为了抑制微分器噪声输出和提高信噪比,文中列出了几种微分器的数值算法,并进而总结为一个计算公式。根据模拟电路经离散化得到的脉冲传递函数,既可作为带有低通滤波性能的微分器,又可作为微分状态估计器。本文所述的微分器无论在结构、计算速度等方面均优于一般状态空间方法设计的状态估计器。 In order to suppress the output of the differentiator noise and improve the signal-to-noise ratio, several numerical algorithms of the differentiator are listed in the paper, and then the calculation formula is summarized. According to the discrete function of the analog circuit, the pulse transfer function can be used as a differentiator with low-pass filter performance and a differential state estimator. The differentiator described in this paper is superior to the state estimator designed by the general state-space method in terms of structure and computational speed.