CN109062050B - Higher-frequency disturbance observation method and device - Google Patents
Higher-frequency disturbance observation method and device Download PDFInfo
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- CN109062050B CN109062050B CN201810966816.8A CN201810966816A CN109062050B CN 109062050 B CN109062050 B CN 109062050B CN 201810966816 A CN201810966816 A CN 201810966816A CN 109062050 B CN109062050 B CN 109062050B
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Abstract
The invention discloses a higher frequency disturbance observation method and a device, comprising the following steps: performing four continuous first-order inertial inverse operations on the signal to be processed through a preset first-order inertial inverse operation formula; the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained; performing fourth-order inertia operation on the fifth output signal through a preset fourth-order inertia operation formula; taking the output signal of the subtraction operation as a seventh output signal, and carrying out continuous four times of first-order inertia operation on the seventh output signal through a preset first-order inertia operation formula; multiplying the eleventh output signal by a preset first constant-1.6; summing the eighth output signal, the ninth output signal, the tenth output signal, and the twelfth output signal; and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal. For reducing the fluctuation width of the output control amount of the important process control.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a higher-frequency disturbance observation method and device.
Background
In important process control of a thermal power plant of an electric power system, it is required that a change process of an output control amount of the important process control is as smooth as possible from the viewpoint of safety. The output control variables of the important process control include: the water supply, coal supply, air distribution of the boiler, the amount of high-parameter steam entering the turbine, etc. The instability of the output control quantity change process of important process control easily causes electric power accidents, for example, the boiler is easy to extinguish fire due to large fluctuation of coal supply quantity and the unit trips accident and forms large impact on a power grid, the power oscillation is easy to cause by large fluctuation of high-parameter steam quantity entering a steam turbine to endanger the safety of the power grid, and the like.
However, in the important process control of a thermal power plant, some uncertain disturbances with relatively high frequency, referred to as high-frequency disturbances, generally exist. In an important process control loop, various observers (short for observers) are applied to improve the performance of suppressing higher-frequency disturbance. However, the observer increases the fluctuation range of the output control amount of the important process control while improving the performance of suppressing higher-frequency disturbances.
Therefore, there is a need for an observation method that can reduce the fluctuation range of the output control amount of important process control while improving the performance of suppressing higher-frequency disturbances.
Disclosure of Invention
The invention provides a higher-frequency disturbance observation method and device, which are used for reducing the fluctuation amplitude of output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
The invention provides a higher-frequency disturbance observation method, which comprises the following steps:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and using the sixth output signal as a subtracted input signal of subtraction operation;
taking the output signal of the subtraction operation as a seventh output signal and using a preset first-order inertia operation formula
Carrying out continuous four times of first-order inertia operation on the seventh output signal to obtain the seventh output signal in sequenceAn eighth output signal, a ninth output signal, a tenth output signal, and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining a sum of an eighth output signal, a ninth output signal, a tenth output signal and a twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of the subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
The invention provides a higher frequency disturbance observation device, comprising: the four first controllers, the first adder, the second controller, the subtracter, the four third controllers, the first multiplier, the second multiplier and the second adder are connected in series;
the four first controllers are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the input end of the first adder is respectively connected with the input end of the signal to be processed and the output end of each first controller, and is used for summing the signal to be processed and the output signals of all the first controllers;
the input end of the second controller is connected with the output end of the first adder and is used for passing a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on an output signal of the first adder;
the subtracted signal input end of the subtracter is connected with the output end of the second controller, the output end of the subtracter is sequentially connected with four third controllers and the first multiplier in series, and the third controller is used for passing preset first-order inertiaFormula of operation
Performing first-order inertial operation on an input signal;
the input end of the second adder is respectively connected with the output end of the first multiplier and the output ends of the first three serially connected third controllers;
the subtraction signal input end of the subtracter is connected with the output end of the second adder;
and one input end of the second multiplier is input with a preset second constant 0.48, the other input end of the second multiplier is connected with the output end of the subtracter, and the output end of the second multiplier is used for outputting a higher-frequency disturbance observation output signal.
According to the technical scheme, the invention has the following advantages:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and taking the sixth output signal as a subtracted input signal of subtraction operation;
the output signal of the subtraction is used as a seventh output signal and passes through a preset first-order inertia operation formula
Performing four successive first-order inertia operations on the seventh output signalObtaining an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining the sum of the eighth output signal, the ninth output signal, the tenth output signal and the twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of subtraction operation;
multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal;
the invention has flat amplitude-frequency and phase-frequency characteristics, and can reduce the fluctuation amplitude of the output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an embodiment of a higher frequency disturbance observation device provided in the present invention;
fig. 2 is a schematic diagram of frequency characteristics corresponding to filtering performed by using the higher-frequency disturbance observation method provided by the present invention.
Detailed Description
The embodiment of the invention provides a higher-frequency disturbance observation method and device, which can improve the stability margin of a process control loop.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an embodiment of a higher-frequency disturbance observation method, which comprises the following steps:
through a preset first-order inertia inverse operation formula (1+ T)Os) carrying out continuous four times of first-order inertial inverse operation on the signal to be processed to obtain a first output signal, a second output signal, a third output signal and a fourth output signal in sequence, wherein TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and taking the sixth output signal as a subtracted input signal of subtraction operation;
the output signal of the subtraction is used as a seventh output signal and passes through a preset first-order inertia operation formula
Performing four continuous first-order inertia operations on the seventh output signal to sequentially obtain an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining the sum of the eighth output signal, the ninth output signal, the tenth output signal and the twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
Referring to fig. 1, a schematic structural diagram of an embodiment of a higher frequency disturbance observation device according to the present invention is shown.
The invention provides an embodiment of a higher frequency disturbance observation device, which comprises: four first controllers 1, first adders 2, second controllers 3, subtractors 4, four third controllers 5, first multipliers 6, second multipliers 8 and second adders 7;
the four first controllers 1 are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a), representing the observation time constant and having the unit of s;
the input end of the first adder 2 is respectively connected with the input end of the signal to be processed and the output end of each first controller 1, and is used for summing the signal to be processed and the output signals of all the first controllers 1;
the input end of the second controller 3 is connected with the output end of the first adder 2 and is used for passing a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on the output signal of the first adder 2;
the subtracted signal input end of the subtracter 4 is connected with the output end of the second controller 3, the output end of the subtracter 4 is sequentially connected with four third controllers 5 and a first multiplier 6 in series, and the third controllers 5 are used for calculating a formula through preset first-order inertia
Performing first-order inertial operation on an input signal;
the input end of the second adder 7 is respectively connected with the output end of the first multiplier 6 and the output ends of the first three third controllers 5 connected in series;
the subtracting signal input end of the subtracter 4 is connected with the output end of the second adder 7;
the second multiplier 8 has an input terminal input with a preset second constant 0.48, another input terminal connected to the output terminal of the subtracter 4, and an output terminal of the second multiplier 8 for outputting a higher frequency disturbance observation output signal.
It should be noted that, in the present embodiment, the first three third controllers 5 connected in series specifically refer to: and three third controllers 5 among the four third controllers 5, which are not directly connected to the first multiplier 6.
Referring to fig. 2, a schematic diagram of frequency characteristics corresponding to filtering performed by the higher frequency disturbance observation method according to the present invention is shown.
In FIG. 2, ω is the sinusoidal frequency, in units rad/s; gain (ω) is a Gain frequency characteristic, with dimensionless units. Phase (ω) is the Phase frequency characteristic, in degrees; defining the frequency bandwidth of Gain (ω) at 3dB to be approximately equal to the observed frequency bandwidth ωO。
As can be seen from fig. 2, when the System frequency bandwidth (ω SFB) is smaller than the low-pass cut-off frequency ωOThe embodiment of the invention has flat amplitude-frequency and phase-frequency characteristics, and can reduce the fluctuation amplitude of the output control quantity of important process control while improving the performance of suppressing higher-frequency disturbance.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (2)
1. A method for observing higher frequency disturbances, comprising:
through a preset first-order inertia inverse operation formula (1+ T)Os) performing four successive first-order inertial inversions on the signal to be processed to obtain a first outputAn output signal, a second output signal, a third output signal and a fourth output signal, where TOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a) represents an observation time constant and has a unit of s, and the signals to be processed specifically comprise the water supply quantity, the coal supply quantity and the air distribution quantity of the boiler and the high-parameter steam quantity entering the steam turbine;
the sum of the first output signal, the second output signal, the third output signal, the fourth output signal and the signal to be processed is obtained to obtain a fifth output signal;
through a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on the fifth output signal to obtain a sixth output signal, and using the sixth output signal as a subtracted input signal of subtraction operation;
taking the output signal of the subtraction operation as a seventh output signal and using a preset first-order inertia operation formula
Performing four continuous first-order inertia operations on the seventh output signal to obtain an eighth output signal, a ninth output signal, a tenth output signal and an eleventh output signal in sequence;
multiplying the eleventh output signal by a preset first constant-1.6 to obtain a twelfth output signal;
obtaining a sum of an eighth output signal, a ninth output signal, a tenth output signal and a twelfth output signal to obtain a thirteenth output signal, and using the thirteenth output signal as a subtraction input signal of the subtraction operation;
and multiplying the output signal of the subtraction operation by a preset second constant 0.48 to obtain a higher-frequency disturbance observation output signal.
2. A higher frequency disturbance observation apparatus, comprising: the four first controllers, the first adder, the second controller, the subtracter, the four third controllers, the first multiplier, the second multiplier and the second adder are connected in series;
the four first controllers are connected in series and used for carrying out four times of continuous first-order inertial inverse operation on the input signal to be processed, wherein the formula of the first-order inertial inverse operation is (1+ T)Os) where T isOFor presetting observation frequency bandwidth omegaOThe reciprocal of (a) represents an observation time constant and has a unit of s, and the signals to be processed specifically comprise the water supply quantity, the coal supply quantity and the air distribution quantity of the boiler and the high-parameter steam quantity entering the steam turbine;
the input end of the first adder is respectively connected with the input end of the signal to be processed and the output end of each first controller, and is used for summing the signal to be processed and the output signals of all the first controllers;
the input end of the second controller is connected with the output end of the first adder and is used for passing a preset fourth-order inertia operation formula
Performing fourth-order inertia operation on an output signal of the first adder;
the subtracted signal input end of the subtracter is connected with the output end of the second controller, the output end of the subtracter is sequentially connected with four third controllers and the first multiplier in series, and the third controllers are used for calculating a formula through preset first-order inertia
Performing first-order inertial operation on an input signal;
the input end of the second adder is respectively connected with the output end of the first multiplier and the output ends of the first three serially connected third controllers;
the subtraction signal input end of the subtracter is connected with the output end of the second adder;
and one input end of the second multiplier is input with a preset second constant 0.48, the other input end of the second multiplier is connected with the output end of the subtracter, and the output end of the second multiplier is used for outputting a higher-frequency disturbance observation output signal.
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