the input signal x_{Input device}Is above or below the limit value x_GAnd is somewhat irrelevant.

Alternatively, the first gradient and the second gradient (more precisely their magnitudes) may also differ from one another.

In addition, the first gradient and/or the second gradient may depend on the input signal x_{Input device}Current value of is from limit value x_GHow far away. Thus, the gradient of the debounce state variable is the input signal x_{Input device}Current value of is from limit value x_GAs a function of the distance of (a), i.e.,

m＝f(x_{input device}(t)-x_G)，

Wherein m represents a gradient. In other words, the debounce state variable x is thus determined on the basis of the characteristic curve and/or a further calculation code_EThe characteristic curve and/or the calculation curve is defined by a function f (x)_{Input device}(t)-x_G) And (4) defining.

Preferably, f is at x_{Input device}(t)＝x_GA monotonically rising function with zero crossings such that with the input signal x_{Input device}Current value of is from limit value x_GThe further away, the larger the magnitude of the gradient.

Based on debounce state variable x_EIs equal toMinimum value W_{Minimum size}Is equal to the maximum value W_{Maximum of}Or corresponds to the minimum value W_{Minimum size}And a maximum value W_{Maximum of}To generate the output signal x_{Output of}(step S5).

As can be seen in FIG. 5, as long as the debounce state variable x is present_EIs at a minimum value W_{Minimum size}And a maximum value W_{Maximum of}Between, output signal x_{Output of}The value of (c) remains unchanged.

However, when the debounce state variable x_ETo a maximum value W_{Maximum of}Time (time t in fig. 5)₁Condition of (d) of the output signal, value x_{Output of}Will be changed to E.

Similarly, only when the debounce state variable x is present_EAgain reaches the minimum value W_{Minimum size}Then the output signal x_{Output of}Is again set to

Comparing fig. 3 with fig. 5, it can be seen that this way enables an efficient input signal x with a short delay_{Input device}Eliminating trembling.

Fig. 6 depicts the input signal x plotted against time_{Input device}On the basis of which two other aspects are described below, each of which can be integrated into the above-described method, either individually or in combination.

In contrast to the above-described method, in this case no single limit value is provided, but a first limit value x is provided_G1And a second limit value x_G2. Limit value x_GAt a first limit value x_G1And a second limit value x_G2In the meantime.

When inputting signal x_{Input device}Is at a first limit value x_G1And a second limit value x_G2In time, the debounce state variable x_EThe value of (c) remains unchanged.

In other words, therefore, as long as the signal x is input_{Input device}Is at a first limit value x_G1And a second limit value x_G2Will eliminate the tremblingState variable x_EThe gradient of (c) is set to zero.

Therefore, the first limit value x_G1And a second limit value x_G2Defining a dead zone within which the dither state variable x is eliminated_EWill not change.

Otherwise, for input signal x_{Input device}The method of debouncing is carried out analogously to the method described above, above the first limit value x_G1Time, jitter elimination state variable x_EIs increased to be lower than a second limit value x_G2Time, jitter elimination state variable x_EThe value of (c) is decreased.

Alternatively or additionally, a positive limit value x is provided_PAnd a negative limit value x_N. Positive limit value x_PGreater than a limit value x_GOr greater than a first limit value x_G1And a negative limit value x_NLess than a limit value x_GOr less than a second limit value x_G2。

The following text describes only the situation depicted in fig. 6, i.e. with the first limit value x_G1And a second limit value x_G2The case (1). However, the following explanations also apply to the single limit value x_GExcept that no dead zone is present.

Multiple limit values x_P、x_N、x_G1And x_G2Five zones are defined, each zone corresponding to a fixed predefined gradient of the debounce state variable.

More precisely if the input signal x_{Input device}Is at a first limit value x_G1And between the positive limit value, the jitter elimination state variable x_EIncreasing with a constant main first gradient.

If the input signal x_{Input device}Is greater than the positive limit value x_PThen the debounce state variable x_EIncreasing with a constant secondary first gradient greater than the primary first gradient.

If the input signal x_{Input device}Is at a negative limit value x_NAnd a second limit value x_G2In between, then the debounce state variable x_EDecreases with a constant main second gradient.

If the input signal x_{Input device}Is less than the negative limit value x_NThen the debounce state variable x_EDecreases with a constant secondary second gradient, the magnitude of which is greater than the magnitude of the primary second gradient.

In other words, the limit value x_P、x_N、x_G1And x_G2Thus defining five zones within which the debounce state variable x is_EIs constant in each case, however, the gradient changes if a transition occurs between the zones.

Of course, more than five zones may also be provided, for example by providing multiple positive limit values and/or multiple negative limit values.

Preferably, in this case, the debounce state variable x_EAlso with the distance from the limit value x_GIncreases in distance.