阅读说明：本技术 应用于感应同步器的自动调幅方法、系统及介质 (automatic amplitude modulation method, system and medium applied to induction synchronizer ) 是由 李太平 李志慧 夏振涛 齐晓军 刘玉庆 陈立 彭效海 牛科研 费志禾 陈雅璐 于 2019-07-29 设计创作，主要内容包括：本发明提供了一种应用于感应同步器的自动调幅方法、系统及介质,包括：数据采样及分段步骤：将感应同步器sin、cos端放大后的输出分别进行采样,获得sin端采样数据和cos端采样数据,根据励磁信号的频率和采样频率,分别对sin端采样数据和cos端采样数据分段；感应同步器调幅步骤：根据分段后的每段数据,对每一段计算平方和,获得新的一个新的N×2的序列,N为预设值,根据此N×2序列,估算sin、cos端的放大倍数,并动态调整sin、cos端的放大倍数,使两路幅值一致,提高感应同步器的采集精度。本发明实现了对感应同步器输出端的幅值的动态调整,降低了系统的设计和调试的复杂度,实现幅值调节的智能化和通用化。(The invention provides an automatic amplitude modulation method, system and medium applied to an induction synchronizer, comprising the following steps: data sampling and segmenting: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal; amplitude modulation of the induction synchronizer: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of the sin end and the cos end according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin end and the cos end to ensure that the amplitudes of the two segments are consistent, thereby improving the acquisition precision of the induction synchronizer. The invention realizes the dynamic adjustment of the amplitude of the output end of the induction synchronizer, reduces the complexity of the design and the debugging of the system and realizes the intellectualization and the generalization of the amplitude adjustment.)

1. An automatic amplitude modulation method applied to an induction synchronizer, comprising:

Data sampling and segmenting: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

Amplitude modulation of the induction synchronizer: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of the sin end and the cos end according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin end and the cos end to ensure that the amplitudes of the two segments are consistent, thereby improving the acquisition precision of the induction synchronizer.

2. The automatic amplitude modulation method applied to an induction synchronizer according to claim 1, wherein said segmenting the sampled data:

according to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

3. the automatic amplitude modulation method applied to the induction synchronizer according to claim 2, wherein the induction synchronizer amplitude modulation step:

A new sequence acquisition step: respectively calculating the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

Intermediate variable calculation step: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

wherein A represents an intermediate variable;

And adjusting the magnification: dynamically amplifying the output x of the sin end according to the B and C obtained by calculation_sand output x of cos terminal_cThe two paths of amplitudes are consistent, and the acquisition precision of the induction synchronizer is improved, wherein x_cHas a magnification ofx_shas a magnification ofR is a preset value.

4. the automatic amplitude modulation method applied to the induction synchronizer according to claim 3, wherein the new sequence acquisition step comprises:

A sin end new sequence acquisition step: the sum of squares of each segment of data after sin-end sampling data segmentation is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isinitial time k is 0;

According to new element Y generated after segmentation_{s_k+1}Form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

a step of acquiring a cos terminal new sequence: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isInitial time k is 0;

According to new element Y generated after segmentation_{c_k+1}Form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T。

5. the automatic amplitude modulation method applied to the induction synchronizer, according to claim 4, further comprising:

and a dynamic tracking step: after [ F/F ] sampling, adding 1 to the value of k, returning to the data sampling and segmenting step for continuous execution, and realizing dynamic real-time tracking.

6. an automatic amplitude modulation system for use in an induction synchronizer, comprising:

A data sampling and segmentation module: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

The induction synchronizer amplitude modulation module: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of the sin end and the cos end according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin end and the cos end to ensure that the amplitudes of the two segments are consistent, thereby improving the acquisition precision of the induction synchronizer.

7. the automatic amplitude modulation system applied to the induction synchronizer according to claim 6, wherein said segmenting the sampled data:

According to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

8. The automatic amplitude modulation system applied to the induction synchronizer of claim 7, wherein the induction synchronizer amplitude modulation module:

a new sequence acquisition module: respectively calculating the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

An intermediate variable calculation module: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

Wherein A represents an intermediate variable;

The amplification factor adjusting module: dynamically amplifying the output x of the sin end according to the B and C obtained by calculation_sAnd output x of cos terminal_cThe two paths of amplitudes are consistent, and the acquisition precision of the induction synchronizer is improved, wherein x_cHas a magnification ofx_sHas a magnification ofr is a preset value.

9. the automatic amplitude modulation system applied to the induction synchronizer of claim 8, wherein the new sequence acquisition module:

A sin end new sequence acquisition module: the sum of squares of each segment of data after sin-end sampling data segmentation is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isInitial time k is 0;

According to new element Y generated after segmentation_{s_k+1}Form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

A cos terminal new sequence acquisition module: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isInitial time k is 0;

According to new element Y generated after segmentation_{c_k+1}Shape ofTo form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T；

The dynamic tracking module: after [ F/F ] sampling, adding 1 to the value of k, and calling a data sampling and segmenting module to realize dynamic real-time tracking.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the automatic amplitude modulation method applied to an induction synchronizer of any one of claims 1 to 5.

Technical Field

the present invention relates to the field of automatic control and measurement, and in particular, to an automatic amplitude modulation method, system and medium for an induction synchronizer.

Background

With the increasing service life of spacecrafts and the increasing and improving precision of movable parts on the spacecrafts, the precision and reliability of angle measuring elements are also higher and higher, and angle measuring parts represented by circular gratings and encoders are gradually replaced by induction synchronizers in some application occasions due to the difficulty in ensuring the long service life and high reliability of the angle measuring parts in an on-orbit mode.

the working principle of the induction synchronizer determines that the induction synchronizer is very sensitive to the amplitude of sin and cos of two phase input ends, and a preamplification circuit is generally adopted for adjustment, but the method needs precise resistance and capacitance matching, the adjustment period is long, the dynamic adjustment performance is poor, each induction synchronizer needs to be adjusted independently, and the method cannot be generalized.

Patent document CN109387144A (application number: 201811200803.6) discloses a system and a method for improving angle measurement accuracy of an induction synchronizer, and belongs to the technical field of angle measurement systems of induction synchronizers. The programmable signal phase adjusting unit is formed by the digital potentiometer, the FPGA and the active phase shifting circuit together, and the phase difference of two paths of signals is adjusted by FPGA programming, so that the angle measuring precision of the system is improved.

disclosure of Invention

In view of the shortcomings of the prior art, it is an object of the present invention to provide an automatic amplitude modulation method, system and medium for an induction synchronizer.

The invention provides an automatic amplitude modulation method applied to an induction synchronizer, which comprises the following steps:

Data sampling and segmenting: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

amplitude modulation of the induction synchronizer: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of sin and cos ends according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin and cos ends to make the amplitudes of the two segments consistent, thereby improving the acquisition precision of the induction synchronizer.

preferably, the segmenting the sampled data:

According to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

preferably, the induction synchronizer amplitude modulation step:

a new sequence acquisition step: respectively solving the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

Intermediate variable calculation step: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

Wherein A represents an intermediate variable;

and adjusting the magnification: is obtained according to calculationb and C, output x of the dynamic amplification sin end_sAnd output x of cos terminal_cThe two paths of amplitudes are consistent, and the acquisition precision of the induction synchronizer is improved, wherein x_cHas a magnification of x_sHas a magnification ofR is a preset value.

preferably, the new sequence acquiring step:

A sin end new sequence acquisition step: and (3) solving the square sum of each segment of data obtained after sin end sampling data segmentation to obtain a new element, wherein the sequence in the original data is assumed to be x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isinitial time k is 0;

according to new element Y generated after segmentation_{s_k+1}Form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

a step of acquiring a cos terminal new sequence: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isInitial time k is 0;

according to new element Y generated after segmentation_{c_k+1}Form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T。

Preferably, the method further comprises the following steps:

And a dynamic tracking step: after [ F/F ] sampling, adding 1 to the value of k, returning to the data sampling and segmenting step for continuous execution, and realizing dynamic real-time tracking.

According to the present invention, there is provided an automatic amplitude modulation system applied to an induction synchronizer, comprising:

a data sampling and segmentation module: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

The induction synchronizer amplitude modulation module: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of sin and cos ends according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin and cos ends to make the amplitudes of the two segments consistent, thereby improving the acquisition precision of the induction synchronizer.

preferably, the segmenting the sampled data:

According to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

Preferably, the inductive synchronizer amplitude modulation module:

A new sequence acquisition module: respectively solving the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

An intermediate variable calculation module: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

Wherein A represents an intermediate variable;

the amplification factor adjusting module: dynamically amplifying the output x of the sin end according to the B and C obtained by calculation_sAnd output x of cos terminal_cThe values of (A) and (B) are consistent,Improving the acquisition precision of the induction synchronizer, wherein x_chas a magnification of x_sHas a magnification ofR is a preset value.

Preferably, the new sequence acquisition module:

A sin end new sequence acquisition module: and (3) solving the square sum of each segment of data obtained after sin end sampling data segmentation to obtain a new element, wherein the sequence in the original data is assumed to be x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isinitial time k is 0;

according to new element Y generated after segmentation_{s_k+1}Form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

A cos terminal new sequence acquisition module: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isinitial time k is 0;

According to new element Y generated after segmentation_{c_k+1}Form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T；

The dynamic tracking module: after [ F/F ] sampling, adding 1 to the value of k, and calling a data sampling and segmenting module to realize dynamic real-time tracking.

According to the present invention, there is provided a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of any of the automatic amplitude modulation methods applied to the induction synchronizer.

compared with the prior art, the invention has the following beneficial effects:

1. The invention makes the two paths of amplitudes consistent and improves the acquisition precision of the induction synchronizer.

2. The invention realizes the dynamic adjustment of the amplitude of the output end of the induction synchronizer by a digital method, reduces the complexity of the design and the debugging of the system and realizes the intellectualization and the generalization of the amplitude adjustment.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of the non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of a data sequence collected from a cos terminal and a combined sequence.

FIG. 2 is a sequence diagram of a data sequence collected at sin end and merged according to the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

the invention provides an automatic amplitude modulation method applied to an induction synchronizer, which comprises the following steps:

Data sampling and segmenting: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

Amplitude modulation of the induction synchronizer: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of sin and cos ends according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin and cos ends to make the amplitudes of the two segments consistent, thereby improving the acquisition precision of the induction synchronizer.

Specifically, the segmenting of the sampled data:

According to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

Specifically, the induction synchronizer amplitude modulation step:

a new sequence acquisition step: respectively solving the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

Intermediate variable calculation step: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

Wherein A represents an intermediate variable;

And adjusting the magnification: dynamically amplifying the output x of the sin end according to the B and C obtained by calculation_sand output x of cos terminal_cThe two paths of amplitudes are consistent, and the acquisition precision of the induction synchronizer is improved, wherein x_cHas a magnification of x_sHas a magnification ofR is a preset value.

specifically, the new sequence acquiring step:

A sin end new sequence acquisition step: leveling each section of data after sin end sampling data segmentationSquare sum, obtain a new element, assume the sequence in the original data is x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isInitial time k is 0;

According to new element Y generated after segmentation_{s_k+1}form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

A step of acquiring a cos terminal new sequence: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}then the new element obtained isInitial time k is 0;

according to new element Y generated after segmentation_{c_k+1}Form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T。

specifically, the method further comprises the following steps:

And a dynamic tracking step: after [ F/F ] sampling, adding 1 to the value of k, returning to the data sampling and segmenting step for continuous execution, and realizing dynamic real-time tracking.

The automatic amplitude modulation system applied to the induction synchronizer can be realized through the step flow of the automatic amplitude modulation method applied to the induction synchronizer. The automatic amplitude modulation method applied to the induction synchronizer can be understood as a preferred example of the automatic amplitude modulation system applied to the induction synchronizer by those skilled in the art.

According to the present invention, there is provided an automatic amplitude modulation system applied to an induction synchronizer, comprising:

a data sampling and segmentation module: respectively sampling the amplified outputs of sin and cos ends of the induction synchronizer to obtain sin end sampling data and cos end sampling data, and segmenting the sin end sampling data and the cos end sampling data according to the frequency and the sampling frequency of an excitation signal;

the induction synchronizer amplitude modulation module: and calculating the sum of squares of each segment according to each segment of segmented data to obtain a new Nx 2 sequence, wherein N is a preset value, estimating the amplification factor of sin and cos ends according to the Nx 2 sequence, and dynamically adjusting the amplification factor of the sin and cos ends to make the amplitudes of the two segments consistent, thereby improving the acquisition precision of the induction synchronizer.

specifically, the segmenting of the sampled data:

According to the frequency and the sampling frequency of the excitation signal, assuming that the frequency of the excitation signal is F and the sampling frequency is F, segmenting the sampled data, wherein the length of each segment of data is F/F, and [ ] represents the integer operation.

Specifically, the induction synchronizer amplitude modulation module:

A new sequence acquisition module: respectively solving the sum of squares of each segment of data after the sin end sampling data and the cos end sampling data are segmented, and respectively obtaining a new sequence Y by the sin end and the cos end_s、Y_c；

an intermediate variable calculation module: the magnitude of the two intermediate variables B, C is calculated as follows:

A＝[Y_s [-1]_N×1]b＝-Y_c

Wherein A represents an intermediate variable;

the amplification factor adjusting module: dynamically amplifying the output x of the sin end according to the B and C obtained by calculation_sand output x of cos terminal_cthe two paths of amplitudes are consistent, and the acquisition precision of the induction synchronizer is improved, wherein x_cHas a magnification of x_sHas a magnification ofR is a preset value.

Specifically, the new sequence acquisition module:

a sin end new sequence acquisition module: and (3) solving the square sum of each segment of data obtained after sin end sampling data segmentation to obtain a new element, wherein the sequence in the original data is assumed to be x_{s_km+1} x_{s_km+2} … x_{s_(k+1)m}Then the new element obtained isInitial time k is 0;

According to new element Y generated after segmentation_{s_k+1}Form a new sequence Y_s＝[Y_{s_k+1} Y_{s_k+1} … Y_{s_k+N}]^T；

A cos terminal new sequence acquisition module: the sum of squares of each segment of segmented sample data at cos terminal is calculated to obtain a new element, and the sequence in the original data is assumed to be x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isInitial time k is 0;

according to new element Y generated after segmentation_{c_k+1}form a new sequence Y_c＝[Y_{c_k+1} Y_{c_k+1} … Y_{c_k+N}]^T；

the dynamic tracking module: after [ F/F ] sampling, adding 1 to the value of k, and calling a data sampling and segmenting module to realize dynamic real-time tracking.

According to the present invention, there is provided a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of any of the automatic amplitude modulation methods applied to the induction synchronizer.

the present invention will be described more specifically below with reference to preferred examples.

Preferred example 1:

the invention will be further explained with reference to the drawings.

1) As shown in fig. 1, the amplified output of the cos terminal of the induction synchronizer is sampled, according to the frequency of the excitation signal and the sampling frequency, assuming that the excitation frequency is F and the sampling frequency is F, the sampled data is segmented, the length of each segment of data is [ F/F ] ([ ] represents the rounding operation, and F is proposed to be an integral multiple of F, where m is [ F/F ]) in fig. 1;

2) And (4) solving the square sum of each segment of data segmented by the cos end to obtain a new element. I.e. assuming the sequence in the original data is x_{c_km+1} x_{c_km+2} … x_{c_(k+1)m}Then the new element obtained isinitial time k is 0;

3) Forming a new sequence Y according to the new elements generated after the cos terminal is segmented_c＝[Y_{c_k+1} Y_{c_k+2} … Y_{c_k+N}]^T(ii) a As shown in FIG. 2, the same method is applied to the sin end to generate a new sequence Y_s；

4) The size of two variables B, C is calculated:

Wherein A ═ Y_s [-1]_N×1]b＝-Y_c

5) Dynamically amplifying x according to B and C obtained by calculation_cAnd x_sA value of (a), wherein x_cHas a magnification of x_sHas a magnification ofr is a suggested value, generally greater than 2, less than 5;

6) After the calculation and the amplification are completed, after [ F/F ] sampling, adding 1 to the value of k, and repeating the steps to realize the dynamic real-time tracking.

There are sin end and cos end, both ends are similar, and the cos end is taken as an example for illustration. The collected signal is x_{c_i}In the above description, the subscript c represents data at the cos end (data at the sin end if the subscript is s), and i represents the ith element. Grouping the collected data of cos terminals, as shown in the first four columns of the following table:

From the first four columns, the data Y in the sixth column of the above table can be obtained_{c_1}、Y_{c_2}、...、Y_{c_k+1}. Where i in the sixth column represents the index in the summation formula. By the first formula

For example, the right end of the equation represents

Selecting the previous N groups of data to form a sequence Y_c＝[Y_{c_1} Y_{c_2} … Y_{c_N}]^T(ii) a Similarly, a sequence Y can be formed_s＝[Y_{s_1} Y_{s_2} … Y_{s_N}]^TObtaining Y_cand Y_sThereafter, the calculation can be performed according to the methods in 4) and 5).

After the calculation is completed, x is once paired_cAnd x_sAnd (4) adjusting. At this time, N groups of data, namely Y, are reselected_s＝[Y_{s_2} Y_{s_3} … Y_{s_N+1}]^TY_c＝[Y_{c_2} Y_{c_3} … Y_{c_N+1}]^Tthe above process is repeated again, i.e. the methods in 4) and 5), for x_cAnd x_sAnd (6) adjusting. I.e. corresponding to 6).

in the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and individual modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps into logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.

the foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.