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简析低通滤波器:软件实现在电机控制中，电流采样、速度反馈等有时需要进行低通滤波，今天来聊聊其软件实现方式。一、递推公式
其中：x[n]为当前时刻的采样输入；y[n−1]为上一时刻的滤波输出（历史状态）；y[n]为当前时刻的滤波输出；α为滤波系数，范围 0<α<1。直观理解可以意会成当前输出由“当前输入”和“上一次输出”按比例加权得到。系数α越大，输出跟随输入越快，滤波弱；α越小，输出越平滑，滤波强。计算机只能处理离散时刻的数据，无法直接求导数。前向欧拉法用相邻两拍的差值除以采样周期来近似导数其中 Ts是采样周期，即两次计算之间的时间间隔，代入微分方程可得到对比标准形式，得出系数
比如采样周期Ts=100us，希望截止频率1Hz，可如下编码该信号经软件低通滤波后，由黄色的原始信号变成平滑的输出信号，用于后续的相关计算推理，如下图所示：关于低通滤波器的基本概念、硬件实现、软件实现三篇文章先介绍到这里。总之，滤波器的设计还是比较复杂的，但基础的知识大抵如此。
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