US 6,611,602 B1 · Adaptive removal of resonance-induced noise

Abstract

Noise is removed from the digitized output of a sensor, subject to undesired resonance, even when the resonant frequency is unknown or drifts, with sufficiently low phase delay for the sensor to be used in closed-loop control. A very narrow notch filter which removes the resonance-induced noise is recursive (IIR) and therefore has a low phase delay. However, the apparatus which determines the center frequency of the notch filter is non-recursive, and therefore stable. It includes a tunable FIR filter which tracks the same resonance that we wish the IIR filter to remove. Tuning the FIR filter to minimize the output of the FIR filter therefore tunes the notch frequency to align with the resonant frequency. The tuning parameter which adaptively produces this result is suitably scaled and biased, and is applied to the IIR filter.

Claims14

Dependent claims

An article of manufacture comprising:

(a) a recursive digital notch (IIR) filter constructed to receive an input signal and to produce an.output signal, the IIR notch center frequency being tunable in response to a function of the control signal recited below;
(b) an adaptation filter constructed to eliminate signals of interest from the output signal of the IIR filter and to produce an output signal for adaptation;
(c) a non-recursive digital notch (FIR) filter constructed to receive the output signal from the adaptation filter and to produce an FIR output signal, the FIR notch center frequency being tunable in response to the control signal recited below, and being the same as the IIR notch center frequency when the control signal is applied to the FIR filter and the function of the control signal is applied to the IIR filter;
and
(d) a control signal generator constructed to generate a control signal which adaptively minimizes the FIR output signal.

2 more elements

An article of manufacture comprising:

(a) a recursive digital notch (IIR) filter constructed to receive an input signal and to produce an output signal, the IIR notch center frequency being tunable in response to a function of the control signal recited below, said IIR filter comprising a Gray-Markel filter having a beta coefficient, preceded by a one-half scaler and followed by a first adder connected to add together an input and an output of the Gray-Markel filter;
(b) an adaptation filter constructed to eliminate signals of interest from the output signal of the IIR filter and to produce an output signal for adaptation;
(c) a non-recursive digital notch (FIR) filter constructed to receive the output signal from the adaptation filter and to produce an FIR output signal, the FIR notch center frequency being tunable in response to the control signal recited below, and being the same as the IIR notch center frequency when the control signal is applied to the FIR filter and the function of the control signal is applied to the IIR filter, said FIR filter comprising
(i) a first delay element connected to receive an input signal to the FIR filter and connected to produce a singly-delayed input signal;
(ii) a second delay element connected to receive the singly-delayed input signal and to produce a doubly-delayed signal;
(iii) a first scaler connected to receive the singly-delayed input signal and to multiply it by a first coefficient equal to approximately twice the beta coefficient of the IIR filter;
(iv) an adder/subtracter connected to add together the input and doubly-delayed signals and to subtract an output of the first scaler;
(v) a first multiplier connected to multiply the singly-delayed input signal and the control signal;
(vi) a second scaler connected to receive an output of the multiplier and multiply it by a second coefficient equal to twice an expected range of the beta coefficient of the IIR;
(vii) a subtracter connected to subtract an output of the second scaler from an output of the adder/subtracter, and to produce the FIR output signal;
and
(d) a control signal generator constructed to generate a control signal which adaptively minimizes the FIR output signal.

9 more elements

An apparatus for adaptively removing noise, comprising:

(a) a first filter constructed to receive an input signal and to produce a first output signal, the first filter having a notch center frequency being tunable in response to a function of the control signal recited below, the first filter comprising a Gray-Markel filter having a beta coefficient, preceded by a one-half scaler and followed by a first adder connected to add together an input and an output of the Gray-Markel filter;
(b) a second filter constructed to eliminate signals of interest from the first output signal and to produce a second output signal for adaptation;
(c) a third filter constructed to receive the second output signal and to produce a third output signal, the third filter having a notch center frequency being tunable in response to the control signal recited below, and being the same as the first filter notch center frequency when the control signal is applied to the third filter and the function of the control signal is applied to the first filter, the third filter comprising
(i) a first delay element connected to receive an input signal to the third filter and connected to produce a singly-delayed input signal;
(ii) a second delay element connected to receive the singly-delayed input signal and to produce a doubly-delayed signal;
(iii) a first scaler connected to receive the singly-delayed input signal and to multiply it by a first coefficient equal to approximately twice the beta coefficient of the first filter;
(iii) an adder/subtracter connected to add together the input and doubly-delayed signals and to subtract an output of the first scaler;
(iv) a first multiplier connected to multiply the singly-delayed input signal and the control signal;
(v) a second scaler connected to receive an output of the multiplier and multiply it by a second coefficient equal to twice an expected range of the beta coefficient of the first filter;
(vi) a subtracter connected to subtract an output of the second scaler from an output of the adder/subtracter, and to produce the third output signal;
and
(d) a control signal generator constructed to generate a control signal which adaptively minimizes the third output signal.

9 more elements

Dependencies are inferred from the claim text.

Adaptive removal of resonance-induced noise

Life of this patent

Adaptive removal of resonance-induced noise

Life of this patent

Abstract

Claims14